diff --git "a/others/joint_calib/greenhead/cameras.json" "b/others/joint_calib/greenhead/cameras.json" new file mode 100644--- /dev/null +++ "b/others/joint_calib/greenhead/cameras.json" @@ -0,0 +1,5185 @@ +{ + "0000": { + "K": [ + [ + 5635.292895052098, + 0.0, + 762.7173556800291 + ], + [ + 0.0, + 5635.292895052098, + 1189.252972514003 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.27343671497210686, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5734.0231495249145, + 0.0, + 763.0881517518211 + ], + [ + 0.0, + 5735.46330836147, + 1189.4856518108081 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.27474010408804844, + -0.04428818296699938, + 0.9604980125201559, + -4.912791734068513 + ], + [ + -0.11162141176121776, + 0.9936537422477134, + 0.013888878772144812, + 0.0830510329957426 + ], + [ + -0.9550175577664112, + -0.10339631215181827, + -0.2779400420797312, + 1.940067953922311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0001": { + "K": [ + [ + 5850.134366792591, + 0.0, + 758.202679781425 + ], + [ + 0.0, + 5850.134366792591, + 1310.2538620259043 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.15641795780368745, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5911.949074732849, + 0.0, + 758.4311021578857 + ], + [ + 0.0, + 5907.341480060185, + 1308.877005845182 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.09253558690348129, + -0.35281664909416327, + 0.9311055672040599, + -4.899180041403666 + ], + [ + -0.12216428583962492, + 0.9240300697316917, + 0.36227657597054147, + -1.07559924934861 + ], + [ + -0.9881867497703672, + -0.1472713222376006, + 0.04240407085016881, + 0.6651642943960372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0002": { + "K": [ + [ + 5596.620393160959, + 0.0, + 822.6303661080395 + ], + [ + 0.0, + 5596.620393160959, + 1195.665383640915 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.28240751517067536, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5698.293591274358, + 0.0, + 822.3866703084465 + ], + [ + 0.0, + 5699.5515205223455, + 1195.756295209848 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.5963121648786284, + -0.22059885499560847, + 0.7718471009159716, + -4.123700339502765 + ], + [ + -0.11293413580738831, + 0.9288844471390378, + 0.3527315761774698, + -1.0967130114906716 + ], + [ + -0.7947689494357476, + -0.2975060151288211, + 0.5289919545465392, + -1.1220915662881885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0003": { + "K": [ + [ + 5589.787725288825, + 0.0, + 815.1800337764371 + ], + [ + 0.0, + 5589.787725288825, + 1181.3662784850164 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.29982896985139695, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5699.30528777499, + 0.0, + 815.0053377454051 + ], + [ + 0.0, + 5698.395874562816, + 1181.8214726462516 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8580463346560145, + -0.1662076389541373, + 0.48593364602244804, + -2.91371063748958 + ], + [ + -0.07784514108567375, + 0.8931599214788135, + 0.4429508874280659, + -1.5525015978248728 + ], + [ + -0.507638278297382, + -0.4178999586231741, + 0.7534341397826482, + -2.070500067797418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0004": { + "K": [ + [ + 6518.487452304929, + 0.0, + 694.001261512957 + ], + [ + 0.0, + 6518.487452304929, + 1195.6435826057616 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.7639641752940198, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6750.127894058566, + 0.0, + 696.0130426646598 + ], + [ + 0.0, + 6764.230783251785, + 1195.8100462174323 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8645118904637183, + 0.11182863939273971, + 0.4900138229258606, + -3.237656003417761 + ], + [ + -0.07592227161346733, + 0.9928022135054307, + -0.09262598734571073, + 0.6645517773522873 + ], + [ + -0.4968450461863325, + 0.04287330486777818, + 0.8667796027882841, + -2.966467130552753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0005": { + "K": [ + [ + 5653.781722158004, + 0.0, + 802.5556934413771 + ], + [ + 0.0, + 5653.781722158004, + 1213.1426101713582 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.31079879508184777, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5765.375415609145, + 0.0, + 802.5212099213453 + ], + [ + 0.0, + 5763.974335654318, + 1212.7956841979471 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9715470785512984, + -0.054144727148866194, + 0.23057454907342143, + -1.9599748205558702 + ], + [ + -0.00527354355812059, + 0.9683322387077534, + 0.2496094253380084, + -0.7025242985896162 + ], + [ + -0.23678780352200873, + -0.24372325289394325, + 0.9404948230064947, + -2.8371089706773094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0006": { + "K": [ + [ + 5715.495531284208, + 0.0, + 803.5489532290793 + ], + [ + 0.0, + 5715.495531284208, + 1196.060290423829 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3036222626646446, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5822.29721858026, + 0.0, + 803.5050540786796 + ], + [ + 0.0, + 5822.208955798031, + 1196.1442438226024 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.999990064925971, + -0.0014007841042023993, + 0.0042317671539955975, + -1.0280583900719464 + ], + [ + 0.0013961464682931961, + 0.9999984218534611, + 0.0010986653839744928, + 0.26964622094771273 + ], + [ + -0.004233299468652618, + -0.0010927463018858795, + 0.9999904424948912, + -3.1289738167908876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0007": { + "K": [ + [ + 5631.0969631100725, + 0.0, + 802.8548128320944 + ], + [ + 0.0, + 5631.0969631100725, + 1194.9807337079505 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3413520563212365, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5752.438195509184, + 0.0, + 802.8132579391373 + ], + [ + 0.0, + 5752.133751322845, + 1195.1067711041346 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9706719385827607, + 0.14886622444609357, + 0.1887719122834496, + -1.7725025388345816 + ], + [ + -0.0696221455743827, + 0.9256344507204576, + -0.3719591650773727, + 1.8833127671151528 + ], + [ + -0.23010594189113104, + 0.34790761828192557, + 0.9088517726493102, + -2.610140187464018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0008": { + "K": [ + [ + 5647.444677115565, + 0.0, + 762.8925816668393 + ], + [ + 0.0, + 5647.444677115565, + 1188.4585216495125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.1564204195628131, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5704.681239702278, + 0.0, + 763.11044263656 + ], + [ + 0.0, + 5705.469976224291, + 1188.6066199154125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9859466779324493, + 0.10121705991333624, + -0.1329069413404252, + -0.6083043284764641 + ], + [ + -0.03485858726771431, + 0.9026948189576047, + 0.4288670455057096, + -1.4386657875111089 + ], + [ + 0.16338306879131098, + -0.4182070905778587, + 0.8935372416540547, + -2.7225877555388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0009": { + "K": [ + [ + 5603.918052038188, + 0.0, + 818.8385513124908 + ], + [ + 0.0, + 5603.918052038188, + 1223.3744564977799 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.29035911561858946, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5710.544580268436, + 0.0, + 818.6304260407401 + ], + [ + 0.0, + 5709.292556428649, + 1222.795355925348 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9442171658124927, + -0.20823780582136403, + -0.2551293005746845, + -0.09648627200095097 + ], + [ + 0.08344566860900944, + 0.9007080551810531, + -0.4263353371729351, + 2.010251044923297 + ], + [ + 0.31857615129732986, + 0.38126370868293874, + 0.867840550023973, + -2.534429706681806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0010": { + "K": [ + [ + 5606.314154010034, + 0.0, + 851.2567837049835 + ], + [ + 0.0, + 5606.314154010034, + 1185.6153240053045 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.23680783928333612, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5693.127063393382, + 0.0, + 850.7966547473769 + ], + [ + 0.0, + 5694.898615565135, + 1185.8938241102696 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.6692327770171931, + 0.28540365059956324, + -0.6860555709199496, + 1.6066456111946334 + ], + [ + 0.08559968378547594, + 0.887534028600497, + 0.452720711048212, + -1.5158794672635316 + ], + [ + 0.7381058083375865, + -0.36170167859800506, + 0.5695364004150245, + -1.3782626809989273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0011": { + "K": [ + [ + 5575.157692059121, + 0.0, + 809.9724587947828 + ], + [ + 0.0, + 5575.157692059121, + 1198.3949487727673 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.30003108166134257, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5682.939182017533, + 0.0, + 809.8549198473864 + ], + [ + 0.0, + 5683.631873087541, + 1198.4228542603278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.7766230565982654, + -0.03546014891520425, + -0.6289667763871784, + 1.4065499357170397 + ], + [ + 0.05196442866013995, + 0.9986179798853442, + 0.007863103950726355, + 0.33742262347469687 + ], + [ + 0.6278187048137326, + -0.03879056700573273, + 0.777392414291123, + -2.172804774290196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0012": { + "K": [ + [ + 5547.5125824548695, + 0.0, + 804.7115561682887 + ], + [ + 0.0, + 5547.5125824548695, + 1186.4527912505403 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.29149986588018856, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5654.216837794598, + 0.0, + 804.6541251322587 + ], + [ + 0.0, + 5653.109782387793, + 1186.7767200632634 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.5246050222993733, + 0.3155300048719649, + -0.7907151108988444, + 1.97897229501401 + ], + [ + 0.08873791082225149, + 0.9034573714529693, + 0.41939284823443707, + -1.3794222841562618 + ], + [ + 0.8467084231074925, + -0.2901820014969729, + 0.44595880106354524, + -0.8984491859204351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0013": { + "K": [ + [ + 5599.495441535941, + 0.0, + 783.0074691615363 + ], + [ + 0.0, + 5599.495441535941, + 1210.8907964251955 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.30467991977849124, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5709.718941589917, + 0.0, + 783.1934542726474 + ], + [ + 0.0, + 5709.65642060924, + 1210.6015479819123 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.40911329119821827, + -0.1092430196193771, + -0.9059206795461743, + 2.4727214641730044 + ], + [ + 0.09745380922305129, + 0.9923602421824349, + -0.07565649214400827, + 0.5237237715625721 + ], + [ + 0.9072646086081386, + -0.05733334457416251, + 0.41663391312645365, + -0.818775659410454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0014": { + "K": [ + [ + 5610.371462330061, + 0.0, + 820.8052872200856 + ], + [ + 0.0, + 5610.371462330061, + 1177.137795260506 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.34888833832031535, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5737.241630251913, + 0.0, + 820.5351137279675 + ], + [ + 0.0, + 5736.128586691282, + 1177.7769465130157 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.12175371267151723, + -0.529012794948815, + -0.8398342075857262, + 2.230613300890325 + ], + [ + 0.03875768449794115, + 0.8480177169146439, + -0.5285487618860091, + 2.3924155221915844 + ], + [ + 0.9918033450957202, + 0.03180274483936937, + 0.12375261644758184, + 0.41811247235074883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0015": { + "K": [ + [ + 5602.857400628382, + 0.0, + 810.3168303286554 + ], + [ + 0.0, + 5602.857400628382, + 1185.5092028808583 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3889001584499369, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5742.421120888951, + 0.0, + 810.1651099061216 + ], + [ + 0.0, + 5741.403898774835, + 1185.9513315026784 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.1282231351290992, + 0.28855628119956417, + -0.948838289803875, + 2.7224257630847633 + ], + [ + 0.13352164724269622, + 0.9530480720808676, + 0.2717928292294302, + -0.8092046517342318 + ], + [ + 0.9827160308732434, + -0.09184032275215077, + -0.16073132171894505, + 1.5255201176914233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0016": { + "K": [ + [ + 5793.228162702993, + 0.0, + 801.9045005639484 + ], + [ + 0.0, + 5793.228162702993, + 1230.8461571841822 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.37533313863472634, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5926.584768905966, + 0.0, + 801.8737753269197 + ], + [ + 0.0, + 5922.45808814598, + 1229.9419916082704 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.4783947682437842, + 0.10674357021173231, + -0.8716330970858263, + 2.5253243311849123 + ], + [ + 0.13415637482397424, + 0.9898170080776985, + 0.04758526677662767, + 0.09992097020966886 + ], + [ + 0.8678366855642053, + -0.09417059381020419, + -0.4878436085984608, + 2.777165437535264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0017": { + "K": [ + [ + 5668.817869412389, + 0.0, + 836.8825979585696 + ], + [ + 0.0, + 5668.817869412389, + 1184.707859025029 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.31956924327281166, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5783.516753459939, + 0.0, + 836.4530237226635 + ], + [ + 0.0, + 5784.661961624234, + 1185.0908371532873 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.23252979916330016, + -0.14916309929649887, + -0.9610828592318864, + 