{
    "w": 1088,
    "h": 1920,
    "fl_x": 1656.3542545228754,
    "fl_y": 640.118034098047,
    "cx": 561.7777200580872,
    "cy": 1025.5050244776182,
    "k1": 0.25692180033700934,
    "k2": -0.09038216354832367,
    "p1": -0.04432972434503385,
    "p2": 0.03119979058981683,
    "camera_model": "OPENCV",
    "frames": [
        {
            "file_path": "images/frame_00353.png",
            "transform_matrix": [
                [
                    0.0651815180480687,
                    -0.9957807791355501,
                    0.064591095432313,
                    2.1514593116964393
                ],
                [
                    0.895595428368499,
                    0.02983221310095354,
                    -0.4438680747102047,
                    -3.5600054725711225
                ],
                [
                    0.4400684019449633,
                    0.0867794847051777,
                    0.8937612223876745,
                    -0.3177433100274266
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 359
        },
        {
            "file_path": "images/frame_00357.png",
            "transform_matrix": [
                [
                    0.02015280571516915,
                    -0.9971517478166535,
                    0.07267913213570892,
                    0.6007411324451839
                ],
                [
                    0.8772662800484452,
                    -0.017233493478908197,
                    -0.47969457010943456,
                    -7.756198003636388
                ],
                [
                    0.47958079435249434,
                    0.07342614335987982,
                    0.8744203012050468,
                    1.9715882011880406
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 357
        },
        {
            "file_path": "images/frame_00350.png",
            "transform_matrix": [
                [
                    -0.006292811559333628,
                    -0.9983495928827599,
                    0.05708319291618287,
                    -0.08820846945019988
                ],
                [
                    0.9118577607346178,
                    -0.02916009051828266,
                    -0.4094693069193514,
                    -1.5284429201812306
                ],
                [
                    0.4104580669334289,
                    0.049475039280358284,
                    0.9105363231510754,
                    -1.688851423924839
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 356
        },
        {
            "file_path": "images/frame_00355.png",
            "transform_matrix": [
                [
                    0.06280454815533566,
                    -0.9964689324750032,
                    0.055724818017930486,
                    -0.16928777955994256
                ],
                [
                    0.8842271627137374,
                    0.029664109331349383,
                    -0.46611411192624413,
                    -5.155220069328561
                ],
                [
                    0.46281520442852536,
                    0.07854748391708735,
                    0.882967937877745,
                    -1.7568073301607847
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 355
        },
        {
            "file_path": "images/frame_00351.png",
            "transform_matrix": [
                [
                    0.050593229832048524,
                    -0.9975267378093179,
                    0.048792749980522146,
                    -0.5158196825001876
                ],
                [
                    0.8984304147057259,
                    0.024120829196298023,
                    -0.4384529342250778,
                    -5.138580679324361
                ],
                [
                    0.43619160357216746,
                    0.06601964067141872,
                    0.8974287113853433,
                    -1.409262417368082
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 351
        },
        {
            "file_path": "images/frame_00356.png",
            "transform_matrix": [
                [
                    0.05469805504405159,
                    -0.9968318591709474,
                    0.057743980778870836,
                    -0.4447659823731836
                ],
                [
                    0.8818387487157878,
                    0.02109974706507898,
                    -0.4710787852760548,
                    -5.026158079357221
                ],
                [
                    0.46836795795375613,
                    0.07668797308302255,
                    0.8801990744977217,
                    -1.545780046998979
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 350
        },
        {
            "file_path": "images/frame_00349.png",
            "transform_matrix": [
                [
                    0.0919054439953547,
                    -0.9929247088039113,
                    0.07519249969700938,
                    6.41867249892669
                ],
                [
                    0.9025711659659715,
                    0.0511692613036197,
                    -0.4274891777161948,
                    -6.050209266665034
                ],
                [
                    0.42061702263560763,
                    0.1071551648046417,
                    0.9008879458205925,
                    2.728369921998557
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 349
        },
        {
            "file_path": "images/frame_00348.png",
            "transform_matrix": [
                [
                    0.09139266937631838,
                    -0.9934048878239239,
                    0.06923950340526765,
                    5.656879131107214
                ],
                [
                    0.9058413869864579,
                    0.05405246301032091,
                    -0.4201543917002033,
                    -5.711570039011286
                ],
                [
                    0.41364086065900324,
                    0.10111903920654607,
                    0.9048072603064279,
                    2.297437685596169
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 348
        },
        {
            "file_path": "images/frame_00346.png",
            "transform_matrix": [
                [
                    0.09113302545885367,
                    -0.9937983533538878,
                    0.06371502602853871,
                    5.1554028121544935
                ],
                [
                    0.91136929087646,
                    0.05744431496183713,
                    -0.4075612424236434,
                    -5.49017786240389
                ],
                [
                    0.4013736255884964,
                    0.09521020717164044,
                    0.9109523747882097,
