20241227_C_test1_anlaysis_R_thresh.json

[
    {
        "frame": 1,
        "object_rotation_in_cam": [
            [
                0.9901356676614815,
                0.040141624248945684,
                0.13423862941496625
            ],
            [
                -0.028656737501815646,
                0.9958466008980168,
                -0.08641955146619325
            ],
            [
                -0.13715010397482105,
                0.08172023912423683,
                0.9871735670575734
            ]
        ],
        "object_translation_in_cam": [
            -0.011111746071963134,
            0.01062375706622569,
            1.0577275170779143
        ],
        "raw_rvec": [
            0.08444805738046815,
            0.13630474529101597,
            -0.034553914813434866
        ],
        "refined_raw_rvec": [
            0.08444805738046815,
            0.13630474529101597,
            -0.034553914813434866
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.311105728149414,
            1.187411904335022,
            0.2860903739929199,
            1.7177014350891113,
            1.673737645149231,
            0.4402853846549988,
            1.4548894166946411,
            0.7283347845077515,
            0.8856875896453857,
            2.317521572113037
        ],
        "mean_reprojection_error": 1.300276517868042,
        "std_reprojection_error": 0.6836727261543274,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                361
            ],
            [
                641,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                867,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3003213107585907,
            0.17847348749637604,
            0.43388354778289795,
            0.8773950934410095,
            0.25186941027641296,
            0.2577032446861267,
            0.704313337802887,
            0.2587735056877136,
            0.32113558053970337,
            0.4425847828388214
        ],
        "kf_translation_vector": [
            -0.011122977851816335,
            0.0106344955856095,
            1.0587966706150411
        ],
        "kf_rotation_matrix": [
            [
                0.9901157540835864,
                0.04019332757239046,
                0.13436997407958934
            ],
            [
                -0.02868514307283961,
                0.9958378784000528,
                -0.08651059189817355
            ],
            [
                -0.13728785846673303,
                0.08180107800231073,
                0.9871477232690546
            ]
        ],
        "kf_euler_angles": [
            0.08267719897137724,
            0.13772282377534048,
            -0.02896340290250158
        ]
    },
    {
        "frame": 2,
        "object_rotation_in_cam": [
            [
                0.9917520606747224,
                0.04571859433050003,
                0.11973996943328799
            ],
            [
                -0.034494201055337154,
                0.9949564716391327,
                -0.09419007185983927
            ],
            [
                -0.12344229518684247,
                0.08928286328210402,
                0.9883271574145646
            ]
        ],
        "object_translation_in_cam": [
            -0.011316316008158132,
            0.011191911861793464,
            1.0613729799541252
        ],
        "raw_rvec": [
            0.0921200731526727,
            0.12209957827789591,
            -0.040274106766793966
        ],
        "refined_raw_rvec": [
            0.0921200731526727,
            0.12209957827789591,
            -0.040274106766793966
        ],
        "num_inliers": 11,
        "total_matches": 11,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7701833248138428,
            1.57991623878479,
            0.3596184253692627,
            2.5916740894317627,
            1.3860399723052979,
            0.4734605550765991,
            2.091707468032837,
            1.85342538356781,
            1.3157286643981934,
            0.6293159127235413,
            3.293295383453369
        ],
        "mean_reprojection_error": 1.5767605304718018,
        "std_reprojection_error": 0.8558115363121033,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                361
            ],
            [
                641,
                373
            ],
            [
                557,
                358
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                523,
                380
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                863,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3099168837070465,
            0.18857699632644653,
            0.42524453997612,
            0.9666693806648254,
            0.22700463235378265,
            0.32205232977867126,
            0.7096410989761353,
            0.19015775620937347,
            0.23176023364067078,
            0.3343796730041504,
            0.22189085185527802
        ],
        "kf_translation_vector": [
            -0.011411326904599457,
            0.01145289746170323,
            1.0631888355974521
        ],
        "kf_rotation_matrix": [
            [
                0.9924133051074071,
                0.04820007775074729,
                0.11310430739195762
            ],
            [
                -0.03716835439929524,
                0.9945221401461452,
                -0.09769455558207568
            ],
            [
                -0.11719362302207795,
                0.0927494758149759,
                0.9887685216768414
            ]
        ],
        "kf_euler_angles": [
            0.09352934137030876,
            0.11746355763876717,
            -0.037434998369552074
        ]
    },
    {
        "frame": 3,
        "object_rotation_in_cam": [
            [
                0.9895016873731275,
                0.040652754367501376,
                0.13868584732433617
            ],
            [
                -0.029042922764882337,
                0.9959803019480422,
                -0.08473338638789167
            ],
            [
                -0.14157301763756594,
                0.07981598645523504,
                0.9867048641732599
            ]
        ],
        "object_translation_in_cam": [
            -0.011040961587548335,
            0.010844949307790942,
            1.0563700404812473
        ],
        "raw_rvec": [
            0.08265820697289279,
            0.14078264089218956,
            -0.03501028053760292
        ],
        "refined_raw_rvec": [
            0.08265820697289279,
            0.14078264089218956,
            -0.03501028053760292
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            2.1490321159362793,
            1.3375157117843628,
            0.5899559259414673,
            1.5841645002365112,
            1.7811182737350464,
            0.22542081773281097,
            1.416908621788025,
            0.891146719455719,
            0.9639683961868286,
            2.499910593032837
        ],
        "mean_reprojection_error": 1.3439141511917114,
        "std_reprojection_error": 0.6638988852500916,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                361
            ],
            [
                641,
                373
            ],
            [
                557,
                358
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5351243019104004,
            0.30672430992126465,
            0.698764979839325,
            0.9751488566398621,
            0.14411769807338715,
            0.49189895391464233,
            0.11689191311597824,
            0.847643256187439,
            0.30657604336738586,
            0.3308141529560089,
            0.38884416222572327
        ],
        "kf_translation_vector": [
            -0.011087936413466922,
            0.01102058896437231,
            1.05725455620345
        ],
        "kf_rotation_matrix": [
            [
                0.9898950910459449,
                0.042226244617571816,
                0.13536858198502932
            ],
            [
                -0.03063011833326106,
                0.9957695552794199,
                -0.08663018313218998
            ],
            [
                -0.13845397998624323,
                0.08160843733415889,
                0.9870007894535067
            ]
        ],
        "kf_euler_angles": [
            0.08249560157969044,
            0.1389001889616658,
            -0.030932922644648655
        ]
    },
    {
        "frame": 4,
        "object_rotation_in_cam": [
            [
                0.9902146087296199,
                0.04072880706045563,
                0.1334773124312816
            ],
            [
                -0.02900929095542945,
                0.9956448248916213,
                -0.08859934370409281
            ],
            [
                -0.1365045409380546,
                0.08386028226738157,
                0.987083564528012
            ]
        ],
        "object_translation_in_cam": [
            -0.010908248790585384,
            0.010845969840258105,
            1.055887267493604
        ],
        "raw_rvec": [
            0.08662078286930683,
            0.13560298166961388,
            -0.03502714685784829
        ],
        "refined_raw_rvec": [
            0.08662078286930683,
            0.13560298166961388,
            -0.03502714685784829
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.8270753622055054,
            1.254107117652893,
            0.5255040526390076,
            1.5792648792266846,
            0.21113437414169312,
            1.4691299200057983,
            1.0738595724105835,
            0.13580690324306488,
            2.3746705055236816
        ],
        "mean_reprojection_error": 1.1611723899841309,
        "std_reprojection_error": 0.7117993235588074,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                361
            ],
            [
                641,
                373
            ],
            [
                557,
                358
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.24304841458797455,
            0.30129557847976685,
            0.4672720730304718,
            0.9581089019775391,
            0.13397188484668732,
            0.4393808841705322,
            0.6685750484466553,
            0.3207252025604248,
            0.37871357798576355,
            0.494547575712204
        ],
        "kf_translation_vector": [
            -0.010877939070899484,
            0.01087530283509131,
            1.0552991172092163
        ],
        "kf_rotation_matrix": [
            [
                0.9899066165649955,
                0.04052733022135206,
                0.13580289387922664
            ],
            [
                -0.02875833566320394,
                0.9957466450440595,
                -0.08753043478346434
            ],
            [
                -0.13877265080240236,
                0.08274149133674892,
                0.9868616909175496