2.77442577887088 + ], + [ + 0.12366377761583908, + 0.975614507110832, + -0.1813383677567118, + 1.0196810008136317 + ], + [ + 0.9646953729581454, + -0.16101771120951563, + -0.20841337305939228, + 1.72729911075503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0018": { + "K": [ + [ + 5649.89923136481, + 0.0, + 766.4053210248272 + ], + [ + 0.0, + 5649.89923136481, + 1190.797852367826 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.27851410565673806, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5749.951714925741, + 0.0, + 766.7432016464728 + ], + [ + 0.0, + 5751.33358651394, + 1190.9979142999052 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.4773185307062187, + -0.4390675991301976, + -0.7611745290263596, + 1.9030100849540843 + ], + [ + 0.13617491195548304, + 0.8187970136880806, + -0.5576987033599755, + 2.5632363855422784 + ], + [ + 0.868114861984503, + -0.3698528001374677, + -0.3310369958661742, + 2.0472544337155947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0019": { + "K": [ + [ + 5615.349956703516, + 0.0, + 771.4340613590755 + ], + [ + 0.0, + 5615.349956703516, + 1159.8491323197738 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.36493603834096067, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5750.26960450212, + 0.0, + 771.8030093876582 + ], + [ + 0.0, + 5747.372689155223, + 1161.0255651310347 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.6928799608303289, + -0.12653930771358363, + -0.7098627779248101, + 1.747810209758845 + ], + [ + 0.1039261096995398, + 0.9566758032355793, + -0.27197568131411753, + 1.3676988242606696 + ], + [ + 0.713524157686676, + -0.2622197763459618, + -0.6497107550984457, + 3.3720224414470774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0020": { + "K": [ + [ + 5311.512273396358, + 0.0, + 753.5143547246275 + ], + [ + 0.0, + 5311.512273396358, + 1116.7723343693851 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.48493320920797256, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5506.026398728936, + 0.0, + 754.3591304057868 + ], + [ + 0.0, + 5496.719373933256, + 1120.2187130514387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.6873035554308595, + 0.26769194034996097, + -0.6752442874721504, + 1.4445011418419555 + ], + [ + 0.12693453307097521, + 0.9595736372646232, + 0.25120919366296063, + -0.7410578090923309 + ], + [ + 0.7151932934571972, + 0.08694515362235142, + -0.6934977240448829, + 3.496945906548669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0021": { + "K": [ + [ + 5602.577735560165, + 0.0, + 781.211348991099 + ], + [ + 0.0, + 5602.577735560165, + 1205.045844556896 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3023871243142315, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5711.249438447153, + 0.0, + 781.4160752892818 + ], + [ + 0.0, + 5712.017221855787, + 1204.906129786791 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.9267324435112547, + 0.1069323572218509, + -0.36018391013847023, + 0.37911757993387 + ], + [ + 0.057576303936531605, + 0.9877399829751543, + 0.14510236130831933, + -0.2808393549282169 + ], + [ + 0.37128418680125236, + 0.11373300757133077, + -0.9215274578763849, + 4.493283012568056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0022": { + "K": [ + [ + 5623.122397898149, + 0.0, + 780.4228289975466 + ], + [ + 0.0, + 5623.122397898149, + 1191.3169090937645 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3744961119156443, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5756.496525842326, + 0.0, + 780.6800055011569 + ], + [ + 0.0, + 5757.121723270189, + 1191.5652109927378 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.992153860069537, + -0.03429123224273279, + 0.12022823853152173, + -1.5736346360383227 + ], + [ + -0.01156373698968375, + 0.9826975924820783, + 0.1848559485566008, + -0.45864037281166037 + ], + [ + -0.1244869388166925, + 0.1820152551881358, + -0.9753837444528418, + 4.725368935305573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0023": { + "K": [ + [ + 5593.257752277983, + 0.0, + 785.163189318421 + ], + [ + 0.0, + 5593.257752277983, + 1205.0616023929078 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.2954626908351848, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5699.677886538043, + 0.0, + 785.3208354513887 + ], + [ + 0.0, + 5700.131031286184, + 1204.9239613037728 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.8800705116372863, + -0.01828252154219436, + 0.4744909313701837, + -2.973125096675018 + ], + [ + -0.0493630766514344, + 0.9973669010985059, + -0.05312768823003358, + 0.42372167326077675 + ], + [ + -0.4722702417154715, + -0.07017844397834877, + -0.8786556804521257, + 4.371445054497926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0024": { + "K": [ + [ + 5674.0648533616295, + 0.0, + 788.473382319833 + ], + [ + 0.0, + 5674.0648533616295, + 1194.5602156779444 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.2769809680643548, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5772.644950829034, + 0.0, + 788.5847261107173 + ], + [ + 0.0, + 5772.899887343662, + 1194.672487971398 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.35591354139262843, + -0.30152391742147305, + 0.8845387941046825, + -4.5694842027701945 + ], + [ + -0.11217104596426594, + 0.9534585316576163, + 0.2798829842212368, + -0.902678139287408 + ], + [ + -0.9277624736432487, + 0.0003945023590249214, + -0.3731710557736873, + 2.3142730598182792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0025": { + "K": [ + [ + 5580.465205247549, + 0.0, + 786.6394391365617 + ], + [ + 0.0, + 5580.465205247549, + 1189.0095923730223 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3033096250380432, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5690.4323032400835, + 0.0, + 786.78480878602 + ], + [ + 0.0, + 5690.194811721395, + 1189.2766069660586 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.1661704719934334, + 0.08387416519712733, + 0.9825235359267301, + -4.948779944272552 + ], + [ + -0.11031067497720408, + 0.9917032686978347, + -0.06600137756216869, + 0.4451723375352149 + ], + [ + -0.9799076125959799, + -0.09741535436734444, + 0.17404401601299452, + 0.3165827223454723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0026": { + "K": [ + [ + 5544.121025225102, + 0.0, + 828.358593105314 + ], + [ + 0.0, + 5544.121025225102, + 1195.60064017464 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3679625885183649, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5676.4305195968545, + 0.0, + 827.9659087273362 + ], + [ + 0.0, + 5678.55943704116, + 1195.7199979963316 