                    2.0553412891172576
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 346
        },
        {
            "file_path": "images/frame_00285.png",
            "transform_matrix": [
                [
                    0.025938667425839456,
                    -0.9996272533171737,
                    -0.008517039258723741,
                    -0.4906626206069172
                ],
                [
                    0.9867079516425128,
                    0.026968798527067718,
                    -0.16025012346779316,
                    3.935798355805958
                ],
                [
                    0.16042008508166367,
                    -0.004247155703453373,
                    0.9870396942224878,
                    0.027204399049130808
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 295
        },
        {
            "file_path": "images/frame_00352.png",
            "transform_matrix": [
                [
                    0.08492101875573445,
                    -0.9953806328339418,
                    0.044786341138675904,
                    -0.9455745740600977
                ],
                [
                    0.8991632098579214,
                    0.05719102943986984,
                    -0.4338602403880854,
                    -3.3087809579495624
                ],
                [
                    0.4292947036844124,
                    0.07711408386740777,
                    0.8998663653330993,
                    4.258260557358443
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 352
        },
        {
            "file_path": "images/frame_00294.png",
            "transform_matrix": [
                [
                    0.07988219012546835,
                    -0.996754974134899,
                    -0.009917521771843943,
                    -0.4327955661510927
                ],
                [
                    0.9785572501330462,
                    0.08031099380824396,
                    -0.18967301464779487,
                    3.8500433423443816
                ],
                [
                    0.1898540068389628,
                    0.005446632984575661,
                    0.9817972246224382,
                    0.036533889916799546
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 294
        },
        {
            "file_path": "images/frame_00354.png",
            "transform_matrix": [
                [
                    0.055419690875001135,
                    -0.9969850468757424,
                    0.05430906157809308,
                    -0.4546174595193667
                ],
                [
                    0.8887535267759381,
                    0.02446923334172523,
                    -0.45773182679708874,
                    -5.023060208958035
                ],
                [
                    0.45502288569549026,
                    0.07363472635816604,
                    0.8874300539014367,
                    -1.5528898179329476
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 360
        },
        {
            "file_path": "images/frame_00278.png",
            "transform_matrix": [
                [
                    0.022337284221706714,
                    -0.9997476353643397,
                    -0.002389836188937641,
                    -0.4313302803015201
                ],
                [
                    0.9900336206979238,
                    0.02245258728377371,
                    -0.13902989323172282,
                    3.858590556839101
                ],
                [
                    0.13904846500899756,
                    0.0007395320654216715,
                    0.9902853010476151,
                    0.044021720126653736
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 273
        },
        {
            "file_path": "images/frame_00286.png",
            "transform_matrix": [
                [
                    0.026230495378615822,
                    -0.9996043206117934,
                    -0.010156934893350419,
                    -0.5586008895901006
                ],
                [
                    0.9862077755958414,
                    0.02753727853694799,
                    -0.16320515201757838,
                    3.8983366226552034
                ],
                [
                    0.1634202694481157,
                    -0.005735896182279524,
                    0.9865398699639522,
                    0.02910364224639709
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 286
        },
        {
            "file_path": "images/frame_00280.png",
            "transform_matrix": [
                [
                    0.026457759619600524,
                    -0.9996440729089295,
                    -0.0034226384498067665,
                    -0.458647754548955
                ],
                [
                    0.989069341037887,
                    0.026674398314357296,
                    -0.14501832675026538,
                    4.049650744391709
                ],
                [
                    0.14505800762036938,
                    0.0004516332734338915,
                    0.9894230492830633,
                    0.11786337894035291
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 275
        },
        {
            "file_path": "images/frame_00276.png",
            "transform_matrix": [
                [
                    0.020994399368548036,
                    -0.9997795868124689,
                    0.00011396597301229054,
                    -0.4313112359791841
                ],
                [
                    0.9909781206674386,
                    0.020794484631204847,
                    -0.13240073174780426,
                    3.8585920994149343
                ],
                [
                    0.13236917901681394,
                    0.0028926116247571547,
                    0.9911962637360993,
                    0.04394981605581458
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 276
        },
        {
            "file_path": "images/frame_00347.png",
            "transform_matrix": [
                [
                    0.09132620559574514,
                    -0.9936470555886043,
                    0.06576513583640668,
                    5.281939186491114
                ],
                [
                    0.9086865578207439,
                    0.056137318555523036,
                    -0.41368749207739386,
                    -5.536734157924622
                ],
                [
                    0.40736748005624085,
                    0.09754040386164627,
                    0.9080405309275216,
                    2.0835885991183543
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 347
        },
        {
            "file_path": "images/frame_00284.png",
            "transform_matrix": [