            ]
        ],
        "kf_euler_angles": [
            0.08364740909695731,
            0.13922196602840706,
            -0.029043395267460474
        ]
    },
    {
        "frame": 5,
        "object_rotation_in_cam": [
            [
                0.9917844266166058,
                0.04239761857797656,
                0.1206900702613383
            ],
            [
                -0.03060403155145708,
                0.9947209807342196,
                -0.09794673930228563
            ],
            [
                -0.1242056535491351,
                0.09344844795965797,
                0.9878463155776628
            ]
        ],
        "object_translation_in_cam": [
            -0.011100507889625128,
            0.0101844709298088,
            1.0633947499424734
        ],
        "raw_rvec": [
            0.09610878340105196,
            0.12297399120769104,
            -0.03665766041758864
        ],
        "refined_raw_rvec": [
            0.09610878340105196,
            0.12297399120769104,
            -0.03665766041758864
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            2.390127420425415,
            0.7911903262138367,
            2.401136636734009,
            6.005161762237549,
            0.7101306915283203,
            1.944442629814148,
            0.8221831917762756,
            0.6836737394332886,
            2.83040714263916
        ],
        "mean_reprojection_error": 2.06427264213562,
        "std_reprojection_error": 1.6074433326721191,
        "inliers": [
            0,
            1,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                361
            ],
            [
                641,
                373
            ],
            [
                557,
                358
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                867,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2071867287158966,
            0.2564771771430969,
            0.7230489253997803,
            0.9510306119918823,
            0.19938479363918304,
            0.5484567880630493,
            0.8240811824798584,
            0.2730352282524109,
            0.1614559143781662,
            0.56423020362854
        ],
        "kf_translation_vector": [
            -0.011009409527261678,
            0.010169250751512954,
            1.0620812077566375
        ],
        "kf_rotation_matrix": [
            [
                0.9915213757834073,
                0.04159093488008319,
                0.12310790186003498
            ],
            [
                -0.02968755992255007,
                0.9948422308684272,
                -0.09699270316150652
            ],
            [
                -0.12650695692500205,
                0.09251556526623937,
                0.9876420708095842
            ]
        ],
        "kf_euler_angles": [
            0.09340062166970914,
            0.12684684691864684,
            -0.02993247941509085
        ]
    },
    {
        "frame": 6,
        "object_rotation_in_cam": [
            [
                0.9903329955733724,
                0.03960954889733292,
                0.13293472651952373
            ],
            [
                -0.027946596859945987,
                0.9956857251311951,
                -0.08848120983527404
            ],
            [
                -0.13586591037717458,
                0.08391078837739478,
                0.98716737891366
            ]
        ],
        "object_translation_in_cam": [
            -0.010941258505093665,
            0.010636436208915575,
            1.0560245683506386
        ],
        "raw_rvec": [
            0.08658328532447654,
            0.1350041909202576,
            -0.03392984073604498
        ],
        "refined_raw_rvec": [
            0.08658328532447654,
            0.1350041909202576,
            -0.03392984073604498
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.014622688293457,
            1.1033170223236084,
            0.238982692360878,
            1.5995862483978271,
            0.4493403434753418,
            1.490449070930481,
            0.900644838809967,
            0.12055683881044388,
            2.290839433670044
        ],
        "mean_reprojection_error": 1.134259819984436,
        "std_reprojection_error": 0.7310478091239929,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                361
            ],
            [
                641,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2988016903400421,
            0.23587647080421448,
            0.4863639771938324,
            0.9807460904121399,
            0.3176306188106537,
            0.6643981337547302,
            0.3044048547744751,
            0.27933984994888306,
            0.5043936967849731
        ],
        "kf_translation_vector": [
            -0.010932811563911736,
            0.01036359175501075,
            1.0576707677152737
        ],
        "kf_rotation_matrix": [
            [
                0.9907368494233301,
                0.039452981459697826,
                0.12993828322967174
            ],
            [
                -0.027673653045224757,
                0.9954440845381151,
                -0.09124277223543055
            ],
            [
                -0.13294609479735076,
                0.08680170972979089,
                0.9873149442128986
            ]
        ],
        "kf_euler_angles": [
            0.0876914710269306,
            0.1333408724270934,
            -0.027925133966243413
        ]
    },
    {
        "frame": 7,
        "object_rotation_in_cam": [
            [
                0.9903200749454972,
                0.040303378297720585,
                0.13282238839042015
            ],
            [
                -0.028556692098027584,
                0.9956054628322987,
                -0.08918675750862763
            ],
            [
                -0.13583322309495288,
                0.08453046833110013,
                0.9871190077327868
            ]
        ],
        "object_translation_in_cam": [
            -0.010918039775802538,
            0.010677886483411414,
            1.0560864919785207
        ],
        "raw_rvec": [
            0.08725094774793685,
            0.13493455589445444,
            -0.034585553476209556
        ],
        "refined_raw_rvec": [
            0.08725094774793685,
            0.13493455589445444,
            -0.034585553476209556
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.0062501430511475,
            1.1202625036239624,
            0.7130488157272339,
            1.5266914367675781,
            0.38198477029800415,
            1.4076060056686401,
            0.9558556079864502,
            0.14898476004600525,
            2.4020869731903076
        ],
        "mean_reprojection_error": 1.073641300201416,
        "std_reprojection_error": 0.6294220089912415,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                557,
                358
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4304123818874359,
            0.3882199823856354,
            0.8040812611579895,
            0.9967756867408752,
            0.5901201367378235,
            0.9081289172172546,
            0.3873249888420105,
            0.27753299474716187,
            0.4264797270298004
        ],
        "kf_translation_vector": [
            -0.010894022929222565,
            0.010538238900534532,
            1.0558249766099108
        ],
        "kf_rotation_matrix": [
            [
                0.9903420060073119,
                0.03938566834932763,
                0.13293412002225033
            ],
            [
                -0.027632265221122967,
                0.9956366290085498,
                -0.0891300224124335
            ],
            [
                -0.13586452464187554,
                0.08459593433001464,
                0.9871090916604248
            ]
        ],
        "kf_euler_angles": [
            0.08549180119920512,
            0.13628602641117987,
            -0.027894502871654892
        ]
    },
    {
        "frame": 8,
        "object_rotation_in_cam": [
            [
                0.9903688095834924,
                0.03753937948208065,
                0.13326821073413014
            ],
            [
                -0.026610317222820118,
                0.9962056642585667,
                -0.08286232869313219
            ],
            [
                -0.13587314680052515,
                0.07851795646378056,
                0.9876099526084551
            ]
        ],
        "object_translation_in_cam": [
            -0.010957466076115259,
            0.010500631608789892,
            1.0572279066706194
        ],
        "raw_rvec": [
            0.08103912211839209,
            0.13515268806938582,
            -0.032213569954170976
        ],
        "refined_raw_rvec": [
            0.08103912211839209,
            0.13515268806938582,
            -0.032213569954170976
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.203396201133728,
            0.9663972854614258,
            0.0736541673541069,
            1.8319400548934937,
            1.2603193521499634,
            0.7092580795288086,
            1.6699556112289429,
            0.7591145038604736,
            0.6677544713020325,
            2.9836466312408447
        ],
        "mean_reprojection_error": 1.2125436067581177,
        "std_reprojection_error": 0.7645519375801086,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                259
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3060927987098694,
            0.31364431977272034,
            0.6255070567131042,
            0.9944639205932617,
            0.124498151242733,
            0.26293209195137024,
            0.8319052457809448,
            0.3328441083431244,
            0.2812846302986145,
            0.3768734037876129
        ],
        "kf_translation_vector": [
            -0.010926676777926747,
            0.010475085512675907,
            1.0562523216948452
        ],
        "kf_rotation_matrix": [
            [
                0.9902337201822059,
                0.03708415916348281,
                0.13439473409790387
            ],
            [
                -0.026091694292223046,
                0.9962370132728263,
                -0.08265008695821079
            ],
            [
                -0.13695401747692537,
                0.07833631676544477,
                0.987475072380338
            ]
        ],
        "kf_euler_angles": [
            0.07916412984418826,
            0.13738579935692685,
            -0.026342931004523524
        ]
    },
    {
        "frame": 9,
        "object_rotation_in_cam": [
            [
                0.9902394299502156,
                0.04330637173236151,
                0.13247803417642656
            ],
            [
                -0.0314059255825753,
                0.9953887527596795,
                -0.0906360784557196
            ],
            [
