{
    "w": 1920,
    "h": 1080,
    "fl_x": 1002.1268590101961,
    "fl_y": 1000.6847283235759,
    "cx": 960.0,
    "cy": 540.0,
    "k1": -0.0014295612979363715,
    "k2": 0.0009283784966733181,
    "p1": 0.0003767951847703691,
    "p2": -0.00014874508710535525,
    "camera_model": "OPENCV",
    "frames": [
        {
            "file_path": "images/frame_00001.png",
            "transform_matrix": [
                [
                    0.9671208745729197,
                    0.017028486660173765,
                    -0.2537464179202831,
                    3.562554870455992
                ],
                [
                    -0.2542818773571655,
                    0.04812953603164917,
                    -0.9659318167495538,
                    -3.363680444718951
                ],
                [
                    -0.004235659691961014,
                    0.9986959389140635,
                    0.050877114536217835,
                    -0.01720779612817817
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 1
        },
        {
            "file_path": "images/frame_00002.png",
            "transform_matrix": [
                [
                    0.9660374469650811,
                    0.02150737702296381,
                    -0.25750550245534587,
                    3.569905677910414
                ],
                [
                    -0.2583086423768946,
                    0.05357531099270553,
                    -0.9645757260710225,
                    -3.355585284915902
                ],
                [
                    -0.006949556431430487,
                    0.9983321685619605,
                    0.057311298011643294,
                    -0.01739905770440381
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 2
        },
        {
            "file_path": "images/frame_00003.png",
            "transform_matrix": [
                [
                    0.9641250461127759,
                    0.016364232053532244,
                    -0.2649435928029505,
                    3.572238188443615
                ],
                [
                    -0.26544767777640177,
                    0.056982092142073226,
                    -0.9624399054165552,
                    -3.3404275056302533
                ],
                [
                    -0.0006525497322664787,
                    0.9982410796417919,
                    0.05928170961128309,
                    -0.01917836872773899
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 3
        },
        {
            "file_path": "images/frame_00004.png",
            "transform_matrix": [
                [
                    0.9619471625083873,
                    0.012230989753194092,
                    -0.27296164461645467,
                    3.5568919585821415
                ],
                [
                    -0.2732089134386306,
                    0.05700041724754016,
                    -0.9602644646404913,
                    -3.308445918196423
                ],
                [
                    0.003813942808338434,
                    0.9982992313546392,
                    0.05817300505381458,
                    -0.02179695111082261
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 4
        },
        {
            "file_path": "images/frame_00005.png",
            "transform_matrix": [
                [
                    0.9587332977083443,
                    0.010511277430578366,
                    -0.2841126130816101,
                    3.522029350663559
                ],
                [
                    -0.28422286162661553,
                    0.05974400425193641,
                    -0.9568949884311874,
                    -3.2644478747234387
                ],
                [
                    0.006915836468646197,
                    0.9981583877334909,
                    0.06026611156543058,
                    -0.018541366114985715
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 5
        },
        {
            "file_path": "images/frame_00006.png",
            "transform_matrix": [
                [
                    0.9563010719575737,
                    0.009246723468746757,
                    -0.2922375025178799,
                    3.4908421829002503
                ],
                [
                    -0.2922482782967891,
                    0.0606522871491563,
                    -0.954417227367643,
                    -3.217555074738409
                ],
                [
                    0.008899640743190149,
                    0.9981161245910564,
                    0.06070418623104449,
                    -0.020881307006067842
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 6
        },
        {
            "file_path": "images/frame_00007.png",
            "transform_matrix": [
                [
                    0.9567386296804863,
                    0.008193568155285283,
                    -0.29083338858870733,
                    3.462263810368512
                ],
                [
                    -0.2907962650535223,
                    0.05929134083948299,
                    -0.9549461079727892,
                    -3.1563760010284727
                ],
                [
                    0.009419485550015377,
                    0.9982070939150558,
                    0.059108975203704055,
                    -0.017840029351786784
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 7
        },
        {
            "file_path": "images/frame_00008.png",
            "transform_matrix": [
                [
                    0.9628588308899704,
                    0.010425591450865508,
                    -0.26980396368493,
                    3.4290227681741974
                ],
                [
                    -0.2699425837609468,
                    0.058709114576660025,
                    -0.9610849293054639,
                    -3.1180141015571707
                ],
                [
                    0.005820072994692843,
                    0.9982206904830836,
                    0.05934290051735087,
                    -0.013001608192854475
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 8
        },
        {
            "file_path": "images/frame_00009.png",
            "transform_matrix": [
                [
                    0.9669429740929891,
                    0.011896656907411885,
                    -0.25471504550503515,
                    3.4014851978013017
                ],
                [
                    -0.2549670158024627,
                    0.05928980180951114,
                    -0.9651303229378795,
                    -3.1041655255695946
                ],
                [
                    0.0036201802429625595,
                    0.9981699198812877,
                    0.060363112404781157,
                    -0.011786941068952216
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 9
        },
        {
            "file_path": "images/frame_00010.png",
            "transform_matrix": [
                [
                    0.9702611979696987,
                    0.011515653808662053,
                    -0.24178626394351732,
                    3.392477901464927
                ],
                [
                    -0.242047627292318,
                    0.05639291976705661,
                    -0.9686241710396789,
                    -3.1013669100340793
                ],
                [
                    0.00248069275894794,
                    0.9983422400747678,
                    0.05750319857129984,
                    -0.013005966218072413
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 10
        },
        {
            "file_path": "images/frame_00011.png",
            "transform_matrix": [
                [
                    0.9719840836026233,
                    0.013568144092325728,
                    -0.23465473932792888,
                    3.395700938663229
                ],
                [
                    -0.23504666465364693,
                    0.055761505064483276,
                    -0.9703832850931323,
                    -3.1070449671189877
                ],
                [
                    -8.159880148870566e-05,
                    0.9983519219287521,
                    0.05738844241484607,
                    -0.012578855271575512
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 11
        },
        {
            "file_path": "images/frame_00012.png",
            "transform_matrix": [
                [
                    0.9721441882313699,
                    0.01470190052199855,
                    -0.233922062681167,
                    3.379495934227701
                ],
                [
                    -0.23437191340819608,
                    0.05100433003306264,
                    -0.9708080987112023,
                    -3.1181728282880408
                ],
                [
                    -0.0023416860061976383,
                    0.9985902124690185,
                    0.05302927557235434,
                    -0.011243298373333807
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 12
        },
        {
            "file_path": "images/frame_00013.png",
            "transform_matrix": [
                [
                    0.9727198009676346,
                    0.013866419166002725,
                    -0.23156837267856323,
                    3.352184282346276
                ],
                [
                    -0.23195507762721498,
                    0.04260286000825957,
                    -0.9717931046689254,
                    -3.1354741789424736
                ],
                [
                    -0.003609815568405172,
                    0.9989958552159408,
                    0.044657031841947914,
                    -0.007777098333850342
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 13
        },
        {
            "file_path": "images/frame_00014.png",
            "transform_matrix": [
                [
                    0.9760183926620268,
                    0.01359524202671461,
                    -0.2172631275197622,
                    3.336522835311131
                ],
                [
                    -0.21762970092909906,
                    0.03782756447399034,
                    -0.975298102448414,
                    -3.1613973713157537
                ],
                [
                    -0.005040878786907102,
                    0.9991917957830723,
                    0.039879127132555856,
                    -0.00345439366887456
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 14
        },
        {
            "file_path": "images/frame_00015.png",
            "transform_matrix": [
                [
                    0.9819015140349507,
                    0.011803144127490625,
                    -0.18902407921896341,
                    3.337580208835782
                ],
                [
                    -0.1892919649895506,
                    0.028689088755248414,
                    -0.9815016496047207,
                    -3.1908703400190777
                ],
                [
                    -0.006161876846062373,
                    0.9995186951603753,
                    0.03040410003000908,
                    -0.002862151551935362
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 15
        },
        {
            "file_path": "images/frame_00016.png",
            "transform_matrix": [
                [
                    0.9880070504634771,
                    0.009624650748454758,
                    -0.15410851479535623,
                    3.34172535132111
                ],
                [
                    -0.1542732341011479,
                    0.019722093088850177,
                    -0.9878313663192556,
                    -3.2161146108998877
                ],
                [
                    -0.00646818942461325,
                    0.9997591735723983,
                    0.020970393019739134,