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.45202411000856574, + -0.04034752678219061, + 0.8910927454836138, + -4.493122028883742 + ], + [ + -0.12435537176788836, + 0.9863706858239936, + 0.10774326735149124, + -0.15784764176160415 + ], + [ + -0.8832949368605225, + -0.15951472417825588, + 0.4408458997052151, + -0.8139553144667669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0027": { + "K": [ + [ + 5537.382792576694, + 0.0, + 799.3604640148822 + ], + [ + 0.0, + 5537.382792576694, + 1195.5654900602433 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.34251466787538914, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5660.9279282683465, + 0.0, + 799.3622509970319 + ], + [ + 0.0, + 5660.406819814386, + 1195.6789595759076 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.6481393005540491, + 0.019252498019796036, + 0.7612783908645416, + -4.026132213764232 + ], + [ + -0.11942824453961466, + 0.9898799821886389, + 0.07664538647828704, + -0.017667260216213593 + ], + [ + -0.7520986248381886, + -0.14059502900962656, + 0.6438794113297056, + -1.6774401679720026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0028": { + "K": [ + [ + 5739.486224144481, + 0.0, + 842.7930366809455 + ], + [ + 0.0, + 5739.486224144481, + 1217.8978074848428 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.33623063328669334, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5859.108612357962, + 0.0, + 842.2842545746524 + ], + [ + 0.0, + 5860.3014406159555, + 1217.4103763742278 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9166040027218327, + 0.013652884294277334, + 0.39956313762002793, + -2.6011717671847205 + ], + [ + -0.09170794873641924, + 0.9799478446530909, + 0.17689509291758188, + -0.47415481571919665 + ], + [ + -0.38913590727774355, + -0.19878586597192638, + 0.8994761948806197, + -2.73017174129479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0029": { + "K": [ + [ + 5596.327983340354, + 0.0, + 790.9377082873672 + ], + [ + 0.0, + 5596.327983340354, + 1179.5190808024124 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3307694184142844, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5716.776503494329, + 0.0, + 791.0417626731779 + ], + [ + 0.0, + 5714.946465380395, + 1180.0664401377528 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9509269845923246, + -0.07922476503739731, + 0.29910083012074357, + -2.234883059797696 + ], + [ + -0.0663649682866546, + 0.8919443384615663, + 0.44724823987431184, + -1.5243805685286929 + ], + [ + -0.3022144287727838, + -0.4451502372133792, + 0.8429161911782287, + -2.4859147013258833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0030": { + "K": [ + [ + 5727.968714951305, + 0.0, + 802.2592621588816 + ], + [ + 0.0, + 5727.968714951305, + 1201.268007309382 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3480552955130925, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5849.301299408682, + 0.0, + 802.2255226454412 + ], + [ + 0.0, + 5849.3103449419, + 1201.2193448327926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9531373609322147, + 0.04526372995122061, + 0.29913268953104394, + -2.2286944014276195 + ], + [ + 0.012079553079220618, + 0.9822623931951725, + -0.18712208664906177, + 1.0016080379738919 + ], + [ + -0.30229663509966376, + 0.18196644104173623, + 0.9356842195644987, + -2.9568013589351496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0031": { + "K": [ + [ + 5687.035917953707, + 0.0, + 809.3390212192361 + ], + [ + 0.0, + 5687.035917953707, + 1208.7986871403414 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3395488262795397, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5807.316831262033, + 0.0, + 809.2199540309853 + ], + [ + 0.0, + 5806.953771667856, + 1208.5452927200995 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9922565020503837, + 0.03512244407560874, + -0.11913625838044659, + -0.6064198066877445 + ], + [ + -0.008619541640313751, + 0.976345279325482, + 0.2160453633863905, + -0.5702921394022661 + ], + [ + 0.12390616465958297, + -0.2133455166180024, + 0.9690876910261268, + -3.017735230828184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0032": { + "K": [ + [ + 5560.6148354409115, + 0.0, + 776.3460220550461 + ], + [ + 0.0, + 5560.6148354409115, + 1175.2695063890842 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.2543531362340037, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5655.1807080873805, + 0.0, + 776.5698335396137 + ], + [ + 0.0, + 5654.279678055516, + 1175.79735665926 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9233706743680354, + 0.1678030842674491, + -0.3452951239555095, + 0.2597358321672948 + ], + [ + 0.03401472096926123, + 0.8601215538030049, + 0.5089537419460514, + -1.7457567459303511 + ], + [ + 0.3823997861852208, + -0.48169807721625363, + 0.7885032440844244, + -2.2609793351664043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0033": { + "K": [ + [ + 5641.139495615261, + 0.0, + 794.4977633737823 + ], + [ + 0.0, + 5641.139495615261, + 1193.9162827282419 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.30106378013215995, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5748.626309838933, + 0.0, + 794.5528700403626 + ], + [ + 0.0, + 5748.359396656769, + 1194.054777501365 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8591927753036406, + -0.051460593997697986, + -0.5090575430454122, + 0.9004737106493761 + ], + [ + 0.03205778631157362, + 0.9983888144268676, + -0.04681958526210441, + 0.4467344251683182 + ], + [ + 0.510646720544477, + 0.023907791464668406, + 0.8594581690253766, + -2.5596552736842337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0034": { + "K": [ + [ + 5536.554349408869, + 0.0, + 804.7525189318777 + ], + [ + 0.0, + 5536.554349408869, + 1202.1377912636713 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.29000298359097804, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5641.703566106449, + 0.0, + 804.6946381684015 + ], + [ + 0.0, + 5641.8022980598325, + 1202.0723654430506 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8002992512339627, + 0.13517424229681274, + -0.5841652443391692, + 1.237173935809176 + ], + [ + 0.06918557324894407, + 0.9469316998812896, + 0.31390079995779946, + -0.9329817856298042 + ], + [ + 0.5955958906243172, + -0.29163038246968376, + 0.7484766229429028, + -2.0078192320662795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0035": { + "K": [ + [ + 5560.920005061771, + 0.0, + 807.743470661636 + ], + [ + 0.0, + 5560.920005061771, + 1185.0482685293246 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3554596292097754, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5689.934342210022, + 0.0, + 807.6353050914436 + ], + [ + 0.0, + 