                -0.1357922649128943,
                0.08559082338024408,
                0.9870332677994791
            ]
        ],
        "object_translation_in_cam": [
            -0.01082927178180265,
            0.011147470818945918,
            1.0555317453203228
        ],
        "raw_rvec": [
            0.08851714136857683,
            0.1347496877155773,
            -0.037527295290892895
        ],
        "refined_raw_rvec": [
            0.08851714136857683,
            0.1347496877155773,
            -0.037527295290892895
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.6425442099571228,
            2.048938512802124,
            0.10537222772836685,
            1.3875988721847534,
            0.27244994044303894,
            1.2697232961654663,
            2.1485769748687744,
            1.4071216583251953,
            0.40720170736312866,
            2.697544574737549
        ],
        "mean_reprojection_error": 1.238707184791565,
        "std_reprojection_error": 0.8324032425880432,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                358
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                523,
                380
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.29467955231666565,
            0.2807062864303589,
            0.7189425826072693,
            0.9935548305511475,
            0.3295859694480896,
            0.9643572568893433,
            0.16710108518600464,
            0.28499093651771545,
            0.292208731174469,
            0.4457080066204071
        ],
        "kf_translation_vector": [
            -0.010841126847751612,
            0.011007789122701199,
            1.0551502565498774
        ],
        "kf_rotation_matrix": [
            [
                0.9901082786524369,
                0.0412121789411548,
                0.1341161916057518
            ],
            [
                -0.029690765296497636,
                0.9957831943994686,
                -0.08680027769367106
            ],
            [
                -0.13712787827432021,
                0.08195966116640767,
                0.9871568056501818
            ]
        ],
        "kf_euler_angles": [
            0.08283599044199684,
            0.1375613160876352,
            -0.029978408413234153
        ]
    },
    {
        "frame": 10,
        "object_rotation_in_cam": [
            [
                0.9906242888651305,
                0.04022980609477076,
                0.13055681143483663
            ],
            [
                -0.028761051516681506,
                0.9956545180416713,
                -0.08857134197279684
            ],
            [
                -0.13355268707932885,
                0.08398597147610115,
                0.9874766004159827
            ]
        ],
        "object_translation_in_cam": [
            -0.010816090005108954,
            0.01045364832222058,
            1.0586493310319212
        ],
        "raw_rvec": [
            0.0866580401936782,
            0.13263541880854957,
            -0.03464711168941616
        ],
        "refined_raw_rvec": [
            0.0866580401936782,
            0.13263541880854957,
            -0.03464711168941616
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.2665619850158691,
            1.6372300386428833,
            0.19065789878368378,
            1.5861023664474487,
            1.1382182836532593,
            0.6785415410995483,
            1.3185954093933105,
            0.9564091563224792,
            0.5576952695846558,
            2.3428287506103516
        ],
        "mean_reprojection_error": 1.1672840118408203,
        "std_reprojection_error": 0.5848498940467834,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                867,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.34512606263160706,
            0.2946285307407379,
            0.7632620334625244,
            0.9917197823524475,
            0.11822023242712021,
            0.3398991823196411,
            0.929831326007843,
            0.30942678451538086,
            0.3584161102771759,
            0.6506455540657043
        ],
        "kf_translation_vector": [
            -0.01080071299571397,
            0.010685531062473965,
            1.0572810558267425
        ],
        "kf_rotation_matrix": [
            [
                0.9903827113861401,
                0.04068016108255124,
                0.13223921310161812
            ],
            [
                -0.029251249002836287,
                0.9957570613400818,
                -0.0872481473908671
            ],
            [
                -0.13522739892200675,
                0.08254089462601,
                0.9873705238131866
            ]
        ],
        "kf_euler_angles": [
            0.08340275355304659,
            0.13564296591260572,
            -0.029526714771394375
        ]
    },
    {
        "frame": 11,
        "object_rotation_in_cam": [
            [
                0.9731520155766921,
                0.013841656450927517,
                0.22974673692071496
            ],
            [
                -0.03441491446742106,
                0.9957192171242443,
                0.08578376484907964
            ],
            [
                -0.2275758516214359,
                -0.09138735796693433,
                0.9694625225157503
            ]
        ],
        "object_translation_in_cam": [
            -0.010806029143355496,
            0.013019112373192135,
            1.057354381920878
        ],
        "raw_rvec": [
            -0.08950739722314419,
            0.2310407810321725,
            -0.024379368337022488
        ],
        "refined_raw_rvec": [
            -0.08950739722314419,
            0.2310407810321725,
            -0.024379368337022488
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            1.0068368911743164,
            3.484133243560791,
            1.7313504219055176,
            2.2672042846679688,
            4.110457420349121,
            0.8563644289970398,
            1.9321472644805908,
            3.2118332386016846,
            0.7355937361717224,
            2.9080162048339844
        ],
        "mean_reprojection_error": 2.224393606185913,
        "std_reprojection_error": 1.1174687147140503,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                523,
                380
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                259
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.267844557762146,
            0.22597967088222504,
            0.7146768569946289,
            0.9960396885871887,
            0.28710469603538513,
            0.1432417631149292,
            0.3942614793777466,
            0.9238207340240479,
            0.15739227831363678,
            0.2590440511703491,
            0.36195167899131775,
            0.31272774934768677
        ],
        "kf_translation_vector": [
            -0.010782790811316448,
            0.012471249196817413,
            1.057359861385357
        ],
        "kf_rotation_matrix": [
            [
                0.9780774185758896,
                0.023460640459058543,
                0.2069158322148765
            ],
            [
                -0.03336649677750174,
                0.9984513790022541,
                0.04451427480363847
            ],
            [
                -0.20555106461587863,
                -0.050442463438532245,
                0.9773455467323373
            ]
        ],
        "kf_euler_angles": [
            -0.05156594416284341,
            0.20702676258582867,
            -0.034101147113424136
        ]
    },
    {
        "frame": 12,
        "object_rotation_in_cam": [
            [
                0.9889025739163156,
                0.033328369508470665,
                0.14477886270997162
            ],
            [
                -0.02291375303183154,
                0.997067516230426,
                -0.07301594346500985
            ],
            [
                -0.1467878033887087,
                0.0688882273251107,
                0.9867663111964867
            ]
        ],
        "object_translation_in_cam": [
            -0.01060467868307137,
            0.011038668414708058,
            1.0520961448102568
        ],
        "raw_rvec": [
            0.07127625522325198,
            0.14644939603768906,
            -0.02824954233663076
        ],
        "refined_raw_rvec": [
            0.07127625522325198,
            0.14644939603768906,
            -0.02824954233663076
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.762496829032898,
            1.9279720783233643,
            0.16115398705005646,
            2.907682418823242,
            0.5307469964027405,
            3.7052488327026367,
            1.1379351615905762,
            0.2597965598106384,
            1.997423768043518
        ],
        "mean_reprojection_error": 1.5989395380020142,
        "std_reprojection_error": 1.1380901336669922,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                361
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                834,
                312
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.34463414549827576,
            0.2522522211074829,
            0.7347995638847351,
            0.949895977973938,
            0.2242479920387268,
            0.38518449664115906,
            0.4706669747829437,
            0.29567641019821167,
            0.21732103824615479,
            0.4988388419151306
        ],
        "kf_translation_vector": [
            -0.01063636588690265,
            0.011872467649429844,
            1.0536213171217454
        ],
        "kf_rotation_matrix": [
            [
                0.9833310691418607,
                0.028139504926567332,
                0.1796334510129244
            ],
            [
                -0.02699203833524841,
                0.9995966549540617,
                -0.008829341490678285
            ],
            [
                -0.17980945004874882,
                0.0038334928118134467,
                0.983693990022318
            ]
        ],
        "kf_euler_angles": [
            0.0038970182237328854,
            0.18079274072173152,
            -0.02744270258835275
        ]
    },
    {
        "frame": 13,
        "object_rotation_in_cam": [
            [
                0.9916215540905592,
                0.04202488219187103,
                0.12214991911492841
            ],
            [
                -0.029972171998423336,
                0.9946473146115469,
                -0.09888573426806997
            ],
            [
                -0.12565175036075352,
                0.09439612710698349,
                0.9875732928843718
            ]
        ],
        "object_translation_in_cam": [
            -0.010769804268978792,
            0.009991284331764296,
            1.0638862395955941
        ],
        "raw_rvec": [
            0.09706446691838613,
            0.12444383957204391,
            -0.03615629337879015