                    -0.003964359493929044
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 16
        },
        {
            "file_path": "images/frame_00017.png",
            "transform_matrix": [
                [
                    0.992500894824526,
                    0.008366294659480503,
                    -0.12195072318845113,
                    3.3341149848480716
                ],
                [
                    -0.1220504696882309,
                    0.01267808423523051,
                    -0.9924429197838065,
                    -3.2296525270852565
                ],
                [
                    -0.006756968358496035,
                    0.999884628991663,
                    0.01360412014086673,
                    -0.0009887230295397877
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 17
        },
        {
            "file_path": "images/frame_00018.png",
            "transform_matrix": [
                [
                    0.9956335965387852,
                    0.007239991035187112,
                    -0.0930662343336925,
                    3.3262184593949913
                ],
                [
                    -0.09310631776255343,
                    0.005411024096636681,
                    -0.995641468808388,
                    -3.2363054671694647
                ],
                [
                    -0.00670485167187041,
                    0.9999591508396912,
                    0.006061486288212579,
                    0.0003074390290878397
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 18
        },
        {
            "file_path": "images/frame_00019.png",
            "transform_matrix": [
                [
                    0.9976933717955238,
                    0.006499733547395334,
                    -0.0675698848533266,
                    3.321660564502404
                ],
                [
                    -0.06757675607540872,
                    0.000843159168120354,
                    -0.997713722026986,
                    -3.2386768202628136
                ],
                [
                    -0.006427901181852544,
                    0.9999785210425421,
                    0.0012804452218897905,
                    -0.00022822889363973933
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 19
        },
        {
            "file_path": "images/frame_00020.png",
            "transform_matrix": [
                [
                    0.998954465658757,
                    0.005977338183779027,
                    -0.04532380134834147,
                    3.318062101373185
                ],
                [
                    -0.04531360155797837,
                    -0.0018310092282645895,
                    -0.9989711331760547,
                    -3.2383663315023496
                ],
                [
                    -0.00605417659735508,
                    0.9999804592258004,
                    -0.0015582401244002531,
                    5.416872696304421e-05
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 20
        },
        {
            "file_path": "images/frame_00021.png",
            "transform_matrix": [
                [
                    0.9995731858629888,
                    0.005035650368453311,
                    -0.028776523922829252,
                    3.3146835372196835
                ],
                [
                    -0.028758884933090718,
                    -0.0035408742909857713,
                    -0.9995801062179364,
                    -3.2346593935840104
                ],
                [
                    -0.005135429983917234,
                    0.9999810520377984,
                    -0.003394543306271375,
                    -0.0006380192834634625
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 21
        },
        {
            "file_path": "images/frame_00022.png",
            "transform_matrix": [
                [
                    0.9999210186482196,
                    0.0030150102333046367,
                    -0.012201072854455635,
                    3.3069145729042058
                ],
                [
                    -0.01218572613009368,
                    -0.005057105829848075,
                    -0.9999129630919424,
                    -3.225809226445637
                ],
                [
                    -0.003076449932798836,
                    0.9999826675467525,
                    -0.005019966323811058,
                    -0.0016223434561253016
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 22
        },
        {
            "file_path": "images/frame_00023.png",
            "transform_matrix": [
                [
                    0.9999998169457189,
                    0.0004804920718163704,
                    -0.00036774433715771725,
                    3.2875615856203373
                ],
                [
                    -0.0003673588383560747,
                    -0.0008021421113629543,
                    -0.9999996108076827,
                    -3.210208801760956
                ],
                [
                    -0.000480786868031597,
                    0.9999995628476055,
                    -0.0008019654515180651,
                    -0.0030109667710273864
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 23
        },
        {
            "file_path": "images/frame_00024.png",
            "transform_matrix": [
                [
                    0.999959607315053,
                    -0.0022645789365869063,
                    0.008698012449105227,
                    3.2585754383306047
                ],
                [
                    0.008699931479993107,
                    0.0008389443431789448,
                    -0.999961802952809,
                    -3.1752500709897586
                ],
                [
                    0.002257195288017321,
                    0.9999970839230627,
                    0.0008586121375437445,
                    -0.007851699182405626
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 24
        },
        {
            "file_path": "images/frame_00025.png",
            "transform_matrix": [
                [
                    0.9999590448650318,
                    -0.005194105813314247,
                    0.007411467966153665,
                    3.220215340429746
                ],
                [
                    0.0074138120959887045,
                    0.00043219670332399126,
                    -0.9999724239178873,
                    -3.1227071800485207
                ],
                [
                    0.005190759368204074,
                    0.9999864171431577,
                    0.0004706871271562682,
                    -0.006283928108919757
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 25
        },
        {
            "file_path": "images/frame_00026.png",
            "transform_matrix": [
                [
                    0.9999677117337643,
                    -0.006489820860816475,
                    0.004738957177860694,
                    3.16517980567712
                ],
                [
                    0.004743062126763163,
                    0.0006172762223859941,
                    -0.9999885611004392,
                    -3.0745677791838864
                ],
                [
                    0.00648682137882268,
                    0.9999787503718565,
                    0.0006480379151414008,
                    -0.009249437435251142
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 26
        },
        {
            "file_path": "images/frame_00027.png",
            "transform_matrix": [
                [
                    0.9999671374550043,
                    -0.0072369821428491105,
                    0.003653778798529159,
                    3.0855681116827687
                ],
                [
                    0.003681311048008623,
                    0.0037947223303025812,
                    -0.9999860239180366,
                    -3.028533923066429
                ],
                [
                    0.007223015922196748,
                    0.9999666125285885,
                    0.003821239208385967,
                    -0.00909848863810356
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 27
        },
        {
            "file_path": "images/frame_00028.png",
            "transform_matrix": [
                [
                    0.9999585243576767,
                    -0.007890286162213584,
                    0.0045489502850797284,
                    3.0165234763986435
                ],
                [
                    0.004593472343814011,
                    0.005633727713082727,
                    -0.9999735802129381,
                    -2.979089024186079
                ],
                [
                    0.007864450155246833,
                    0.9999530011437203,
                    0.00566973786187806,
                    -0.007585413155152862
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 28
        },
        {
            "file_path": "images/frame_00029.png",
            "transform_matrix": [
                [
                    0.9999519512567737,
                    -0.009523017809938887,
                    -0.002325362243214494,
                    2.948322752295306
                ],
                [
                    -0.0022429129803842526,
                    0.00865943947935917,
                    -0.9999599909242698,
                    -2.911900418684471
                ],
                [
                    0.009542773136410854,
                    0.9999171596885887,
                    0.008637664103916805,
                    -0.00838612364289132
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 29
        },
        {
            "file_path": "images/frame_00030.png",
            "transform_matrix": [
                [
                    0.9999357783148656,
                    -0.008776344419535585,
                    -0.007170427077515552,
                    2.87248283447242
                ],
                [
                    -0.007074704538126115,
                    0.010889757126951135,
                    -0.9999156773175498,
                    -2.845035389031606
                ],
                [
                    0.008853688584002681,
                    0.9999021897007456,
                    0.010826967724704688,
                    -0.009905797944499422
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 30
        },
        {
            "file_path": "images/frame_00031.png",
            "transform_matrix": [
                [
                    0.9999327365383632,
                    -0.008423513568080935,
                    -0.007972880161446953,
                    2.7889675758526478
                ],
                [
                    -0.007877042916640301,
                    0.011349914686189256,
                    -0.9999045612614764,
                    -2.772623247826337
                ],
                [
                    0.008513201148207694,
                    0.9999001069385803,
                    0.011282798873753504,
                    -0.00758366840578303
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 31
        },
        {
            "file_path": "images/frame_00032.png",
            "transform_matrix": [
                [
                    0.9998229846844696,
                    -0.008884352695423748,
                    -0.016585161254024424,
                    2.7175491899680644
                ],
                [
                    -0.016498689363154333,
                    0.009719497920307883,
                    -0.9998166454953004,
                    -2.696091300858259
                ],
                [
                    0.009043923149652161,
                    0.9999132960598935,
                    0.009571197245002225,
                    -0.014627816564795167