                [
                    0.024820877828506824,
                    -0.9996668253312015,
                    -0.007082538814530572,
                    -0.44914322296618403
                ],
                [
                    0.9872074301032451,
                    0.025626460028858596,
                    -0.1573682766485541,
                    3.8639578698873716
                ],
                [
                    0.1574973459229357,
                    -0.003085916172922786,
                    0.9875145888282383,
                    0.09346392997706449
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 289
        },
        {
            "file_path": "images/frame_00277.png",
            "transform_matrix": [
                [
                    0.021790021958276336,
                    -0.999762083385496,
                    -0.0009856813635058784,
                    -0.4663581039100323
                ],
                [
                    0.9906149530930298,
                    0.021723702571207874,
                    -0.13494478669104562,
                    3.8904434704736883
                ],
                [
                    0.13493409373302187,
                    0.0019640191674787505,
                    0.9908526292931548,
                    0.12292223905789404
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 277
        },
        {
            "file_path": "images/frame_00283.png",
            "transform_matrix": [
                [
                    0.02309416215976379,
                    -0.9996364724633028,
                    -0.013913396251915157,
                    -3.762605753264
                ],
                [
                    0.9873157910667155,
                    0.024991790264413345,
                    -0.1567894739122664,
                    2.834912340384539
                ],
                [
                    0.15708019730202863,
                    -0.010115994291410354,
                    0.9875340390462761,
                    2.2203395211638615
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 278
        },
        {
            "file_path": "images/frame_00279.png",
            "transform_matrix": [
                [
                    0.02279076591341035,
                    -0.9997342557382944,
                    -0.003463941754461589,
                    -0.41992501948567623
                ],
                [
                    0.9895501432966508,
                    0.023051770210929034,
                    -0.1423345699108986,
                    3.8676968536255294
                ],
                [
                    0.14237659530505037,
                    -0.00018383019527348657,
                    0.9898125435231668,
                    0.021877649650152257
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 279
        },
        {
            "file_path": "images/frame_00275.png",
            "transform_matrix": [
                [
                    0.02311037194956226,
                    -0.9997321962122124,
                    0.0012027323308006711,
                    -0.4303148514645746
                ],
                [
                    0.9912841634485164,
                    0.02275897375189787,
                    -0.1297603036754127,
                    3.861998954893865
                ],
                [
                    0.12969818042103667,
                    0.0041910583946171654,
                    0.9915446621433676,
                    0.03469717483123213
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 280
        },
        {
            "file_path": "images/frame_00281.png",
            "transform_matrix": [
                [
                    0.02296408037492501,
                    -0.9997228216620461,
                    -0.005189495217354628,
                    -0.399321684736776
                ],
                [
                    0.9887464735710517,
                    0.02347889326839262,
                    -0.14774692068432857,
                    3.8846199680459237
                ],
                [
                    0.1478278120427406,
                    -0.0017382229340306339,
                    0.989011585658979,
                    -0.018060593309900175
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 281
        },
        {
            "file_path": "images/frame_00282.png",
            "transform_matrix": [
                [
                    0.024572449334458072,
                    -0.9996973987128582,
                    -0.001142690006033847,
                    1.5076467112117884
                ],
                [
                    0.9882295764220503,
                    0.024463180788427,
                    -0.15100946020169606,
                    4.435149435688193
                ],
                [
                    0.15099171837687123,
                    0.002581432249185501,
                    0.9885316571507168,
                    -1.2878155576426593
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 282
        },
        {
            "file_path": "images/frame_00289.png",
            "transform_matrix": [
                [
                    0.027215436119198865,
                    -0.9995724890781796,
                    -0.010684526891447945,
                    -0.4269684567703116
                ],
                [
                    0.9846439104530706,
                    0.02864972152197261,
                    -0.17220790650954113,
                    3.856720588120856
                ],
                [
                    0.17244039446871853,
                    -0.005833741060904907,
                    0.9850026790931622,
                    0.0346271755342121
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 284
        },
        {
            "file_path": "images/frame_00287.png",
            "transform_matrix": [
                [
                    0.025775363933942214,
                    -0.9996196919822445,
                    -0.009803163540188849,
                    -0.4001972912052223
                ],
                [
                    0.9857001735485567,
                    0.027047566243690296,
                    -0.16632377168233833,
                    3.8534725976131345
                ],
                [
                    0.1665256691336751,
                    -0.005375924256910847,
                    0.9860224647329117,
                    0.008060549024243515
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 287
        }
    ],
    "applied_transform": [
        [
            0.0,
            1.0,
            0.0,
            0.0
        ],
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            -0.0,
            -0.0,
            -1.0,
            -0.0
        ]
    ]
}