        ],
        "refined_raw_rvec": [
            0.09706446691838613,
            0.12444383957204391,
            -0.03615629337879015
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6329606771469116,
            1.383081316947937,
            0.5517013669013977,
            2.111567258834839,
            6.198609828948975,
            1.0698447227478027,
            1.6613612174987793,
            0.567771315574646,
            3.2628612518310547
        ],
        "mean_reprojection_error": 2.0488619804382324,
        "std_reprojection_error": 1.6619306802749634,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3011036813259125,
            0.2167108952999115,
            0.687873125076294,
            0.992485761642456,
            0.12129339575767517,
            0.39419084787368774,
            0.8052440881729126,
            0.2178562879562378,
            0.3823530375957489
        ],
        "kf_translation_vector": [
            -0.010685354076272292,
            0.010801961098819242,
            1.0599561713971901
        ],
        "kf_rotation_matrix": [
            [
                0.9882047751007009,
                0.03683312400273135,
                0.14864267033517872
            ],
            [
                -0.02859958059360469,
                0.9979556300413722,
                -0.05715439142006349
            ],
            [
                -0.1504439645118511,
                0.05222912448938172,
                0.9872379308439428
            ]
        ],
        "kf_euler_angles": [
            0.052855018143044795,
            0.15101733309756493,
            -0.028932869510485307
        ]
    },
    {
        "frame": 14,
        "object_rotation_in_cam": [
            [
                0.9975622368842109,
                0.026899447831913205,
                -0.06438946535659196
            ],
            [
                -0.05831703586222029,
                0.8281026949527152,
                -0.5575347970667794
            ],
            [
                0.038323711600184135,
                0.5599306620630706,
                0.8276526728107614
            ]
        ],
        "object_translation_in_cam": [
            -0.013181995794767528,
            0.0031310737201107816,
            1.061843286782679
        ],
        "raw_rvec": [
            0.5934351753194306,
            -0.05454630537074818,
            -0.04525460588331008
        ],
        "refined_raw_rvec": [
            0.5934351753194306,
            -0.05454630537074818,
            -0.04525460588331008
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            2.812769651412964,
            2.346959114074707,
            1.003890037536621,
            2.5478832721710205,
            1.7230453491210938,
            2.6021111011505127,
            0.9971641302108765,
            2.9852283000946045,
            0.5574436187744141,
            1.5268659591674805,
            0.9683557748794556
        ],
        "mean_reprojection_error": 1.8247013092041016,
        "std_reprojection_error": 0.8268270492553711,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                361
            ],
            [
                663,
                356
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                523,
                380
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5272110104560852,
            0.168649360537529,
            0.2666413486003876,
            0.6236379146575928,
            0.9959837794303894,
            0.11153082549571991,
            0.3789390027523041,
            0.7659307718276978,
            0.12895531952381134,
            0.33957886695861816,
            0.12808968126773834,
            0.5212743282318115
        ],
        "kf_translation_vector": [
            -0.010651605378440293,
            0.010756742616372392,
            1.0609783638704502
        ],
        "kf_rotation_matrix": [
            [
                0.9880986192175124,
                0.036481835696207006,
                0.14943290924251026
            ],
            [
                -0.028545754154909033,
                0.99808298799581,
                -0.05491346823032954
            ],
            [
                -0.1511497886871591,
                0.049994247044943825,
                0.9872458238160524
            ]
        ],
        "kf_euler_angles": [
            0.050596898998964655,
            0.1517313219161645,
            -0.028881546913407035
        ]
    },
    {
        "frame": 15,
        "object_rotation_in_cam": [
            [
                0.9900860038028328,
                0.03929214956015702,
                0.13485485551762352
            ],
            [
                -0.027822177822481028,
                0.9959144239083904,
                -0.08590917688136208
            ],
            [
                -0.13767945197069573,
                0.08130551785802219,
                0.9871341252691489
            ]
        ],
        "object_translation_in_cam": [
            -0.0109321563747782,
            0.010471517467249206,
            1.056783098912142
        ],
        "raw_rvec": [
            0.08398372860553753,
            0.13688059743475509,
            -0.03370823039943688
        ],
        "refined_raw_rvec": [
            0.08398372860553753,
            0.13688059743475509,
            -0.03370823039943688
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.2226378917694092,
            0.9601038098335266,
            0.0480082631111145,
            1.4994405508041382,
            1.2099089622497559,
            0.6548400521278381,
            1.3471406698226929,
            0.7659130096435547,
            0.6354430317878723,
            2.421522855758667
        ],
        "mean_reprojection_error": 1.076495885848999,
        "std_reprojection_error": 0.6033657193183899,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5363208651542664,
            0.4026300013065338,
            0.5128867626190186,
            0.997579038143158,
            0.11263751983642578,
            0.35889697074890137,
            0.1399652361869812,
            0.9871451258659363,
            0.2718917727470398,
            0.27022281289100647,
            0.42762401700019836
        ],
        "kf_translation_vector": [
            -0.010862802446794046,
            0.010490713458532195,
            1.0582328148842384
        ],
        "kf_rotation_matrix": [
            [
                0.9896989020315176,
                0.03868687499141035,
                0.13783834379811544
            ],
            [
                -0.02793104846704991,
                0.9964729592791561,
                -0.07912962755487038
            ],
            [
                -0.14041346035597793,
                0.0744645360479751,
                0.9872887586831018
            ]
        ],
        "kf_euler_angles": [
            0.07528072618163852,
            0.1408789998702317,
            -0.028214274620793577
        ]
    },
    {
        "frame": 16,
        "object_rotation_in_cam": [
            [
                0.9899121195991757,
                0.04296231632121568,
                0.1350119803831614
            ],
            [
                -0.031022747824727928,
                0.9955192298936721,
                -0.08932553962508907
            ],
            [
                -0.13824465482640078,
                0.08423599164386814,
                0.9868093600709833
            ]
        ],
        "object_translation_in_cam": [
            -0.01076961071468733,
            0.01117186258762083,
            1.0546143106029497
        ],
        "raw_rvec": [
            0.08718450343456409,
            0.13726396556174286,
            -0.03716463568843932
        ],
        "refined_raw_rvec": [
            0.08718450343456409,
            0.13726396556174286,
            -0.03716463568843932
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.6546090841293335,
            2.048077344894409,
            0.10389714688062668,
            1.712440848350525,
            0.2733064293861389,
            1.3497793674468994,
            2.164081335067749,
            1.4267202615737915,
            0.4341035485267639,
            2.6957263946533203
        ],
        "mean_reprojection_error": 1.2862741947174072,
        "std_reprojection_error": 0.8421481847763062,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                358
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                523,
                380
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33615100383758545,
            0.3506169021129608,
            0.5624189376831055,
            0.9286037087440491,
            0.3624517023563385,
            0.13910932838916779,
            0.4756752550601959,
            0.12696672976016998,
            0.3234805166721344,
            0.1617216169834137,
            0.33423101902008057
        ],
        "kf_translation_vector": [
            -0.010821034880379506,
            0.010869123908583635,
            1.05602651130218
        ],
        "kf_rotation_matrix": [
            [
                0.9900765762624786,
                0.041729830347823196,
                0.13419014269129573
            ],
            [
                -0.029885368529570567,
                0.99557423444759,
                -0.08909999131283276
            ],
            [
                -0.13731437610177663,
                0.08420549247666101,
                0.9869418408156292
            ]
        ],
        "kf_euler_angles": [
            0.08511348285880921,
            0.1377495949506818,
            -0.030175743708739176
        ]
    },
    {
        "frame": 17,
        "object_rotation_in_cam": [
            [
                0.9898129087444162,
                0.04388871572708717,
                0.13544071143768052
            ],
            [
                -0.03236345017810125,
                0.9957560830769303,
                -0.08615352638086841
            ],
            [
                -0.1386470799385536,
                0.0808925438289362,
                0.9870326152551373
            ]
        ],
        "object_translation_in_cam": [
            -0.01079709421105055,
            0.011289030090056166,
            1.0563372215836224
        ],
        "raw_rvec": [
            0.08390653688593767,
            0.13767314219490898,
            -0.03830114149420322
        ],
        "refined_raw_rvec": [
            0.08390653688593767,
            0.13767314219490898,
            -0.03830114149420322
        ],
        "num_inliers": 11,
        "total_matches": 11,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.570585310459137,
            2.1025869846343994,
            1.1142101287841797,
            1.3971447944641113,
            1.2319700717926025,
            0.41432511806488037,
            1.2023260593414307,
            1.4615246057510376,