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 32
        },
        {
            "file_path": "images/frame_00033.png",
            "transform_matrix": [
                [
                    0.9996969795440854,
                    -0.010192590050003397,
                    -0.02240669985752251,
                    2.6382507113524896
                ],
                [
                    -0.022283019718359175,
                    0.012090226881529696,
                    -0.9996785950725284,
                    -2.6157713898219392
                ],
                [
                    0.010460216186281417,
                    0.9998749609436299,
                    0.011859441610402567,
                    -0.007190126595712094
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 33
        },
        {
            "file_path": "images/frame_00034.png",
            "transform_matrix": [
                [
                    0.9997347583262587,
                    -0.009545384008719435,
                    -0.02095945224625955,
                    2.549446960368185
                ],
                [
                    -0.020877849000858602,
                    0.008569862909440592,
                    -0.9997453040003792,
                    -2.5388750128843487
                ],
                [
                    0.009722572470004982,
                    0.9999177181617693,
                    0.008368302738669503,
                    -0.013936471284905359
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 34
        },
        {
            "file_path": "images/frame_00035.png",
            "transform_matrix": [
                [
                    0.9998294951598936,
                    -0.009409369258978619,
                    -0.015888498307274915,
                    2.4727211760803853
                ],
                [
                    -0.015873333978958862,
                    0.0016841185163665156,
                    -0.9998725923902579,
                    -2.461006337180656
                ],
                [
                    0.009434928547928696,
                    0.9999543127138213,
                    0.0015344733052290462,
                    -0.0065411917564131864
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 35
        },
        {
            "file_path": "images/frame_00036.png",
            "transform_matrix": [
                [
                    0.999833209690529,
                    -0.010186526279039747,
                    -0.015158742767820728,
                    2.3994407458291676
                ],
                [
                    -0.015144130167211545,
                    0.0015101144234296012,
                    -0.9998841807309019,
                    -2.3789796781368335
                ],
                [
                    0.010208237919106201,
                    0.9999469757126099,
                    0.0013555964710560819,
                    -0.009459189886341743
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 36
        },
        {
            "file_path": "images/frame_00037.png",
            "transform_matrix": [
                [
                    0.9997981938127974,
                    -0.009842757194149595,
                    -0.01751261772223164,
                    2.319766505785553
                ],
                [
                    -0.017530322062609453,
                    -0.0017153230321075683,
                    -0.9998448607035377,
                    -2.3059937131827883
                ],
                [
                    0.009811190399191802,
                    0.999950087653235,
                    -0.0018875235729041465,
                    -0.007719215386772693
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 37
        },
        {
            "file_path": "images/frame_00038.png",
            "transform_matrix": [
                [
                    0.9997623459245447,
                    -0.009483913432137241,
                    -0.019629239859518522,
                    2.2352817413301262
                ],
                [
                    -0.019637701339089212,
                    -0.000799885924185887,
                    -0.9998068417792634,
                    -2.2277284425813613
                ],
                [
                    0.00946638038362697,
                    0.9999547067585212,
                    -0.0009859380875421925,
                    -0.0039995900724005135
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 38
        },
        {
            "file_path": "images/frame_00039.png",
            "transform_matrix": [
                [
                    0.9996373505988162,
                    -0.010030065825334696,
                    -0.02499129983251797,
                    2.1586845568027138
                ],
                [
                    -0.024990084136553018,
                    0.00024653570995307743,
                    -0.9996876686820697,
                    -2.148676541702479
                ],
                [
                    0.010033094369503405,
                    0.9999496672331478,
                    -4.205884944786753e-06,
                    -0.01218024530607903
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 39
        },
        {
            "file_path": "images/frame_00040.png",
            "transform_matrix": [
                [
                    0.9993613853605018,
                    -0.010446805275849685,
                    -0.03417141656219246,
                    2.0786911403243438
                ],
                [
                    -0.034197557629673365,
                    -0.002333943273790184,
                    -0.9994123672243406,
                    -2.06376192495409
                ],
                [
                    0.01036091224282745,
                    0.9999427068429088,
                    -0.002689708008914629,
                    -0.00409160897430232
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 40
        },
        {
            "file_path": "images/frame_00041.png",
            "transform_matrix": [
                [
                    0.9991254435344046,
                    -0.010520282422220011,
                    -0.040468157110697046,
                    1.9904142583639635
                ],
                [
                    -0.040481037731493086,
                    -0.0010142284755107747,
                    -0.9991797920918842,
                    -1.9812351114142015
                ],
                [
                    0.010470609646088582,
                    0.99994414593934,
                    -0.0014392134251197779,
                    -0.012186890138241787
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 41
        },
        {
            "file_path": "images/frame_00042.png",
            "transform_matrix": [
                [
                    0.999022593332018,
                    -0.010090269925412548,
                    -0.0430353861955659,
                    1.9120903861958256
                ],
                [
                    -0.043123530501278554,
                    -0.00868700178237794,
                    -0.9990319800272353,
                    -1.8970869677676192
                ],
                [
                    0.009706653866007957,
                    0.9999113572976684,
                    -0.009113639111805736,
                    -0.007999994685849176
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 42
        },
        {
            "file_path": "images/frame_00043.png",
            "transform_matrix": [
                [
                    0.9989286828453078,
                    -0.01033487505823602,
                    -0.04510739347899516,
                    1.838115798423427
                ],
                [
                    -0.045246894681983264,
                    -0.013687104945527832,
                    -0.9988820659516555,
                    -1.8021962311196902
                ],
                [
                    0.009705931721156807,
                    0.99985291594101,
                    -0.014140062718513079,
                    -0.007747297266649167
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 43
        },
        {
            "file_path": "images/frame_00044.png",
            "transform_matrix": [
                [
                    0.999040596923812,
                    -0.009096884602519631,
                    -0.04283844521737729,
                    1.7520865947935238
                ],
                [
                    -0.04291365600021699,
                    -0.008240007878211967,
                    -0.9990448039997315,
                    -1.7159933573674
                ],
                [
                    0.00873520616865086,
                    0.999924671643167,
                    -0.008622482965811997,
                    -0.011054871784056033
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 44
        },
        {
            "file_path": "images/frame_00045.png",
            "transform_matrix": [
                [
                    0.9988219267495724,
                    -0.008537927661580026,
                    -0.047768843774131896,
                    1.672936206839068
                ],
                [
                    -0.04782433129865532,
                    -0.00641732184672183,
                    -0.9988351472170731,
                    -1.6276458471924653
                ],
                [
                    0.008221434188038626,
                    0.9999429592589575,
                    -0.00681808245260618,
                    -0.004672012538847313
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 45
        },
        {
            "file_path": "images/frame_00046.png",
            "transform_matrix": [
                [
                    0.9981816852918569,
                    -0.009498789731666511,
                    -0.059523912350768864,
                    1.6014113943794948
                ],
                [
                    -0.05956256640206844,
                    -0.0038394750263579715,
                    -0.9982171903524408,
                    -1.529604503654585
                ],
                [
                    0.009253314622750862,
                    0.9999475143352053,
                    -0.00439826594657767,
                    -0.01429589423103923
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 46
        },
        {
            "file_path": "images/frame_00047.png",
            "transform_matrix": [
                [
                    0.9973275362759901,
                    -0.008968337646493253,
                    -0.07250761550018188,
                    1.5215748170595333
                ],
                [
                    -0.07253764040630367,
                    -0.0030687506935289334,
                    -0.9973609544660683,
                    -1.4445094091440855
                ],
                [
                    0.00872216199972817,
                    0.9999550748353844,
                    -0.00371109161986609,
                    -0.014529156557052962
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 47
        },
        {
            "file_path": "images/frame_00048.png",
            "transform_matrix": [
                [
                    0.9967663446782983,
                    -0.007522707283745625,
                    -0.0800016436817827,
                    1.4400969531842616
                ],
                [
                    -0.08001000547660203,
                    -0.0008167558693590834,
                    -0.9967937258698432,
                    -1.3621492494583014
                ],
                [
                    0.00743324560995754,
                    0.9999713704826619,
                    -0.0014160066133669606,
                    -0.009602912882364575
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 48
        },
        {