5688.69340159646, + 1185.47554992149 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.7130075100259105, + -0.23740980689878463, + -0.6597400050284452, + 1.482445469137479 + ], + [ + 0.07467807411329654, + 0.9612924424351119, + -0.26521694019022657, + 1.307482105919251 + ], + [ + 0.6971681833627953, + 0.13983355715070342, + 0.7031380379421955, + -1.8901284425879699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0036": { + "K": [ + [ + 5592.488070558282, + 0.0, + 819.5600570893869 + ], + [ + 0.0, + 5592.488070558282, + 1185.202195912673 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3224886043867485, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5709.431003620283, + 0.0, + 819.3214684720574 + ], + [ + 0.0, + 5709.29151090935, + 1185.5852010539106 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.3805881838464769, + 0.17294181056402583, + -0.9084292842457671, + 2.4424877410777515 + ], + [ + 0.11095603365014897, + 0.9667199157594029, + 0.23052410518373068, + -0.7153924607835482 + ], + [ + 0.918063937268569, + -0.18853046075626434, + 0.3487332396746306, + -0.5173213361233184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0037": { + "K": [ + [ + 5599.871236110736, + 0.0, + 813.003184402214 + ], + [ + 0.0, + 5599.871236110736, + 1182.6623855369387 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.32797474891223877, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5718.877870200019, + 0.0, + 812.8404927091436 + ], + [ + 0.0, + 5717.873040843532, + 1183.119461829867 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.48365707208599973, + -0.3380642386834125, + -0.8073341359961208, + 2.104797909211867 + ], + [ + 0.14129912109102666, + 0.940455104201893, + -0.3091581397270815, + 1.4243238191041074 + ], + [ + 0.8637768201335928, + 0.035450916828919446, + 0.5026259419248947, + -1.1445376949732986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0038": { + "K": [ + [ + 5602.775184083436, + 0.0, + 811.7971578796041 + ], + [ + 0.0, + 5602.775184083436, + 1188.4507537100733 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.323223550766997, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5719.317838045832, + 0.0, + 811.6509732473753 + ], + [ + 0.0, + 5718.950167211949, + 1188.746550846137 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.114904687379455, + 0.3768945269079501, + -0.919101424438599, + 2.5728724787940314 + ], + [ + 0.1564477794877091, + 0.9068172732209002, + 0.39141605138468244, + -1.2905795308312302 + ], + [ + 0.9809796150336633, + -0.18876691599706685, + 0.045233243453918014, + 0.6523769967293027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0039": { + "K": [ + [ + 5588.452086922328, + 0.0, + 817.6566882121839 + ], + [ + 0.0, + 5588.452086922328, + 1180.2415930797508 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3672782752083768, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5721.71308763974, + 0.0, + 817.4137850062209 + ], + [ + 0.0, + 5720.686820447376, + 1180.8221885056312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.2947477574252779, + -0.1333633085733236, + -0.9462230114614344, + 2.7024296470835942 + ], + [ + 0.10722826538179983, + 0.9885750963948482, + -0.10593100533426039, + 0.7498600362899466 + ], + [ + 0.9495398141183863, + -0.07023892591927412, + 0.3056806089527547, + -0.2737218759355569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0040": { + "K": [ + [ + 5568.667460291503, + 0.0, + 808.9091018334017 + ], + [ + 0.0, + 5568.667460291503, + 1181.7172569233805 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3533580026373552, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5697.262128560749, + 0.0, + 808.7866537364401 + ], + [ + 0.0, + 5695.683108567006, + 1182.2388462449533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.14516502560141814, + 0.09259789116404026, + -0.9850648434971742, + 2.8422680782960676 + ], + [ + 0.16438358498487904, + 0.9840306938516227, + 0.06827613452307478, + 0.06429044564931731 + ], + [ + 0.9756562675090333, + -0.15201718360062624, + -0.15806841417713666, + 1.450316885571688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0041": { + "K": [ + [ + 5450.735122814812, + 0.0, + 809.435568931566 + ], + [ + 0.0, + 5450.735122814812, + 1194.9095011281258 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.5568367857470337, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5649.426844962063, + 0.0, + 809.2358345356213 + ], + [ + 0.0, + 5649.846607243929, + 1195.1171756852866 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.5358680966801538, + 0.2901063545339465, + -0.7928957598697405, + 2.0549633135711964 + ], + [ + 0.16905218475389883, + 0.9569639311558166, + 0.2358842794607971, + -0.7275208466044283 + ], + [ + 0.8272041717679635, + -0.007637900616655455, + -0.5618495534249779, + 3.021161016687052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0042": { + "K": [ + [ + 5600.272109817508, + 0.0, + 800.9719883393293 + ], + [ + 0.0, + 5600.272109817508, + 1179.9556086754164 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.33038619775575884, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5720.439756346687, + 0.0, + 800.9541382766619 + ], + [ + 0.0, + 5718.059245719212, + 1180.4900589739668 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.5331399567561035, + -0.24572457786549054, + -0.8095561860321531, + 2.1600737938725088 + ], + [ + 0.13197972342057335, + 0.9210203209689646, + -0.3664736292941886, + 1.803781285794742 + ], + [ + 0.8356692761588932, + -0.3022267364000939, + -0.4586020722685617, + 2.6873667768303307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0043": { + "K": [ + [ + 5622.5444282001945, + 0.0, + 792.1897925764428 + ], + [ + 0.0, + 5622.5444282001945, + 1184.1046788744766 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.41354340446155363, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5770.264707370333, + 0.0, + 792.2973760529289 + ], + [ + 0.0, + 5768.6083948651285, + 1184.6153585042562 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.6063932718542179, + 0.07885546064712996, + -0.7912452313765093, + 2.089143994893954 + ], + [ + 0.14959208625278586, + 0.9886164047420162, + -0.016118684980756817, + 0.37353359371463446 + ], + [ + 0.7809669695835258, + -0.12813828702264882, + -0.6112864891508935, + 3.261482993124345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0044": { + "K": [ + [ + 5580.072780129104, + 0.0, + 786.0838626980403 + ], + [ + 0.0, + 5580.072780129104, + 1196.9015718241449 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3517029177025585, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5705.747625285361, + 0.0, + 