            0.7966335415840149,
            3.49539852142334,
            2.8308053016662598
        ],
        "mean_reprojection_error": 1.5106827020645142,
        "std_reprojection_error": 0.9031803607940674,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.315365195274353,
            0.36648526787757874,
            0.4819631278514862,
            0.8423206806182861,
            0.12077052891254425,
            0.3093545138835907,
            0.7868813276290894,
            0.2937145233154297,
            0.27306196093559265,
            0.11949170380830765,
            0.5248419046401978
        ],
        "kf_translation_vector": [
            -0.01082037643778951,
            0.011121168283723943,
            1.0560481938648658
        ],
        "kf_rotation_matrix": [
            [
                0.9901995042153109,
                0.04374383450376433,
                0.13263264603656108
            ],
            [
                -0.03164950928708178,
                0.995259432412938,
                -0.09196178964637038
            ],
            [
                -0.13602665332073471,
                0.08686276035208429,
                0.9868898674372825
            ]
        ],
        "kf_euler_angles": [
            0.08779043476927875,
            0.1364496743477738,
            -0.03195188227313594
        ]
    },
    {
        "frame": 18,
        "object_rotation_in_cam": [
            [
                0.9901304026517033,
                0.03964781593954535,
                0.13442409172466047
            ],
            [
                -0.02809621785688166,
                0.9958323077693801,
                -0.08676760538847011
            ],
            [
                -0.1373039995299286,
                0.08213443549410052,
                0.9871177975394582
            ]
        ],
        "object_translation_in_cam": [
            -0.010777947740148168,
            0.010465513078750974,
            1.057430448615287
        ],
        "raw_rvec": [
            0.08483196864805731,
            0.13647691169186138,
            -0.03402480941664253
        ],
        "refined_raw_rvec": [
            0.08483196864805731,
            0.13647691169186138,
            -0.03402480941664253
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.2665865421295166,
            1.659921407699585,
            0.14927008748054504,
            1.4823120832443237,
            1.2325834035873413,
            0.7026407718658447,
            1.3225709199905396,
            0.9227203130722046,
            0.5917444825172424,
            2.424792766571045
        ],
        "mean_reprojection_error": 1.1755142211914062,
        "std_reprojection_error": 0.6003438234329224,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4064611494541168,
            0.36629343032836914,
            0.512766420841217,
            0.9944000244140625,
            0.14201991260051727,
            0.36272984743118286,
            0.9772059321403503,
            0.31507033109664917,
            0.27258390188217163,
            0.45285141468048096
        ],
        "kf_translation_vector": [
            -0.010810087314699322,
            0.010769268523785742,
            1.056727677313039
        ],
        "kf_rotation_matrix": [
            [
                0.9904417161880329,
                0.042275335436136104,
                0.13129357504564387
            ],
            [
                -0.030062292867540825,
                0.9951513802556956,
                -0.0936482190045819
            ],
            [
                -0.1346159922967927,
                0.08880611684420224,
                0.9869103344422956
            ]
        ],
        "kf_euler_angles": [
            0.08974227991942212,
            0.1350259171461785,
            -0.030343094054575984
        ]
    },
    {
        "frame": 19,
        "object_rotation_in_cam": [
            [
                0.9901820048317226,
                0.03915781203914918,
                0.13418741768041134
            ],
            [
                -0.027375619980442127,
                0.9956953983232155,
                -0.08855082827765964
            ],
            [
                -0.13707725098686843,
                0.08400797292090681,
                0.9869916350950515
            ]
        ],
        "object_translation_in_cam": [
            -0.01074156822920996,
            0.010483990329539165,
            1.0558977655416728
        ],
        "raw_rvec": [
            0.08667167047866546,
            0.1362489876606199,
            -0.033417963359521845
        ],
        "refined_raw_rvec": [
            0.08667167047866546,
            0.1362489876606199,
            -0.033417963359521845
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.2402172088623047,
            1.6408013105392456,
            0.08778803795576096,
            1.8013077974319458,
            0.6860684156417847,
            1.481583595275879,
            0.9699452519416809,
            0.24457485973834991,
            2.3337714672088623
        ],
        "mean_reprojection_error": 1.165117621421814,
        "std_reprojection_error": 0.6974695324897766,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.43571314215660095,
            0.37863078713417053,
            0.5245406627655029,
            0.9946606159210205,
            0.37978842854499817,
            0.9738664627075195,
            0.33829256892204285,
            0.19890443980693817,
            0.5075043439865112
        ],
        "kf_translation_vector": [
            -0.010784302934696776,
            0.010579921094236973,
            1.0562477876108407
        ],
        "kf_rotation_matrix": [
            [
                0.990589272771515,
                0.04110049271304442,
                0.13055130090790426
            ],
            [
                -0.02872473552498826,
                0.995033758568683,
                -0.09530324694205967
            ],
            [
                -0.1338199620348947,
                0.09065632249007628,
                0.9868503680667878
            ]
        ],
        "kf_euler_angles": [
            0.0916071890824982,
            0.13422261848093367,
            -0.028989500686404275
        ]
    },
    {
        "frame": 20,
        "object_rotation_in_cam": [
            [
                0.9898129087444162,
                0.04388871572708717,
                0.13544071143768052
            ],
            [
                -0.03236345017810125,
                0.9957560830769303,
                -0.08615352638086841
            ],
            [
                -0.1386470799385536,
                0.0808925438289362,
                0.9870326152551373
            ]
        ],
        "object_translation_in_cam": [
            -0.01079709421105055,
            0.011289030090056166,
            1.0563372215836224
        ],
        "raw_rvec": [
            0.08390653688593767,
            0.13767314219490898,
            -0.03830114149420322
        ],
        "refined_raw_rvec": [
            0.08390653688593767,
            0.13767314219490898,
            -0.03830114149420322
        ],
        "num_inliers": 11,
        "total_matches": 11,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.570585310459137,
            2.1025869846343994,
            1.1142101287841797,
            1.3971447944641113,
            1.2319700717926025,
            0.41432511806488037,
            1.2023260593414307,
            1.4615246057510376,
            0.7966335415840149,
            3.49539852142334,
            2.8308053016662598
        ],
        "mean_reprojection_error": 1.5106827020645142,
        "std_reprojection_error": 0.9031803607940674,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.41614046692848206,
            0.40406349301338196,
            0.5972194075584412,
            0.9970735907554626,
            0.10063591599464417,
            0.3820919990539551,
            0.9827527403831482,
            0.37897127866744995,
            0.2904626429080963,
            0.13494111597537994,
            0.5116060972213745
        ],
        "kf_translation_vector": [
            -0.010801583065214214,
            0.01092692420675852,
            1.0562310811377642
        ],
        "kf_rotation_matrix": [
            [
                0.9904505613828631,
                0.043062279970543946,
                0.13097070474006692
            ],
            [
                -0.030758651997770066,
                0.9950443358834972,
                -0.09455514239558875
            ],
            [
                -0.134393417932767,
                0.08962371153834503,
                0.9868667587604926
            ]
        ],
        "kf_euler_angles": [
            0.09056798063982173,
            0.13480130169089963,
            -0.03104523412351048
        ]
    },
    {
        "frame": 21,
        "object_rotation_in_cam": [
            [
                0.9897403345902898,
                0.040000554278840084,
                0.13716422909230655
            ],
            [
                -0.028295745064304184,
                0.9958718921837112,
                -0.0862468849854331
            ],
            [
                -0.14004792357031606,
                0.08148085674451509,
                0.9867864252652763
            ]
        ],
        "object_translation_in_cam": [
            -0.01053776961892033,
            0.0105575678135198,
            1.0572694270769682
        ],
        "raw_rvec": [
            0.08425180586513319,
            0.13924723619775978,
            -0.03430611116692933
        ],
        "refined_raw_rvec": [
            0.08425180586513319,
            0.13924723619775978,
            -0.03430611116692933
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.2774169445037842,
            1.5206807851791382,
            0.40257081389427185,
            1.8148188591003418,
            1.3372712135314941,
            0.7623060941696167,
            1.366025447845459,
            0.5897923707962036,
            2.4233999252319336
        ],
        "mean_reprojection_error": 1.2771425247192383,
        "std_reprojection_error": 0.5940642356872559,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.15595413744449615,
            0.11857376247644424,
            0.34317874908447266,
            0.9912528395652771,
            0.1471669226884842,
            0.17221064865589142,
            0.5946601033210754,
            0.2791112959384918,
            0.3518317639827728
        ],
        "kf_translation_vector": [
            -0.010669236989326328,
            0.010727358312511938,
            1.056750821651659
        ],
        "kf_rotation_matrix": [
            [
                0.9903130871734032,
                0.04202855274234297,
                0.132338921438357
            ],
            [
                -0.02969049884713599,