            "file_path": "images/frame_00049.png",
            "transform_matrix": [
                [
                    0.9957217517236536,
                    -0.0072054033827255275,
                    -0.09212098190136009,
                    1.3656396363802787
                ],
                [
                    -0.0921130699383667,
                    0.00142302569171611,
                    -0.9957475369512145,
                    -1.278310318915084
                ],
                [
                    0.007305853195080643,
                    0.999973028216248,
                    0.0007532258087761885,
                    -0.01817747596127651
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 49
        },
        {
            "file_path": "images/frame_00050.png",
            "transform_matrix": [
                [
                    0.9945333636699578,
                    -0.006654501779179555,
                    -0.10420703504749741,
                    1.2865389143505757
                ],
                [
                    -0.10418938543594003,
                    0.0029469915230385217,
                    -0.9945531092925326,
                    -1.1933981627019157
                ],
                [
                    0.006925352684201669,
                    0.9999735160728179,
                    0.002237552941359266,
                    -0.010841252430357972
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 50
        },
        {
            "file_path": "images/frame_00051.png",
            "transform_matrix": [
                [
                    0.9937838445465645,
                    -0.005633238346028996,
                    -0.11118424773314911,
                    1.203477404380513
                ],
                [
                    -0.11115377948670274,
                    0.005461252844528756,
                    -0.9937882128618702,
                    -1.1109175241233937
                ],
                [
                    0.0062054511577245616,
                    0.9999692201978543,
                    0.004801149114966104,
                    -0.016292753671455683
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 51
        },
        {
            "file_path": "images/frame_00052.png",
            "transform_matrix": [
                [
                    0.9925287477449973,
                    -0.004840162273275201,
                    -0.12191496105448185,
                    1.1273566614712587
                ],
                [
                    -0.12190585380502944,
                    0.002135135681339103,
                    -0.9925393715131351,
                    -1.0273636377313111
                ],
                [
                    0.005064356604174646,
                    0.9999860069144921,
                    0.0015291394295866559,
                    -0.015640035201563474
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 52
        },
        {
            "file_path": "images/frame_00053.png",
            "transform_matrix": [
                [
                    0.991033042320018,
                    -0.0055986766524515385,
                    -0.13349967733920112,
                    1.055609101853084
                ],
                [
                    -0.13348648327811313,
                    0.002669260140483368,
                    -0.9910470391622915,
                    -0.9403780594993956
                ],
                [
                    0.005904897287128067,
                    0.9999807647500245,
                    0.0018979773404197557,
                    -0.011403004833272917
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 53
        },
        {
            "file_path": "images/frame_00054.png",
            "transform_matrix": [
                [
                    0.9895600366313955,
                    -0.005014384426377805,
                    -0.14403398852665208,
                    0.9699994061139322
                ],
                [
                    -0.14401106737495356,
                    0.0046678742559780355,
                    -0.9895650678067901,
                    -0.864434917327287
                ],
                [
                    0.005634392211927259,
                    0.9999765331740316,
                    0.003897014966265362,
                    -0.017507548849468806
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 54
        },
        {
            "file_path": "images/frame_00055.png",
            "transform_matrix": [
                [
                    0.9880156401854928,
                    -0.004407733078123928,
                    -0.15429085079149257,
                    0.8823187385113991
                ],
                [
                    -0.154273482037677,
                    0.0040428546054605335,
                    -0.9880199127885072,
                    -0.7883597835008752
                ],
                [
                    0.004978703528145832,
                    0.9999821134479111,
                    0.0033144072513361304,
                    -0.008820850737798393
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 55
        },
        {
            "file_path": "images/frame_00056.png",
            "transform_matrix": [
                [
                    0.9854305148420015,
                    -0.005092422542989314,
                    -0.17000225778168723,
                    0.7968480109304794
                ],
                [
                    -0.16998987320630407,
                    0.0027765297623805183,
                    -0.9854418977746904,
                    -0.7062897155256815
                ],
                [
                    0.005490302863436745,
                    0.9999831789160868,
                    0.001870416890821097,
                    -0.017451085383235542
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 56
        },
        {
            "file_path": "images/frame_00057.png",
            "transform_matrix": [
                [
                    0.9833194271706108,
                    -0.0036797816745712773,
                    -0.18184983738153154,
                    0.704447280684227
                ],
                [
                    -0.1818195093720643,
                    0.007360382028589782,
                    -0.9833043734206083,
                    -0.6330609107345098
                ],
                [
                    0.004956829688803946,
                    0.9999661414184086,
                    0.006568550541442898,
                    -0.015944184032971574
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 57
        },
        {
            "file_path": "images/frame_00058.png",
            "transform_matrix": [
                [
                    0.9807655056180704,
                    -6.390124427184994e-05,
                    -0.19518969979576664,
                    0.6114580062454577
                ],
                [
                    -0.19515296704779245,
                    0.019081339599346107,
                    -0.980587182218663,
                    -0.5596963340213109
                ],
                [
                    0.0037871416891582395,
                    0.999817932623598,
                    0.0187018491626051,
                    -0.009086521525842578
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 58
        },
        {
            "file_path": "images/frame_00059.png",
            "transform_matrix": [
                [
                    0.9775103847574765,
                    0.0024655565602355765,
                    -0.21087287336719854,
                    0.5275236681205117
                ],
                [
                    -0.21085929218044555,
                    0.027719189241110272,
                    -0.9771233317493637,
                    -0.4751227078292845
                ],
                [
                    0.0034360722419281716,
                    0.9996127087920921,
                    0.027615680851365135,
                    -0.018384512394990532
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 59
        },
        {
            "file_path": "images/frame_00060.png",
            "transform_matrix": [
                [
                    0.9737593856347928,
                    0.0030286554664908987,
                    -0.2275598517625991,
                    0.4496897212196023
                ],
                [
                    -0.22755249382803722,
                    0.02850459811958833,
                    -0.9733485246501798,
                    -0.3918686862842027
                ],
                [
                    0.003538564792663364,
                    0.9995890731356091,
                    0.028445798057042927,
                    -0.014986901729886672
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 60
        },
        {
            "file_path": "images/frame_00061.png",
            "transform_matrix": [
                [
                    0.9708302092801313,
                    0.00468459496198603,
                    -0.2397222545345727,
                    0.36409795984308607
                ],
                [
                    -0.23973923414726522,
                    0.034458777207315584,
                    -0.9702255883472974,
                    -0.3164075749112316
                ],
                [
                    0.0037154218574805557,
                    0.9993951406943193,
                    0.03457670309619227,
                    -0.018516595027765096
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 61
        },
        {
            "file_path": "images/frame_00062.png",
            "transform_matrix": [
                [
                    0.9664257575773957,
                    0.005871730676780306,
                    -0.25687891674836977,
                    0.2940783359496608
                ],
                [
                    -0.25692496706830775,
                    0.03487929466277007,
                    -0.9658017374703654,
                    -0.24215183204167212
                ],
                [
                    0.0032888277403271137,
                    0.9993742830304804,
                    0.03521684297899853,
                    -0.015237455259289174
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 62
        },
        {
            "file_path": "images/frame_00063.png",
            "transform_matrix": [
                [
                    0.9614456924854765,
                    0.004947306918623803,
                    -0.27495036743997137,
                    0.2281117982948508
                ],
                [
                    -0.2749558073714088,
                    0.03414706250321275,
                    -0.9608502912083329,
                    -0.15847478027987272
                ],
                [
                    0.004635126088797333,
                    0.9994045738721905,
                    0.034190836922870595,
                    -0.011461622888643714
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 63
        },
        {
            "file_path": "images/frame_00064.png",
            "transform_matrix": [
                [
                    0.9575760356037364,
                    0.005945851460038677,
                    -0.28811938998937014,
                    0.15657382977103548
                ],
                [
                    -0.2881408319281089,
                    0.036391453429584726,
                    -0.9568962969376877,
                    -0.0813109351285194
                ],
                [
                    0.004795520118705971,
                    0.9993199232316432,
                    0.036560826291176254,
                    -0.01889152584381424
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 64
        },
        {
            "file_path": "images/frame_00065.png",
            "transform_matrix": [
                [
                    0.9559167399670246,