786.2573779913153 + ], + [ + 0.0, + 5706.606808370415, + 1196.9771814948137 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.8961717559977251, + 0.04625183933075918, + -0.44129009858649076, + 0.7232015211888221 + ], + [ + 0.10805623838759308, + 0.9873592563352819, + -0.11595494070785667, + 0.8515019448916564 + ], + [ + 0.43034873428125336, + -0.15159969092171835, + -0.8898412783271871, + 4.373249160314081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0045": { + "K": [ + [ + 5591.764195827055, + 0.0, + 789.6938217070008 + ], + [ + 0.0, + 5591.764195827055, + 1193.382810451118 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.3356555398460085, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5712.159667635418, + 0.0, + 789.8149417826411 + ], + [ + 0.0, + 5712.208699121882, + 1193.552894984242 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.9739913222736877, + 0.03250085381161286, + -0.2242422766497634, + -0.17782015258407172 + ], + [ + 0.05014090340924758, + 0.9960395924578039, + -0.07342356612012284, + 0.6113808054268822 + ], + [ + 0.2209678572572431, + -0.08275762658515355, + -0.9717635418666078, + 4.706755299401208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0046": { + "K": [ + [ + 5567.443080198898, + 0.0, + 822.451038184994 + ], + [ + 0.0, + 5567.443080198898, + 1183.4980859593177 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.36098665168026395, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5698.537432311566, + 0.0, + 822.1466272542813 + ], + [ + 0.0, + 5698.405177322808, + 1183.976175075999 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.994753535794939, + 0.03316612209644599, + 0.0967750555078628, + -1.5233563761449966 + ], + [ + 0.015046449118998908, + 0.9831333410814912, + -0.18227023350743157, + 1.0323060046560564 + ], + [ + -0.10118798047384711, + -0.17985783830299942, + -0.9784743995673039, + 4.745183238649881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0047": { + "K": [ + [ + 5660.388558640727, + 0.0, + 809.3066882930735 + ], + [ + 0.0, + 5660.388558640727, + 1206.9553114705664 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + 0.2951599160676794, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 5765.737825549968, + 0.0, + 809.2012787892324 + ], + [ + 0.0, + 5765.626916438833, + 1206.7748957180934 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.8409572077324936, + -0.17738674208092903, + 0.5111994899221652, + -3.139207033528783 + ], + [ + -0.05839159732342089, + 0.9689715613930662, + 0.240176049125434, + -0.6847191121388791 + ], + [ + -0.5379418148134494, + 0.17212802486927387, + -0.8252215138554106, + 4.150290347576732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0048": { + "K": [ + [ + 6088.233540878485, + 0.0, + 831.5426121538916 + ], + [ + 0.0, + 6088.233540878485, + 1146.932332717175 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.06392895831618756, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6081.445041964669, + 0.0, + 831.613541606626 + ], + [ + 0.0, + 6072.950204790455, + 1146.6686569860183 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.425317160608643, + -0.36319201575517596, + 0.8289733847256456, + -4.151885149264084 + ], + [ + -0.1275197574535097, + 0.8827618367512877, + 0.452183868613743, + -1.499465960067357 + ], + [ + -0.896015638452142, + -0.2980320440274582, + 0.32913960014257687, + -0.37228072385480654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0049": { + "K": [ + [ + 6386.638230155512, + 0.0, + 784.5390459884984 + ], + [ + 0.0, + 6386.638230155512, + 1144.1900098095368 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.2915535267033115, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6357.013307933619, + 0.0, + 784.3991634549973 + ], + [ + 0.0, + 6319.087293798098, + 1142.9927208242625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.43505090339556496, + 0.100342510494352, + 0.8947972351557607, + -4.5552041848393126 + ], + [ + -0.03651451987199441, + 0.9949196390590104, + -0.09381685164833595, + 0.5321111887455126 + ], + [ + -0.8996651606532401, + 0.008142014638835564, + 0.43650464637206376, + -0.8741933070808421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0050": { + "K": [ + [ + 6339.54487440684, + 0.0, + 840.6169835106183 + ], + [ + 0.0, + 6339.54487440684, + 1302.5472544523284 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.24838185648618633, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6313.672453825934, + 0.0, + 840.9476480009882 + ], + [ + 0.0, + 6280.725697667961, + 1304.4520198931089 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.7054867748611189, + -0.2133148198236214, + 0.6758588596294887, + -3.6706792706271103 + ], + [ + -0.21519309571976092, + 0.8441325861103728, + 0.49105204268097663, + -1.543340105751489 + ], + [ + -0.6752631650331615, + -0.4918708821532638, + 0.5496204992894348, + -1.4382083815168285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0051": { + "K": [ + [ + 6309.8566713286655, + 0.0, + 814.536542997358 + ], + [ + 0.0, + 6309.8566713286655, + 1296.9895679212166 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.2777397238410744, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6281.009203210818, + 0.0, + 814.6737036873441 + ], + [ + 0.0, + 6243.832534408208, + 1299.0375283994656 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8364301660485882, + -0.06735163444779277, + 0.5439194192719562, + -3.1698923800792773 + ], + [ + -0.10832046606654504, + 0.9525303008432353, + 0.2845218842314635, + -0.7923310686121917 + ], + [ + -0.537262742012749, + -0.29690029187036293, + 0.7894295172668905, + -2.2568613739009087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0052": { + "K": [ + [ + 6230.065745246209, + 0.0, + 883.2982127045037 + ], + [ + 0.0, + 6230.065745246209, + 1251.1580550405577 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.2220580155544252, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6206.2438317482165, + 0.0, + 883.9158135417965 + ], + [ + 0.0, + 6177.348756489497, + 1252.043795126862 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8399937463809041, + 0.25154502698931247, + 0.48076564502667973, + -2.885147592004064 + ], + [ + -0.09426796223699085, + 0.9402278284954211, + -0.3272387229813585, + 1.4332069747957183 + ], + [ + -0.5343445118429295, + 0.2295576832077965, + 0.8134981332145823, + -2.2706426076363124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0053": { + "K": [ + [ + 6265.450396862097, + 0.0, + 824.2627022171009 + ], + [ + 0.0, + 6265.450396862097, + 1148.8077783320537 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.1857339728187553, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6246.2530043221395, + 