                0.9951424641171832,
                -0.09386133596422326
            ],
            [
                -0.13564093648781603,
                0.08902290079055315,
                0.9867504545139787
            ]
        ],
        "kf_euler_angles": [
            0.08997466795359399,
            0.13606034910531872,
            -0.0299719434206495
        ]
    },
    {
        "frame": 22,
        "object_rotation_in_cam": [
            [
                0.9899013855387734,
                0.034907803677467444,
                0.13739247486974032
            ],
            [
                -0.024537674438465135,
                0.9967705789897959,
                -0.07646120188369258
            ],
            [
                -0.13961786934905118,
                0.07231775786597845,
                0.9875611335282839
            ]
        ],
        "object_translation_in_cam": [
            -0.010528164626156706,
            0.010435475101765885,
            1.0598999340947537
        ],
        "raw_rvec": [
            0.07471059974451423,
            0.139103062602681,
            -0.029851044325174072
        ],
        "refined_raw_rvec": [
            0.07471059974451423,
            0.139103062602681,
            -0.029851044325174072
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4292283058166504,
            1.4469081163406372,
            0.7327260971069336,
            1.84795081615448,
            7.5502753257751465,
            0.9860589504241943,
            1.179220199584961,
            5.356511116027832,
            1.351824402809143,
            1.3588106632232666
        ],
        "mean_reprojection_error": 2.323951244354248,
        "std_reprojection_error": 2.1404690742492676,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                830,
                293
            ],
            [
                837,
                366
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                834,
                312
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.25749483704566956,
            0.23597702383995056,
            0.6128616333007812,
            0.9984632134437561,
            0.14141511917114258,
            0.20443180203437805,
            0.29929935932159424,
            0.7641124725341797,
            0.3333074450492859,
            0.5847452878952026
        ],
        "kf_translation_vector": [
            -0.010587566090710893,
            0.010544249640187011,
            1.0584937453850856
        ],
        "kf_rotation_matrix": [
            [
                0.9903057923886385,
                0.03863353574940383,
                0.13342371407291242
            ],
            [
                -0.02700723665390653,
                0.9957653926486396,
                -0.08787429642176536
            ],
            [
                -0.13625361180471746,
                0.08341901892734016,
                0.9871556212428563
            ]
        ],
        "kf_euler_angles": [
            0.08430413460371586,
            0.13667876576725776,
            -0.02726485534624337
        ]
    },
    {
        "frame": 23,
        "object_rotation_in_cam": [
            [
                0.9898627059451643,
                0.03868352037179365,
                0.13665799878002807
            ],
            [
                -0.027393001301510168,
                0.9961266427616404,
                -0.08355438384740058
            ],
            [
                -0.13936085124098732,
                0.07896389575032578,
                0.987088271792001
            ]
        ],
        "object_translation_in_cam": [
            -0.010562039666645819,
            0.01062248582302523,
            1.0574138567722495
        ],
        "raw_rvec": [
            0.08162572935332552,
            0.13863203575622116,
            -0.03318730845579109
        ],
        "refined_raw_rvec": [
            0.08162572935332552,
            0.13863203575622116,
            -0.03318730845579109
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.2286360263824463,
            1.558513879776001,
            0.40439701080322266,
            1.3086354732513428,
            1.3793903589248657,
            0.7660641670227051,
            1.6273432970046997,
            0.6283560991287231,
            2.0879745483398438
        ],
        "mean_reprojection_error": 1.2210345268249512,
        "std_reprojection_error": 0.5042635202407837,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                830,
                293
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.18497763574123383,
            0.2643095850944519,
            0.4144587516784668,
            0.997668445110321,
            0.11562812328338623,
            0.31801629066467285,
            0.12297016382217407,
            0.43863824009895325,
            0.19060997664928436,
            0.5233120322227478
        ],
        "kf_translation_vector": [
            -0.010559898671632813,
            0.010538832711483703,
            1.0581900361763061
        ],
        "kf_rotation_matrix": [
            [
                0.9902638427192475,
                0.03861466806305938,
                0.1337401555752394
            ],
            [
                -0.026957167393598207,
                0.9957640642783993,
                -0.08790471783628855
            ],
            [
                -0.13656805237325098,
                0.08344360791662668,
                0.9871100908048874
            ]
        ],
        "kf_euler_angles": [
            0.08433273811971262,
            0.13699617335117434,
            -0.0272154857457672
        ]
    },
    {
        "frame": 24,
        "object_rotation_in_cam": [
            [
                0.9902572404451877,
                0.03976784335807514,
                0.13345080134839676
            ],
            [
                -0.028085282483253874,
                0.9956970040585997,
                -0.08831020901665149
            ],
            [
                -0.13638846965091106,
                0.08370182043048072,
                0.9871130586730712
            ]
        ],
        "object_translation_in_cam": [
            -0.010597743840053409,
            0.010328928447258825,
            1.0584954134029236
        ],
        "raw_rvec": [
            0.08639416865727395,
            0.13552854160258102,
            -0.03407967696620154
        ],
        "refined_raw_rvec": [
            0.08639416865727395,
            0.13552854160258102,
            -0.03407967696620154
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4476388692855835,
            2.034289836883545,
            0.40812018513679504,
            1.4357823133468628,
            1.214734435081482,
            0.9284871816635132,
            1.2520592212677002,
            0.552328884601593,
            2.445404529571533
        ],
        "mean_reprojection_error": 1.3020939826965332,
        "std_reprojection_error": 0.6140375733375549,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.34373939037323,
            0.2607266902923584,
            0.4283314049243927,
            0.995907187461853,
            0.11392053961753845,
            0.25718677043914795,
            0.497337281703949,
            0.1690698117017746,
            0.3991019129753113
        ],
        "kf_translation_vector": [
            -0.010565158292709076,
            0.010384913670034746,
            1.058562692891529
        ],
        "kf_rotation_matrix": [
            [
                0.9904328625808976,
                0.0391795805188468,
                0.13231668522970164
            ],
            [
                -0.02732033586332529,
                0.9955413586587414,
                -0.09028290230283005
            ],
            [
                -0.1352639788270471,
                0.08580421708910614,
                0.9870872769728124
            ]
        ],
        "kf_euler_angles": [
            0.08670871803003526,
            0.1356798850270381,
            -0.027577245059666876
        ]
    },
    {
        "frame": 25,
        "object_rotation_in_cam": [
            [
                0.9898672436808201,
                0.04451009072111763,
                0.13483950352820862
            ],
            [
                -0.032878794060231926,
                0.995640055501534,
                -0.0872918368580199
            ],
            [
                -0.13813697835438837,
                0.0819739696787961,
                0.987014915543944
            ]
        ],
        "object_translation_in_cam": [
            -0.010668463190663197,
            0.011319207555102776,
            1.056881524157558
        ],
        "raw_rvec": [
            0.08502263335333816,
            0.13711676213908042,
            -0.03887262827036056
        ],
        "refined_raw_rvec": [
            0.08502263335333816,
            0.13711676213908042,
            -0.03887262827036056
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.6311483979225159,
            2.828814744949341,
            1.2001723051071167,
            1.3724262714385986,
            1.269818902015686,
            0.5492557287216187,
            1.1619093418121338,
            0.7534465789794922,
            3.4400253295898438,
            2.8727269172668457
        ],
        "mean_reprojection_error": 1.6079744100570679,
        "std_reprojection_error": 0.9892857074737549,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.23915265500545502,
            0.20549854636192322,
            0.44945013523101807,
            0.9961144924163818,
            0.1455383449792862,
            0.30365225672721863,
            0.5558544397354126,
            0.2389967143535614,
            0.16497719287872314,
            0.5752079486846924
        ],
        "kf_translation_vector": [
            -0.010607769549012524,
            0.010811943910451633,
            1.0579321028640587
        ],
        "kf_rotation_matrix": [
            [
                0.990326109526263,
                0.041995438870911506,
                0.13225195614665197
            ],
            [
                -0.030054486721810554,
                0.995394937108957,
                -0.09102552941754277
            ],
            [
                -0.13546558462747996,
                0.0861701937557005,
                0.9870277468691749
            ]
        ],
        "kf_euler_angles": [
            0.08708191521257318,
            0.13588336368004195,
            -0.030338758866155165
        ]
    },
    {
        "frame": 26,
        "object_rotation_in_cam": [
            [
                0.9902061014063415,
                0.03932662808937357,
                0.1339600427768459
            ],
            [
                -0.027747579280194355,
                0.9958014533833028,
                -0.08723266179471532
            ],
            [
                -0.13682817174011944,
