{"camera_k_matrix": [[858.3595581054688, 0.0, 540.0], [0.0, 858.3595581054688, 540.0], [0.0, 0.0, 1.0]], "camera_uuid": "3d828c930bf445e49462cda74658e8a7", "field_of_view_rads": 1.1230944129428333, "camera_rt_matrix": [[0.5643695592880249, -0.8254542946815491, -0.01059100404381752, 4.173278331756592], [0.20761850476264954, 0.1543441265821457, -0.9659567475318909, -0.3696340322494507], [0.7989878058433533, 0.5429577231407166, 0.25848671793937683, -6.373086452484131]], "rotation_from_original_to_point": [-0.04211927577853203, 0.24185122549533844, -2.6602749824523926], "point_uuid": "3d828c930bf445e49462cda74658e8a7", "camera_location": [2.81349, 6.962218, 1.334507], "frame_num": 15, "final_camera_rotation": [1.8322666883468628, 0.010591202415525913, -0.9710885882377625], "camera_original_rotation": [1.587234377861023, -0.003274531802162528, 1.683166265487671], "room": "hallway_10_2"}