                    0.00576207033448714,
                    -0.2935813086629942,
                    0.08325175638332288
                ],
                [
                    -0.2935883665154581,
                    0.037108892927670285,
                    -0.9552113907991611,
                    -0.008404633082427025
                ],
                [
                    0.005390482130652324,
                    0.9992946155219405,
                    0.03716468876845322,
                    -0.00895999835488048
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 65
        },
        {
            "file_path": "images/frame_00066.png",
            "transform_matrix": [
                [
                    0.9533605921768834,
                    0.004122406819967608,
                    -0.3018055450884768,
                    0.0036933182502153425
                ],
                [
                    -0.301766675417108,
                    0.034088606858007686,
                    -0.9527721870889104,
                    0.07137448987266268
                ],
                [
                    0.006360416012157022,
                    0.9994103124565459,
                    0.03374273942141361,
                    -0.01741310261470853
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 66
        },
        {
            "file_path": "images/frame_00067.png",
            "transform_matrix": [
                [
                    0.9494526968312201,
                    0.002482234631937387,
                    -0.31390032652285516,
                    -0.08435503316858242
                ],
                [
                    -0.31381869489578174,
                    0.031640684740326996,
                    -0.9489555805215919,
                    0.140353547769476
                ],
                [
                    0.007576490865254423,
                    0.9994962258960236,
                    0.030820305088909605,
                    -0.0113819360839482
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 67
        },
        {
            "file_path": "images/frame_00068.png",
            "transform_matrix": [
                [
                    0.943849683701148,
                    0.004043772214950195,
                    -0.33035045403861124,
                    -0.18869056094806824
                ],
                [
                    -0.3302812978892546,
                    0.03538858876788621,
                    -0.9432189099300369,
                    0.20333397807475673
                ],
                [
                    0.00787647394666622,
                    0.999365446516584,
                    0.034737090650721655,
                    -0.011717137501082645
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 68
        },
        {
            "file_path": "images/frame_00069.png",
            "transform_matrix": [
                [
                    0.938027907260268,
                    0.006301195412718933,
                    -0.34650243886196924,
                    -0.28135365501241444
                ],
                [
                    -0.3464848673740795,
                    0.0378322593853085,
                    -0.9372923539806399,
                    0.27411492404704324
                ],
                [
                    0.007202907863388677,
                    0.9992642368693945,
                    0.03767098395500264,
                    -0.01614858164727135
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 69
        },
        {
            "file_path": "images/frame_00070.png",
            "transform_matrix": [
                [
                    0.9313138334766001,
                    0.007671721857147964,
                    -0.3641369086742875,
                    -0.37006299648374913
                ],
                [
                    -0.36415859604271444,
                    0.03762643826136229,
                    -0.9305765782953938,
                    0.34917505340378563
                ],
                [
                    0.006562050237457665,
                    0.999262425905983,
                    0.03783574591798913,
                    -0.006965159427585038
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 70
        },
        {
            "file_path": "images/frame_00071.png",
            "transform_matrix": [
                [
                    0.9254158850848152,
                    0.01032889147875508,
                    -0.37881229340335315,
                    -0.46839497255264667
                ],
                [
                    -0.37890838232449753,
                    0.040574054320401405,
                    -0.924544311496338,
                    0.41946630644103755
                ],
                [
                    0.0058204327090374776,
                    0.9991231456216121,
                    0.041461577951814016,
                    -0.01366033974151816
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 71
        },
        {
            "file_path": "images/frame_00072.png",
            "transform_matrix": [
                [
                    0.9206870525554808,
                    0.011815594428036438,
                    -0.39012272810618626,
                    -0.5512589723942348
                ],
                [
                    -0.3902579112988707,
                    0.042826577610826304,
                    -0.9197090012165733,
                    0.4876765326555357
                ],
                [
                    0.005840712742797373,
                    0.9990126505597695,
                    0.0440410047137903,
                    -0.0056684447648227415
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 72
        },
        {
            "file_path": "images/frame_00073.png",
            "transform_matrix": [
                [
                    0.9149775865418057,
                    0.01223173712342263,
                    -0.40331922931231046,
                    -0.628393055699946
                ],
                [
                    -0.4034588826492758,
                    0.04279017541499536,
                    -0.9139966799170287,
                    0.5720086700952244
                ],
                [
                    0.006078333450088352,
                    0.9990092019070183,
                    0.04408705442158871,
                    -0.00794780581333438
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 73
        },
        {
            "file_path": "images/frame_00074.png",
            "transform_matrix": [
                [
                    0.9120340865105869,
                    0.013445381377794299,
                    -0.4098939457498792,
                    -0.7134145851377283
                ],
                [
                    -0.41006465328663594,
                    0.04546442830550053,
                    -0.9109225905002933,
                    0.6523279022989967
                ],
                [
                    0.006387892274479322,
                    0.9988754714570078,
                    0.04697858399132507,
                    -0.012199637103857495
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 74
        },
        {
            "file_path": "images/frame_00075.png",
            "transform_matrix": [
                [
                    0.9106082554082481,
                    0.0147966924110784,
                    -0.4130056453319236,
                    -0.7964613938299651
                ],
                [
                    -0.41322320641314975,
                    0.04773717521785369,
                    -0.9093776683995793,
                    0.7317884662690208
                ],
                [
                    0.006259941212360551,
                    0.9987503291593508,
                    0.04958420252566255,
                    -0.0020005114621856044
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 75
        },
        {
            "file_path": "images/frame_00076.png",
            "transform_matrix": [
                [
                    0.9104457098854154,
                    0.01294504130772794,
                    -0.41342597312793883,
                    -0.8721545496958888
                ],
                [
                    -0.4135562583866818,
                    0.047179826843472786,
                    -0.9092553464721711,
                    0.8201254219053455
                ],
                [
                    0.007735017805415655,
                    0.9988025279526282,
                    0.048308173790661574,
                    -0.014122500236999836
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 76
        },
        {
            "file_path": "images/frame_00077.png",
            "transform_matrix": [
                [
                    0.9126365028376011,
                    0.00981533040452643,
                    -0.4086542217785145,
                    -0.9523705591744764
                ],
                [
                    -0.4086653004356151,
                    0.04475718565975664,
                    -0.9115862364865358,
                    0.8992095933316167
                ],
                [
                    0.009342692771450221,
                    0.9989496752193616,
                    0.04485822634601416,
                    -0.006150755447636549
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 77
        },
        {
            "file_path": "images/frame_00078.png",
            "transform_matrix": [
                [
                    0.9156214162307943,
                    0.007126992062492911,
                    -0.40197839260793067,
                    -1.0476557413428589
                ],
                [
                    -0.40190357862233234,
                    0.042419320804994304,
                    -0.9146989202535476,
                    0.9711335287139147
                ],
                [
                    0.010532598448493895,
                    0.9990744753053117,
                    0.04170440220574614,
                    -0.0076299408668778585
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 78
        },
        {
            "file_path": "images/frame_00079.png",
            "transform_matrix": [
                [
                    0.9155800686074774,
                    0.004566766258155953,
                    -0.40210978925496255,
                    -1.1368936596437738
                ],
                [
                    -0.4019820393596052,
                    0.0380356403850024,
                    -0.9148572184186972,
                    1.0436973636910627
                ],
                [
                    0.011116564263285939,
                    0.9992659479370075,
                    0.036660432246962,
                    -0.008610161171732795
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 79
        },
        {
            "file_path": "images/frame_00080.png",
            "transform_matrix": [
                [
                    0.9135607922209031,
                    0.003162344545831194,
                    -0.40668990458786797,
                    -1.2239083241960562
                ],
                [
                    -0.4065400885113917,
                    0.03533163317663726,
                    -0.9129495233200033,
                    1.1259406259879463
                ],
                [
                    0.011481957579849959,
                    0.9993706395897595,
                    0.033563214626872825,
                    7.136631003104586e-05
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 80
        },
        {
            "file_path": "images/frame_00081.png",
            "transform_matrix": [
                [
                    0.9136407464445973,
                    0.00329747590690224,
                    -0.4065091795873771,
                    -1.313402141934164
                ],