                0.0826612470437142,
                0.9871398936601815
            ]
        ],
        "object_translation_in_cam": [
            -0.010789206263577478,
            0.010337440225928822,
            1.057674026569438
        ],
        "raw_rvec": [
            0.08532918171053708,
            0.1360033265440031,
            -0.03368800722673992
        ],
        "refined_raw_rvec": [
            0.08532918171053708,
            0.1360033265440031,
            -0.03368800722673992
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.3766108751296997,
            1.6390583515167236,
            0.19542250037193298,
            1.4560015201568604,
            1.1883187294006348,
            0.8296254873275757,
            1.2825359106063843,
            0.6014609336853027,
            2.441107749938965
        ],
        "mean_reprojection_error": 1.2233490943908691,
        "std_reprojection_error": 0.6088690161705017,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.26703941822052,
            0.3078644871711731,
            0.49436405301094055,
            0.9971367120742798,
            0.12195459753274918,
            0.2591231167316437,
            0.7018428444862366,
            0.24742598831653595,
            0.5260687470436096
        ],
        "kf_translation_vector": [
            -0.010697531421842411,
            0.01056752877728909,
            1.0579470097323873
        ],
        "kf_rotation_matrix": [
            [
                0.9904206413071684,
                0.041016880553376864,
                0.13185055472908402
            ],
            [
                -0.02906881199382367,
                0.9953991689898565,
                -0.09129895149217634
            ],
            [
                -0.13498873079618498,
                0.08659162710085226,
                0.9870561952969354
            ]
        ],
        "kf_euler_angles": [
            0.0875031327947592,
            0.13540208915561644,
            -0.02934154264335475
        ]
    },
    {
        "frame": 27,
        "object_rotation_in_cam": [
            [
                0.9916660930747383,
                0.040999278120821825,
                0.12213688648175017
            ],
            [
                -0.02902036155624016,
                0.994734540507474,
                -0.09829044987449057
            ],
            [
                -0.1255236171444622,
                0.0939268498085406,
                0.9876343293061528
            ]
        ],
        "object_translation_in_cam": [
            -0.010960386857447551,
            0.009796613212029496,
            1.0633723655152045
        ],
        "raw_rvec": [
            0.09652673253280826,
            0.12436892637597691,
            -0.03516211622105121
        ],
        "refined_raw_rvec": [
            0.09652673253280826,
            0.12436892637597691,
            -0.03516211622105121
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7701761722564697,
            1.2006332874298096,
            0.5389495491981506,
            2.113842248916626,
            6.118206977844238,
            1.1877886056900024,
            1.6800384521484375,
            0.6587108969688416,
            3.258610248565674
        ],
        "mean_reprojection_error": 2.0585508346557617,
        "std_reprojection_error": 1.6300452947616577,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3139466643333435,
            0.25147923827171326,
            0.6380619406700134,
            0.9955882430076599,
            0.15854738652706146,
            0.33723723888397217,
            0.5392128825187683,
            0.2581119239330292,
            0.5400416851043701
        ],
        "kf_translation_vector": [
            -0.010839890518016234,
            0.010146271988522321,
            1.060841663814051
        ],
        "kf_rotation_matrix": [
            [
                0.9912132938003627,
                0.041250810459697675,
                0.1256764768357788
            ],
            [
                -0.02911233760308086,
                0.9948648567835304,
                -0.09693497065749647
            ],
            [
                -0.1290297562297945,
                0.09242449552744962,
                0.9873241790991326
            ]
        ],
        "kf_euler_angles": [
            0.09333908258401351,
            0.12939049458050625,
            -0.029361965931843592
        ]
    },
    {
        "frame": 28,
        "object_rotation_in_cam": [
            [
                0.989920784709435,
                0.03921274904939812,
                0.1360852685350083
            ],
            [
                -0.02746162087696637,
                0.9958140792692097,
                -0.08717900497267589
            ],
            [
                -0.1389341548326622,
                0.0825631869612905,
                0.9868539004228178
            ]
        ],
        "object_translation_in_cam": [
            -0.010781871406718732,
            0.010284048869930952,
            1.058218670709631
        ],
        "raw_rvec": [
            0.08526097113355358,
            0.13814139460411518,
            -0.033490327094698555
        ],
        "refined_raw_rvec": [
            0.08526097113355358,
            0.13814139460411518,
            -0.033490327094698555
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.4131829738616943,
            2.1646268367767334,
            0.27774152159690857,
            1.490382432937622,
            1.7796733379364014,
            0.8977251052856445,
            1.2978649139404297,
            0.8455595970153809,
            0.8295446634292603,
            2.4349758625030518
        ],
        "mean_reprojection_error": 1.343127727508545,
        "std_reprojection_error": 0.6269751191139221,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.26718977093696594,
            0.28993868827819824,
            0.4903312027454376,
            0.9869393110275269,
            0.13650241494178772,
            0.2287280410528183,
            0.11245419830083847,
            0.5579543709754944,
            0.2794444262981415,
            0.2534777820110321,
            0.43186497688293457
        ],
        "kf_translation_vector": [
            -0.010836463291084914,
            0.010139779182833103,
            1.0599885812719723
        ],
        "kf_rotation_matrix": [
            [
                0.9908113987795696,
                0.040501580153127936,
                0.12904415544135425
            ],
            [
                -0.028353484047542784,
                0.9951093247253999,
                -0.09462299819242846
            ],
            [
                -0.13224542332662548,
                0.09009469379302165,
                0.9871140228765385
            ]
        ],
        "kf_euler_angles": [
            0.09101862701601658,
            0.13263395903689693,
            -0.02860862150645014
        ]
    },
    {
        "frame": 29,
        "object_rotation_in_cam": [
            [
                0.9906779856019711,
                0.03656681261029992,
                0.1312249864131982
            ],
            [
                -0.025457081264516963,
                0.9960246981561863,
                -0.08536239029203538
            ],
            [
                -0.13382475801253155,
                0.08122603571762693,
                0.9876706258993867
            ]
        ],
        "object_translation_in_cam": [
            -0.010843616098511106,
            0.010420447702431966,
            1.057034484712588
        ],
        "raw_rvec": [
            0.08365180562852652,
            0.1330938183022738,
            -0.03114508515999548
        ],
        "refined_raw_rvec": [
            0.08365180562852652,
            0.1330938183022738,
            -0.03114508515999548
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.275666356086731,
            2.261444568634033,
            0.21782036125659943,
            1.9771031141281128,
            0.8417832255363464,
            0.8772798180580139,
            0.18924719095230103,
            1.7181556224822998
        ],
        "mean_reprojection_error": 1.1698124408721924,
        "std_reprojection_error": 0.7259683012962341,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.25818267464637756,
            0.26623064279556274,
            0.31898170709609985,
            0.9194159507751465,
            0.1991269886493683,
            0.25505611300468445,
            0.18393871188163757,
            0.4859308898448944
        ],
        "kf_translation_vector": [
            -0.010864200946750257,
            0.010209847181046401,
            1.05884913266899
        ],
        "kf_rotation_matrix": [
            [
                0.9909164166796663,
                0.038696795072871035,
                0.12879135532254496
            ],
            [
                -0.026894792567006345,
                0.9953822287710118,
                -0.0921460187942536
            ],
            [
                -0.13176238191345627,
                0.0878451859690755,
                0.9873813336368836
            ]
        ],
        "kf_euler_angles": [
            0.08873421497809258,
            0.1321466533019957,
            -0.027134671499913842
        ]
    },
    {
        "frame": 30,
        "object_rotation_in_cam": [
            [
                0.9953723065892838,
                0.019699070885759194,
                -0.09405273989292735
            ],
            [
                -0.03006692389002498,
                0.9934629496268714,
                -0.11012423805170098
            ],
            [
                0.09126856722289585,
                0.11244249341291794,
                0.9894577981461188
            ]
        ],
        "object_translation_in_cam": [
            -0.01179635437402287,
            0.009992870795654692,
            1.0202361389123729
        ],
        "raw_rvec": [
            0.11168772542275048,
            -0.09299734568563595,
            -0.024973412348428196
        ],
        "refined_raw_rvec": [
            0.11168772542275048,
            -0.09299734568563595,
            -0.024973412348428196
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            3.246441602706909,
            2.436671495437622,
            2.0460729598999023,
            1.2562335729599,
            1.0777640342712402,
            0.7178453207015991,
            1.0110259056091309,
            2.2005035877227783
        ],
        "mean_reprojection_error": 1.7490699291229248,
        "std_reprojection_error": 0.8146006464958191,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.19556432962417603,
            0.2414383441209793,
            0.31928524374961853,
            0.992514967918396,
            0.16535934805870056,
            0.14910773932933807,
            0.5773627758026123,
            0.189320370554924,