0.0, + 824.4146503472796 + ], + [ + 0.0, + 6221.94306434361, + 1148.094415377767 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9997023559486444, + -0.02437623770756308, + -0.0009992727127152985, + -1.164599790890188 + ], + [ + 0.020829138904154037, + 0.8314723420435802, + 0.5551755500641893, + -1.8743426337468778 + ], + [ + -0.012702223555010132, + -0.5550311193543909, + 0.8317325952882756, + -2.4023931009041024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0054": { + "K": [ + [ + 6267.752492558147, + 0.0, + 833.4558338987238 + ], + [ + 0.0, + 6267.752492558147, + 1148.337368899573 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.20705733939589996, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6246.287209236435, + 0.0, + 833.688159198024 + ], + [ + 0.0, + 6219.165118871117, + 1147.5320615812009 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9994197100767307, + -0.017892200592109, + 0.028984690236665587, + -1.1505627131148901 + ], + [ + 0.015218228018642338, + 0.9958269948085956, + 0.08998334260547272, + -0.14433599025708244 + ], + [ + -0.030473736989682323, + -0.08949003055342537, + 0.9955214140265546, + -2.94446656586034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0055": { + "K": [ + [ + 6232.854630364034, + 0.0, + 831.7759092205595 + ], + [ + 0.0, + 6232.854630364034, + 1217.89141879657 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.17375102717006918, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6214.83426566882, + 0.0, + 831.9628326720906 + ], + [ + 0.0, + 6192.157919133683, + 1218.1359701650422 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9998261097656622, + 0.018598350228229064, + 0.0013607349668504256, + -1.080692842007528 + ], + [ + -0.017342587798614105, + 0.954175248026873, + -0.29874542791698533, + 1.4601575166202567 + ], + [ + -0.006854551721975598, + 0.29866988033888425, + 0.9543318697911368, + -2.7984558578245076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0056": { + "K": [ + [ + 6329.864882388206, + 0.0, + 818.1152456514493 + ], + [ + 0.0, + 6329.864882388206, + 1172.4595100447248 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.2731142954089001, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6301.9626976444215, + 0.0, + 818.2809987554386 + ], + [ + 0.0, + 6266.405481445278, + 1171.9018546176928 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.8797310716938704, + 0.06122457641570713, + -0.4715133007021876, + 0.7519048048825999 + ], + [ + 0.09090664551631816, + 0.9517229319114021, + 0.2931884081523947, + -0.8757548839700213 + ], + [ + 0.4667003570786343, + -0.300790644995289, + 0.8316945139809407, + -2.429614814768586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0057": { + "K": [ + [ + 6293.992541906545, + 0.0, + 776.5828909599763 + ], + [ + 0.0, + 6293.992541906545, + 1162.5207224777816 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.18408468207091297, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6275.097504591346, + 0.0, + 776.4448008672598 + ], + [ + 0.0, + 6251.19216277429, + 1162.0095300481628 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.9110895867032394, + -0.1850756576886478, + -0.36832426736781115, + 0.26977867537394157 + ], + [ + 0.08625009700777607, + 0.959352666899212, + -0.26870686868689964, + 1.3279535523108208 + ], + [ + 0.4030839686306931, + 0.21304802614547722, + 0.8900190182172775, + -2.608228227982105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0058": { + "K": [ + [ + 6365.483556599661, + 0.0, + 825.1227644469935 + ], + [ + 0.0, + 6365.483556599661, + 1151.7408447139196 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.285900946478659, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6336.315102700425, + 0.0, + 825.3590163041736 + ], + [ + 0.0, + 6299.134895248156, + 1150.7204747620615 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.7365635112026939, + 0.30978888320577463, + -0.6012528933875312, + 1.2340809772392078 + ], + [ + 0.058512474035366954, + 0.8564254039829826, + 0.5129442638287766, + -1.8594278352222733 + ], + [ + 0.6738326827536785, + -0.4129968223300318, + 0.6126851886558679, + -1.577659210269708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0059": { + "K": [ + [ + 6246.230650084479, + 0.0, + 827.0609724393715 + ], + [ + 0.0, + 6246.230650084479, + 1199.1630129114797 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.2033623582116158, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6225.203276232966, + 0.0, + 827.247522627909 + ], + [ + 0.0, + 6198.639560005076, + 1199.157760440944 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.6268891628554264, + 0.11671898043661925, + -0.7703159462845481, + 1.890837316371469 + ], + [ + 0.10797504144712065, + 0.9661582236833076, + 0.23426411853633994, + -0.772913827930898 + ], + [ + 0.77159015540565, + -0.23003253338376262, + 0.5930713832804049, + -1.4172154136682744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0060": { + "K": [ + [ + 6310.029111329207, + 0.0, + 723.0335637349224 + ], + [ + 0.0, + 6310.029111329207, + 1208.705216315939 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.24253482208520916, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6284.567346712192, + 0.0, + 722.4317420085615 + ], + [ + 0.0, + 6253.483017915698, + 1208.874027619533 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.6437976965771779, + -0.3420710460102389, + -0.6844793096678531, + 1.4302457954279537 + ], + [ + 0.06489463412344249, + 0.9157005061722484, + -0.3965870263358002, + 1.5919085833212505 + ], + [ + 0.7624389892600616, + 0.21090277968141888, + 0.6117244520033073, + -1.4131748124406307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0061": { + "K": [ + [ + 6393.543925918744, + 0.0, + 785.9609373941829 + ], + [ + 0.0, + 6393.543925918744, + 1203.3168206085843 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.3628408793239052, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6356.815037824159, + 0.0, + 785.8028457036096 + ], + [ + 0.0, + 6309.692347636047, + 1203.4210186403375 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.485884905516259, + 0.3917350671617315, + -0.7813190742246408, + 2.0659822618972625 + ], + [ + 0.10381258644970043, + 0.8617403127542026, + 0.49661512287576653, + -1.7035769090272195 + ], + [ + 0.8678357018964358, + -0.32240854599418267, + 0.37803957991702075, + -0.5791103145658013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0062": { + "K": [ + [ + 6337.863664656746, + 0.0, + 886.8368230488566 + ], + [ + 0.0, + 6337.863664656746, + 1224.8858815892002 