                [
                    -0.40637837557729034,
                    0.03403817245430516,
                    -0.9130706537169693,
                    1.1998657872485528
                ],
                [
                    0.010826001077122067,
                    0.9994150936766035,
                    0.03243868419131348,
                    -0.004312815317279242
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 81
        },
        {
            "file_path": "images/frame_00082.png",
            "transform_matrix": [
                [
                    0.9131331769006853,
                    0.004484649397738831,
                    -0.40763671223657116,
                    -1.3936057906008998
                ],
                [
                    -0.40754652634881444,
                    0.03377707216707138,
                    -0.9125595532658871,
                    1.2743674994052085
                ],
                [
                    0.009676264996207697,
                    0.9994193300690155,
                    0.03267066849826237,
                    0.0044133549936049435
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 82
        },
        {
            "file_path": "images/frame_00083.png",
            "transform_matrix": [
                [
                    0.9104619211597802,
                    0.004441580051615738,
                    -0.4135690540704023,
                    -1.4693975444492886
                ],
                [
                    -0.41347495946328794,
                    0.03365339806950242,
                    -0.9098933490773564,
                    1.3593789377862586
                ],
                [
                    0.009876639857498998,
                    0.9994236945185064,
                    0.03247661959170877,
                    -0.00131058493792572
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 83
        },
        {
            "file_path": "images/frame_00084.png",
            "transform_matrix": [
                [
                    0.9101312469341103,
                    0.0034490140768372356,
                    -0.414305705555764,
                    -1.5475982563431294
                ],
                [
                    -0.41420163304445606,
                    0.031481449579902517,
                    -0.9096405474228014,
                    1.4376770788895208
                ],
                [
                    0.009905581127196555,
                    0.999498385508574,
                    0.0300808382244693,
                    -0.0004791728527819294
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 84
        },
        {
            "file_path": "images/frame_00085.png",
            "transform_matrix": [
                [
                    0.9104806459548783,
                    0.002211196089785834,
                    -0.41354577008287763,
                    -1.631235760784547
                ],
                [
                    -0.4134423443019802,
                    0.027860105524699332,
                    -0.9101039734328358,
                    1.5136050400241714
                ],
                [
                    0.00950901044644878,
                    0.9996093862764621,
                    0.026280288969571748,
                    0.004094951746867278
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 85
        },
        {
            "file_path": "images/frame_00086.png",
            "transform_matrix": [
                [
                    0.9099896574352688,
                    0.00040398559431114873,
                    -0.414630751580827,
                    -1.7129229214782016
                ],
                [
                    -0.41451712555409836,
                    0.02431619598194148,
                    -0.9097165906123377,
                    1.5935958095430165
                ],
                [
                    0.009714730218065846,
                    0.9997042359661217,
                    0.02229494579905491,
                    -0.0029322977681786187
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 86
        },
        {
            "file_path": "images/frame_00087.png",
            "transform_matrix": [
                [
                    0.908049584311312,
                    -0.0020382448564017185,
                    -0.41885773001098947,
                    -1.792721018138834
                ],
                [
                    -0.41872447283068004,
                    0.021270032651969573,
                    -0.9078641977540768,
                    1.6734562188055886
                ],
                [
                    0.01075956712524712,
                    0.9997716895716189,
                    0.018460781304912344,
                    0.009240487094526668
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 87
        },
        {
            "file_path": "images/frame_00088.png",
            "transform_matrix": [
                [
                    0.9082721803237244,
                    -0.0026902325887444055,
                    -0.41837113798469194,
                    -1.8865476711708458
                ],
                [
                    -0.418224564054135,
                    0.021398838337622655,
                    -0.9080915723315182,
                    1.7466235017482672
                ],
                [
                    0.011395633888312044,
                    0.9997673991316274,
                    0.018310848201675577,
                    0.0029181015864996576
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 88
        },
        {
            "file_path": "images/frame_00089.png",
            "transform_matrix": [
                [
                    0.907393277305131,
                    -0.005221552145498641,
                    -0.4202501346753449,
                    -1.9666554555582203
                ],
                [
                    -0.42012680935532554,
                    0.01595168701526405,
                    -0.9073251940414092,
                    1.8192354452192303
                ],
                [
                    0.011441344430075556,
                    0.9998591296150467,
                    0.01228073951655535,
                    0.006997644804274016
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 89
        },
        {
            "file_path": "images/frame_00090.png",
            "transform_matrix": [
                [
                    0.9057772598918895,
                    -0.010207763683584352,
                    -0.42363115681370833,
                    -2.0484533153453057
                ],
                [
                    -0.42357083928926065,
                    0.007590126353642047,
                    -0.905831184098741,
                    1.903749847198879
                ],
                [
                    0.012461924672056935,
                    0.999919092498246,
                    0.002551252820112852,
                    0.011663607721297944
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 90
        },
        {
            "file_path": "images/frame_00091.png",
            "transform_matrix": [
                [
                    0.908056424502467,
                    -0.010049957997534449,
                    -0.4187272719372874,
                    -2.1401058642635755
                ],
                [
                    -0.4186831449628969,
                    0.006254448337398075,
                    -0.9081108445558683,
                    1.976793035890449
                ],
                [
                    0.01174538393468341,
                    0.9999299376557552,
                    0.0014716439733403546,
                    0.00764434086023875
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 91
        },
        {
            "file_path": "images/frame_00092.png",
            "transform_matrix": [
                [
                    0.9116691563649774,
                    -0.010353999915995013,
                    -0.4107945277368113,
                    -2.229577908490941
                ],
                [
                    -0.41078086173370004,
                    0.003511892638170355,
                    -0.911727344244658,
                    2.0431511390654493
                ],
                [
                    0.010882691123479121,
                    0.9999402288616241,
                    -0.001051540809197949,
                    0.022162866415462782
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 92
        },
        {
            "file_path": "images/frame_00093.png",
            "transform_matrix": [
                [
                    0.9091755944624809,
                    -0.012861216624204082,
                    -0.41621428079865297,
                    -2.3135891610583195
                ],
                [
                    -0.4162742546560793,
                    -0.00227663185236974,
                    -0.909236251948818,
                    2.1270034003400533
                ],
                [
                    0.01074631770981577,
                    0.99991469938908,
                    -0.007423651481961406,
                    0.011354240762519514
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 93
        },
        {
            "file_path": "images/frame_00094.png",
            "transform_matrix": [
                [
                    0.9062860368882489,
                    -0.01191116551170492,
                    -0.4224970336908225,
                    -2.398864306184784
                ],
                [
                    -0.42255106978618573,
                    -0.002335421972638513,
                    -0.906336107206791,
                    2.2069305061365037
                ],
                [
                    0.009808810526318277,
                    0.9999263322567131,
                    -0.00714963605341553,
                    0.017059479274362577
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 94
        },
        {
            "file_path": "images/frame_00095.png",
            "transform_matrix": [
                [
                    0.9083558375653896,
                    -0.011066875039611129,
                    -0.4180516674260933,
                    -2.4782894219351186
                ],
                [
                    -0.41810371917430517,
                    -0.002792906360223144,
                    -0.9083950020154649,
                    2.2836541707926754
                ],
                [
                    0.008885514813056224,
                    0.999934859853841,
                    -0.007164054409780896,
                    0.02072766420587663
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 95
        },
        {
            "file_path": "images/frame_00096.png",
            "transform_matrix": [
                [
                    0.9076725469046698,
                    -0.011342179353883675,
                    -0.4195258067903507,
                    -2.5408915342712177
                ],
                [
                    -0.41960786185314397,
                    -0.006108645649758044,
                    -0.9076849270090138,
                    2.3715641485989947
                ],
                [
                    0.007732390744341935,
                    0.999917016264765,
                    -0.010303917582492017,
                    0.01321674709940565
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 96
        },
        {
            "file_path": "images/frame_00097.png",
            "transform_matrix": [
                [
                    0.9055261820685632,
                    -0.009688654107217245,
                    -0.424179753842545,
                    -2.6130569876966288
                ],
                [
                    -0.4242292243924565,
                    -0.0036999761887639014,
                    -0.9055472794656154,