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.24012187477138072, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6312.539603087625, + 0.0, + 887.5092827701809 + ], + [ + 0.0, + 6282.00690475364, + 1225.3422111508771 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.2965268131130531, + 0.17630554558415076, + -0.9386097185205851, + 2.658172165674809 + ], + [ + 0.122787316482338, + 0.9676171887218871, + 0.22054534908045081, + -0.555653265005527 + ], + [ + 0.9470982652376061, + -0.18064697807111713, + 0.2652763564618805, + -0.10490242086333461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0063": { + "K": [ + [ + 6339.1234812396215, + 0.0, + 818.7950552727399 + ], + [ + 0.0, + 6339.1234812396215, + 1182.3015286991015 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.17737195046582266, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6321.096053446967, + 0.0, + 818.9054307045126 + ], + [ + 0.0, + 6298.305232040018, + 1182.0759319138397 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + 0.15352903850676308, + -0.38205262219764125, + -0.9112983200945204, + 2.278207488869494 + ], + [ + 0.16240419226562533, + 0.9194472935179039, + -0.35810829755417745, + 1.586607214663911 + ], + [ + 0.9747069881096259, + -0.09301864498318524, + 0.20320880644242137, + 0.0761985188735776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0064": { + "K": [ + [ + 6229.238933271466, + 0.0, + 767.2042059261248 + ], + [ + 0.0, + 6229.238933271466, + 1126.1177651506757 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.10982766312577281, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6217.776540265053, + 0.0, + 767.0864633212134 + ], + [ + 0.0, + 6203.348738886645, + 1125.5098830738393 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.25505543507648776, + 0.40012225295882003, + -0.8802550242543926, + 2.351939245558045 + ], + [ + 0.09059699157350198, + 0.9162482401474925, + 0.3902324275921384, + -1.2664974745410067 + ], + [ + 0.9626727949598317, + 0.019782444585558858, + -0.26994396590856584, + 1.8701876057079414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0065": { + "K": [ + [ + 6271.320350689914, + 0.0, + 797.9498855907201 + ], + [ + 0.0, + 6271.320350689914, + 1163.8734433722002 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.14491032517326552, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6256.450531921196, + 0.0, + 797.9424968131924 + ], + [ + 0.0, + 6237.623120773198, + 1163.4857267602074 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.23875650624888667, + -0.03265899539928631, + -0.9705301235630635, + 2.6612582635425737 + ], + [ + 0.1459090982032138, + 0.9868815540501501, + -0.0691037867058348, + 0.5284354680529874 + ], + [ + 0.9600551368464993, + -0.15810815379059362, + -0.23085914735955293, + 1.710060864068303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0066": { + "K": [ + [ + 6408.813413140274, + 0.0, + 913.2966426961361 + ], + [ + 0.0, + 6408.813413140274, + 1155.7141544241879 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.29857451660031986, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6376.7817513998125, + 0.0, + 914.3578703779901 + ], + [ + 0.0, + 6339.673575931687, + 1154.748296758299 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.22785833338211067, + -0.41763200874210366, + -0.8795817671952746, + 2.3839835766058646 + ], + [ + 0.16881563181066908, + 0.8727199080906636, + -0.45810614979346037, + 2.093438782075833 + ], + [ + 0.9589483105802376, + -0.2528704555622486, + -0.1283536923467703, + 1.3538330951897408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0067": { + "K": [ + [ + 6309.372607454315, + 0.0, + 767.3693110894461 + ], + [ + 0.0, + 6309.372607454315, + 1217.1736365739707 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.07405848886548672, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6301.811463034198, + 0.0, + 767.2925602589931 + ], + [ + 0.0, + 6292.369424078106, + 1217.269517203422 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.7108993853072348, + 0.12151459538828274, + -0.692716584959114, + 1.6700383083591737 + ], + [ + 0.12319225086859763, + 0.9912474828706436, + 0.04745626437617281, + 0.026387437761253144 + ], + [ + 0.6924201999477803, + -0.05160068614112252, + -0.719646882779354, + 3.653983939950992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0068": { + "K": [ + [ + 6311.397490121616, + 0.0, + 748.7845880118626 + ], + [ + 0.0, + 6311.397490121616, + 1185.2268828139217 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.23130149871301775, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6287.496732917343, + 0.0, + 748.4025024204698 + ], + [ + 0.0, + 6257.638664476657, + 1184.977950899051 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.7095533441702914, + -0.26450027290781136, + -0.6531260654792833, + 1.4412439920916238 + ], + [ + 0.14010630006799749, + 0.8554151186172301, + -0.49863333174019403, + 2.189608530656244 + ], + [ + 0.6905825631001784, + -0.44531402456330005, + -0.5699045034645929, + 3.012995710322517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0069": { + "K": [ + [ + 6198.787466292994, + 0.0, + 761.7924653043477 + ], + [ + 0.0, + 6198.787466292994, + 1063.1888352263677 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.06480088790271614, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6191.85085465189, + 0.0, + 761.7108980720853 + ], + [ + 0.0, + 6183.063619024162, + 1062.5277744445284 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.973350453823111, + 0.07136932543234525, + -0.2179341951821152, + -0.24227352337001873 + ], + [ + 0.006368469474706326, + 0.9583844886781014, + 0.2854095556525114, + -0.834172067151225 + ], + [ + 0.22923423967395012, + 0.27641561325031233, + -0.9332984903623064, + 4.449476338958427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "0070": { + "K": [ + [ + 6239.436727917215, + 0.0, + 820.0511729794371 + ], + [ + 0.0, + 6239.436727917215, + 1268.7480445015938 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "dist": [ + [ + -0.26917239921666314, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "width": 1600, + "height": 2400, + "newK": [ + [ + 6211.346428016429, + 0.0, + 820.2368530795906 + ], + [ + 0.0, + 6175.393173086541, + 1270.193767790863 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "pose": [ + [ + -0.9714628788537308, + 0.0001340429199743158, + -0.23719160407087903, + -0.16656118983099139 + ], + [ + 0.06330197625664533, + 0.9638758150105494, + -0.258720453462327, + 1.2811095463768762 + ], + [ + 0.22858857104243893, + -0.2663520138280253, + -0.9363780592893719, + 4.449613672033311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } +} \ No newline at end of file