                    2.4669734696729475
                ],
                [
                    0.007204079379500785,
                    0.9999462186326791,
                    -0.00746063552926753,
                    0.02494925726045646
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 97
        },
        {
            "file_path": "images/frame_00098.png",
            "transform_matrix": [
                [
                    0.9034415197657069,
                    -0.005592226875852927,
                    -0.4286748737236638,
                    -2.6884672467654673
                ],
                [
                    -0.42867829826423093,
                    0.0006319726218375491,
                    -0.9034569813820071,
                    2.557333170275341
                ],
                [
                    0.0053232471963244425,
                    0.9999841636791925,
                    -0.0018263159947248962,
                    0.016570182492873963
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 98
        },
        {
            "file_path": "images/frame_00099.png",
            "transform_matrix": [
                [
                    0.9000381532757595,
                    -0.0036849693295619174,
                    -0.43579552963402474,
                    -2.752589671952715
                ],
                [
                    -0.4357901549120517,
                    0.002195856858698676,
                    -0.9000456205628613,
                    2.6496493840739253
                ],
                [
                    0.004273585109717763,
                    0.9999907995645243,
                    0.00037048159698511974,
                    0.024234844586882975
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 99
        },
        {
            "file_path": "images/frame_00100.png",
            "transform_matrix": [
                [
                    0.8946416418049398,
                    -0.003454888125192976,
                    -0.4467710784021323,
                    -2.81534496512983
                ],
                [
                    -0.44676031085457657,
                    0.003474013901537301,
                    -0.8946469448181971,
                    2.7491301777814097
                ],
                [
                    0.004642994043066382,
                    0.9999879974156962,
                    0.0015644906077455162,
                    0.023581511765088502
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 100
        },
        {
            "file_path": "images/frame_00101.png",
            "transform_matrix": [
                [
                    0.8911535014845731,
                    -0.0008877787628599021,
                    -0.45370105646852205,
                    -2.8874284445162917
                ],
                [
                    -0.4536877608869224,
                    0.006158001048377182,
                    -0.8911394361403265,
                    2.8436444234904092
                ],
                [
                    0.003585026247535324,
                    0.9999806452486751,
                    0.005084949837322128,
                    0.0189277177061789
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 101
        },
        {
            "file_path": "images/frame_00102.png",
            "transform_matrix": [
                [
                    0.8892732254631792,
                    0.0014955299472248643,
                    -0.4573739103452342,
                    -2.95842367429345
                ],
                [
                    -0.45736752325925173,
                    0.009122196570213594,
                    -0.8892309791035355,
                    2.9309687491568237
                ],
                [
                    0.0028423831570070527,
                    0.9999572735471808,
                    0.008796131995225274,
                    0.028728388453434738
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 102
        },
        {
            "file_path": "images/frame_00103.png",
            "transform_matrix": [
                [
                    0.8854410124494363,
                    0.0006309165687152665,
                    -0.464751347945114,
                    -3.0212823856452595
                ],
                [
                    -0.46474033528737796,
                    0.008218665272236627,
                    -0.8854088740791558,
                    3.0261076561670968
                ],
                [
                    0.0032610166348376025,
                    0.9999660271656363,
                    0.007570355677315315,
                    0.018949367277587725
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 103
        },
        {
            "file_path": "images/frame_00104.png",
            "transform_matrix": [
                [
                    0.8820833955573707,
                    0.0007445701914356464,
                    -0.4710926967139366,
                    -3.0853283917331598
                ],
                [
                    -0.471077722027671,
                    0.009522504905598769,
                    -0.8820403061706098,
                    3.1168766412840814
                ],
                [
                    0.003829241595830808,
                    0.9999543827173083,
                    0.008750393891013493,
                    0.025539017420768906
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 104
        },
        {
            "file_path": "images/frame_00105.png",
            "transform_matrix": [
                [
                    0.8783876942940727,
                    0.00366959067924465,
                    -0.47793471585247854,
                    -3.157066971557975
                ],
                [
                    -0.4779358300573847,
                    0.014111589902091862,
                    -0.8782813930499687,
                    3.2019625866323356
                ],
                [
                    0.003521485496392807,
                    0.999893692916743,
                    0.014149275784177625,
                    0.026769222420281246
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 105
        },
        {
            "file_path": "images/frame_00106.png",
            "transform_matrix": [
                [
                    0.873916167803122,
                    0.00412030573552865,
                    -0.4860592090815181,
                    -3.2181285029864366
                ],
                [
                    -0.4860685653158685,
                    0.013183178240570144,
                    -0.8738212366515536,
                    3.2873255715343364
                ],
                [
                    0.0028073945355900696,
                    0.9999046088963303,
                    0.01352374370499572,
                    0.022392513196677462
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 106
        },
        {
            "file_path": "images/frame_00107.png",
            "transform_matrix": [
                [
                    0.8649550619381211,
                    0.00531646822328809,
                    -0.5018211593717941,
                    -3.2743740907929815
                ],
                [
                    -0.5018440425296367,
                    0.013749196085563475,
                    -0.8648488403093992,
                    3.3726503001440507
                ],
                [
                    0.002301696142635119,
                    0.999891341482979,
                    0.014560474656943179,
                    0.03123318087720634
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 107
        },
        {
            "file_path": "images/frame_00108.png",
            "transform_matrix": [
                [
                    0.8618222215231908,
                    0.00801826744089382,
                    -0.5071470850513476,
                    -3.350783705611456
                ],
                [
                    -0.5072097659901578,
                    0.015287288009065328,
                    -0.8616870383785156,
                    3.4554091580560953
                ],
                [
                    0.0008436664280672269,
                    0.9998509920045957,
                    0.01724186806537977,
                    0.022686132587183997
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 108
        },
        {
            "file_path": "images/frame_00109.png",
            "transform_matrix": [
                [
                    0.8689089339132817,
                    0.011129432318226523,
                    -0.4948468452985815,
                    -3.3966498744730136
                ],
                [
                    -0.49496922000419913,
                    0.016196467581112158,
                    -0.8687595442274743,
                    3.533030194392414
                ],
                [
                    -0.001654029660798898,
                    0.9998068864406605,
                    0.0195819818127073,
                    0.03294223202697505
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 109
        },
        {
            "file_path": "images/frame_00110.png",
            "transform_matrix": [
                [
                    0.8756560610908879,
                    0.014198795325433404,
                    -0.48272648247853317,
                    -3.4193003616147672
                ],
                [
                    -0.4829309769196126,
                    0.02153654152137349,
                    -0.8753935394499817,
                    3.626772401007556
                ],
                [
                    -0.0020332747624914973,
                    0.9996672304275083,
                    0.02571564121571945,
                    0.027716497788161407
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 110
        },
        {
            "file_path": "images/frame_00111.png",
            "transform_matrix": [
                [
                    0.8815332211064598,
                    0.014950465023731811,
                    -0.4718852229952147,
                    -3.440550854762002
                ],
                [
                    -0.4721109775862431,
                    0.02108559789524028,
                    -0.8812869126476133,
                    3.7211868112660995
                ],
                [
                    -0.0032256670986278418,
                    0.9996658847619909,
                    0.02564593368926972,
                    0.032781012107311304
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 111
        },
        {
            "file_path": "images/frame_00112.png",
            "transform_matrix": [
                [
                    0.8906887729143659,
                    0.017315202010396727,
                    -0.4542837148563002,
                    -3.4500166648085093
                ],
                [
                    -0.4546025349441637,
                    0.02695694190745484,
                    -0.8902863912839164,
                    3.828482246530182
                ],
                [
                    -0.0031693890013040457,
                    0.9994866217525562,
                    0.031881780236071425,
                    0.028323459942813108
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 112
        },
        {
            "file_path": "images/frame_00113.png",
            "transform_matrix": [
                [
                    0.8973872234252079,
                    0.018070279503717854,
                    -0.44087371914398954,
                    -3.438894626979823
                ],
                [
                    -0.4412258390750466,
                    0.02771134512515217,
                    -0.896968137830924,
                    3.936225193243971
                ],
                [
                    -0.003991261168725618,
                    0.9994526233644154,
                    0.03284088129558651,
                    0.02570982183181288
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 113
        },
        {
            "file_path": "images/frame_00114.png",
            "transform_matrix": [
                [
                    0.8978149640174982,
                    0.01766801199921283,
                    -0.4400183311388904,
                    -3.4109744264101876
                ],
                [
                    -0.4403606410799964,
                    0.02856455608620008,
                    -0.8973664646749471,
                    4.055043496332986
                ],
                [
                    -0.003285753166795167,
                    0.999435794579919,
                    0.03342598298528996,
                    0.02179570852165264
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 114
        },
        {
            "file_path": "images/frame_00115.png",
            "transform_matrix": [
                [
                    0.9018617535662194,
                    0.01864750348327411,
                    -0.4316221125803277,
                    -3.3881968904775555
                ],
                [
                    -0.43201490650331215,
                    0.032184890236883194,
                    -0.9012919911989533,
                    4.1687925303933175
                ],
                [
                    -0.0029151352281200486,
                    0.99930796226903,
                    0.03708232102121863,
                    0.013731724237059723
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 115
        },
        {
            "file_path": "images/frame_00116.png",
            "transform_matrix": [
                [
                    0.9068724752238813,
                    0.02186820013978214,
                    -0.4208373741767209,
                    -3.3574211753838212
                ],
                [
                    -0.4213862749771102,
                    0.03760288601317827,
                    -0.906101335516285,
                    4.282226184385632
                ],
                [
                    -0.0039901055407415235,
                    0.9990534544187943,
                    0.043315981711689155,
                    0.022903988280850846
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 116
        },
        {
            "file_path": "images/frame_00117.png",
            "transform_matrix": [
                [
                    0.9060670631619969,
                    0.02357589124743715,
                    -0.42247680931014786,
                    -3.3199320238220777
                ],
                [
                    -0.42312614238792284,
                    0.04435453817772004,
                    -0.904984498525227,
                    4.3990564116542155
                ],
                [
                    -0.0025970523500988964,
                    0.9987376293576458,
                    0.05016376206147875,
                    0.015461964652193768
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 117
        },
        {
            "file_path": "images/frame_00118.png",
            "transform_matrix": [
                [
                    0.902328709171839,
                    0.02741731724144224,
                    -0.4301757679362759,
                    -3.299717022925001
                ],
                [
                    -0.43104216422451025,
                    0.05193682943580579,
                    -0.9008358443183786,
                    4.508400835415235
                ],
                [
                    -0.002356536639416316,
                    0.9982739385877195,
                    0.058682112024269865,
                    0.016983604104448116
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 118
        },
        {
            "file_path": "images/frame_00119.png",
            "transform_matrix": [
                [
                    0.8968146845724289,
                    0.03213817337400178,
                    -0.4412375316622981,
                    -3.2801134958333042
                ],
                [
                    -0.4423948275357925,
                    0.05793311766114938,
                    -0.8949472445053036,
                    4.626354335378315
                ],
                [
                    -0.0031997038661895683,
                    0.9978030325120494,
                    0.06617303230868801,
                    0.022822272123086098
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 119
        },
        {
            "file_path": "images/frame_00120.png",
            "transform_matrix": [
                [
                    0.8879812941139249,
                    0.035193883299544135,
                    -0.4585309279449502,
                    -3.257526207248607
                ],
                [
                    -0.4598707689508553,
                    0.06178509760913192,
                    -0.8858337753653216,
                    4.739070635231837
                ],
                [
                    -0.002845552373117131,
                    0.9974687926405157,
                    0.07104864910724018,
                    0.022358495148965925
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 120
        },
        {
            "file_path": "images/frame_00121.png",
            "transform_matrix": [
                [
                    0.8711277145540935,
                    0.04093827116361382,
                    -0.489347078145866,
                    -3.2384193989604912
                ],
                [
                    -0.4910442483680725,
                    0.06557735878425044,
                    -0.8686628552893905,
                    4.847913418499094
                ],
                [
                    -0.0034714666060000126,
                    0.9970073560255289,
                    0.07722875727724297,
                    0.037653062522022586
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 121
        },
        {
            "file_path": "images/frame_00122.png",
            "transform_matrix": [
                [
                    0.8441034507126209,
                    0.04481953994019386,
                    -0.5343038211865934,
                    -3.24389702591725
                ],
                [
                    -0.536164605817266,
                    0.06292113005800265,
                    -0.8417650781904886,
                    4.9574973677115235
                ],
                [
                    -0.004108523318849573,
                    0.9970116048631397,
                    0.0771425939696429,
                    0.034329438793756384
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 122
        },
        {
            "file_path": "images/frame_00123.png",
            "transform_matrix": [
                [
                    0.8218222022479668,
                    0.046902859061925775,
                    -0.5678101704831632,
                    -3.245532659080963
                ],
                [
                    -0.56971493585726,
                    0.05757837745928873,
                    -0.8198229213130808,
                    5.059410297959468
                ],
                [
                    -0.005758450612781021,
                    0.9972386135027929,
                    0.07404044830744452,
                    0.03996900429942319
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 123
        },
        {
            "file_path": "images/frame_00124.png",
            "transform_matrix": [
                [
                    0.7992773582125831,
                    0.05137005622619647,
                    -0.5987627426385442,
                    -3.226266598725925
                ],
                [
                    -0.6009190037371163,
                    0.05635530503805509,
                    -0.7973207827102333,
                    5.151046794986916
                ],
                [
                    -0.0072149564313220525,
                    0.9970883596338816,
                    0.07591276234144656,
                    0.04482107033506844
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 124
        },
        {
            "file_path": "images/frame_00125.png",
            "transform_matrix": [
                [
                    0.7778988990638713,
                    0.051375285749,
                    -0.6262857836877869,
                    -3.2276724177574563
                ],
                [
                    -0.628342961773848,
                    0.051470900230892576,
                    -0.7762318396063705,
                    5.249109770232152
                ],
                [
                    -0.007643639479028773,
                    0.9973521576873587,
                    0.07232045583294214,
                    0.048850463836429284
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 125
        },
        {
            "file_path": "images/frame_00126.png",
            "transform_matrix": [
                [
                    0.7598714120636852,
                    0.050730884661224364,
                    -0.648090899851117,
                    -3.2319059574795412
                ],
                [
                    -0.6500336505135486,
                    0.048269807915344784,
                    -0.758370805637879,
                    5.339802084386837
                ],
                [
                    -0.007189598623758655,
                    0.9975451884427617,
                    0.06965562925079337,
                    0.05026342684429777
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 126
        },
        {
            "file_path": "images/frame_00127.png",
            "transform_matrix": [
                [
                    0.7365870595045961,
                    0.04941141357636582,
                    -0.674535407505609,
                    -3.2310405016582258
                ],
                [
                    -0.6763025307114052,
                    0.04293436320499176,
                    -0.735371693369775,
                    5.433834447524029
                ],
                [
                    -0.007375006692973495,
                    0.9978552764126505,
                    0.0650419603925913,
                    0.04771891845844786
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 127
        },
        {
            "file_path": "images/frame_00128.png",
            "transform_matrix": [
                [
                    0.708946355090432,
                    0.050912182948542266,
                    -0.703422359064172,
                    -3.2200318412652944
                ],
                [
                    -0.7052280998825025,
                    0.04133767927404028,
                    -0.7077743449775156,
                    5.5339402900435966
                ],
                [
                    -0.006956489064596404,
                    0.9978472557960214,
                    0.06521089909089896,
                    0.05649965708511542
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 128
        },
        {
            "file_path": "images/frame_00129.png",
            "transform_matrix": [
                [
                    0.6788552715489519,
                    0.05412407247972176,
                    -0.7322746104218065,
                    -3.217142604504919
                ],
                [
                    -0.734234627131011,
                    0.039961099598171484,
                    -0.6777186900482307,
                    5.6305089594356525
                ],
                [
                    -0.00741839686075447,
                    0.9977342809070535,
                    0.06686757129507175,
                    0.05164995129316959
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 129
        }
    ],
    "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"
}