            0.4499889016151428
        ],
        "kf_translation_vector": [
            -0.011350289595265474,
            0.01004701318613373,
            1.039977011965377
        ],
        "kf_rotation_matrix": [
            [
                0.999382643899836,
                0.030423609437311906,
                0.017570858276690277
            ],
            [
                -0.028458977747592776,
                0.9942831376496621,
                -0.10291320989603367
            ],
            [
                -0.020601399402362174,
                0.10234962713341447,
                0.9945351357133219
            ]
        ],
        "kf_euler_angles": [
            0.10255100890914229,
            0.020602856947031498,
            -0.028468864317474616
        ]
    },
    {
        "frame": 31,
        "object_rotation_in_cam": [
            [
                0.9904974648215643,
                0.04246623486364103,
                0.13081051593262683
            ],
            [
                -0.030724327368057212,
                0.9954216484403066,
                -0.0905083284795554
            ],
            [
                -0.13405516733731077,
                0.08562920478953853,
                0.9872673657106654
            ]
        ],
        "object_translation_in_cam": [
            -0.010929091709982495,
            0.011003723244097482,
            1.0551064804475816
        ],
        "raw_rvec": [
            0.08846446173373886,
            0.13302786559646546,
            -0.0367597045992752
        ],
        "refined_raw_rvec": [
            0.08846446173373886,
            0.13302786559646546,
            -0.0367597045992752
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.7280703783035278,
            2.749953031539917,
            0.7996244430541992,
            1.370253086090088,
            0.06808926165103912,
            1.2620195150375366,
            2.6700987815856934,
            0.5922548770904541,
            2.6701552867889404
        ],
        "mean_reprojection_error": 1.434502124786377,
        "std_reprojection_error": 0.9601162075996399,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                522,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2957068681716919,
            0.17579053342342377,
            0.4403509795665741,
            0.9862515926361084,
            0.2720591723918915,
            0.8859537839889526,
            0.11976107954978943,
            0.22412025928497314,
            0.3765369951725006
        ],
        "kf_translation_vector": [
            -0.01122086017159895,
            0.010447071711865135,
            1.0455365589035324
        ],
        "kf_rotation_matrix": [
            [
                0.9975587017930172,
                0.035722989831119295,
                0.0600042038073655
            ],
            [
                -0.029632576534906595,
                0.9945973341531763,
                -0.09948896071071345
            ],
            [
                -0.06323406427656704,
                0.09746799932757791,
                0.9932277896948647
            ]
        ],
        "kf_euler_angles": [
            0.09781937580284976,
            0.06327628101174264,
            -0.029696362967741332
        ]
    },
    {
        "frame": 32,
        "object_rotation_in_cam": [
            [
                0.9907291880363117,
                0.04610140589835527,
                0.12779020442547886
            ],
            [
                -0.033841023715508074,
                0.9947570301132402,
                -0.09650510947184293
            ],
            [
                -0.13156922545487984,
                0.09128587740982205,
                0.9870949435078279
            ]
        ],
        "object_translation_in_cam": [
            -0.010147555605767392,
            0.010154887831800644,
            1.0577570486249257
        ],
        "raw_rvec": [
            0.09432694457472122,
            0.13027559508312322,
            -0.04015488311005666
        ],
        "refined_raw_rvec": [
            0.09432694457472122,
            0.13027559508312322,
            -0.04015488311005666
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.874635100364685,
            1.5423295497894287,
            0.7149546146392822,
            0.21593321859836578,
            6.492452144622803,
            1.0907800197601318,
            0.2669399678707123,
            1.6452832221984863,
            4.034174919128418
        ],
        "mean_reprojection_error": 1.986387014389038,
        "std_reprojection_error": 1.9245127439498901,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                847,
                362
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.25605425238609314,
            0.13775861263275146,
            0.5764364004135132,
            0.9892499446868896,
            0.11703014373779297,
            0.3252818286418915,
            0.689624547958374,
            0.1919027417898178,
            0.38812094926834106
        ],
        "kf_translation_vector": [
            -0.010757098259811705,
            0.010284548917426375,
            1.0503657185403297
        ],
        "kf_rotation_matrix": [
            [
                0.9955224125775052,
                0.040474942404692196,
                0.08542192396101016
            ],
            [
                -0.03184199505036853,
                0.9944667571558589,
                -0.10010972112198988
            ],
            [
                -0.08900119890808245,
                0.09694146661386513,
                0.9913027482276426
            ]
        ],
        "kf_euler_angles": [
            0.09748202760590663,
            0.08911911930793061,
            -0.03197431079180688
        ]
    },
    {
        "frame": 33,
        "object_rotation_in_cam": [
            [
                0.9904939206769167,
                0.040309665976317605,
                0.13151777039984952
            ],
            [
                -0.028456325282361,
                0.9954630911012295,
                -0.09079356698913008
            ],
            [
                -0.13458094461510622,
                0.08618796368439674,
                0.987147204961065
            ]
        ],
        "object_translation_in_cam": [
            -0.010608547319799485,
            0.01054687748732439,
            1.05752077588633
        ],
        "raw_rvec": [
            0.0888895828735309,
            0.1336489954112489,
            -0.034537955772032114
        ],
        "refined_raw_rvec": [
            0.0888895828735309,
            0.1336489954112489,
            -0.034537955772032114
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.2409573793411255,
            1.5220589637756348,
            0.3559626042842865,
            1.5197758674621582,
            0.6931947469711304,
            1.3894481658935547,
            0.26660510897636414,
            2.335952043533325
        ],
        "mean_reprojection_error": 1.165494441986084,
        "std_reprojection_error": 0.6485450267791748,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3107536733150482,
            0.2253081500530243,
            0.5922998189926147,
            0.991118848323822,
            0.3284786641597748,
            0.7646414637565613,
            0.13200169801712036,
            0.43818894028663635
        ],
        "kf_translation_vector": [
            -0.010691846284060747,
            0.01037592210249109,
            1.053298320882595
        ],
        "kf_rotation_matrix": [
            [
                0.9938126735555949,
                0.0406912344175886,
                0.10334695603574122
            ],
            [
                -0.03056716823828416,
                0.994744163188041,
                -0.09772255639931009
            ],
            [
                -0.10678023275013503,
                0.09395889124982672,
                0.989833172129996
            ]
        ],
        "kf_euler_angles": [
            0.09464039239238682,
            0.10698419938498767,
            -0.030747781191727087
        ]
    },
    {
        "frame": 34,
        "object_rotation_in_cam": [
            [
                0.9952962023843751,
                0.01916668572068371,
                -0.09496371769115554
            ],
            [
                -0.029678893963575016,
                0.9934269203611187,
                -0.11055368449274922
            ],
            [
                0.09222056588603118,
                0.11285208044297637,
                0.9893228872149639
            ]
        ],
        "object_translation_in_cam": [
            -0.011968490523934373,
            0.009963433170807546,
            1.0195955253407127
        ],
        "raw_rvec": [
            0.1121134062232491,
            -0.0939361060326025,
            -0.0245125470192182
        ],
        "refined_raw_rvec": [
            0.1121134062232491,
            -0.0939361060326025,
            -0.0245125470192182
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            3.1172068119049072,
            3.0450639724731445,
            2.2639801502227783,
            1.2771437168121338,
            1.1953485012054443,
            0.8167982697486877,
            1.0393708944320679,
            2.209059000015259
        ],
        "mean_reprojection_error": 1.8704962730407715,
        "std_reprojection_error": 0.852371096611023,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.28192591667175293,
            0.34407755732536316,
            0.43581637740135193,
            0.9934651851654053,
            0.17819252610206604,
            0.1141931489109993,
            0.7649262547492981,
            0.15667299926280975,
            0.4433985650539398
        ],
        "kf_translation_vector": [
            -0.01130401292354239,
            0.010155189003101714,
            1.036960235844987
        ],
        "kf_rotation_matrix": [
            [
                0.9994920395964008,
                0.03129644672008707,
                0.006016245184783337
            ],
            [
                -0.03048805472818504,
                0.9939532057842209,
                -0.10548698133021699
            ],
            [
                -0.009281233879063235,
                0.10524997450815418,
                0.9944024846930517
            ]
        ],
        "kf_euler_angles": [
            0.10544982717067912,
            0.009281367133824308,
            -0.030494093757892762
        ]
    },
    {
        "frame": 35,
        "object_rotation_in_cam": [
            [
                0.9899272315505684,
                0.03977169757520071,
                0.13587600342449813
            ],
            [
                -0.027905923401893663,
                0.9957168642136628,
                -0.08814298474409529
            ],
            [
                -0.13879962418434388,
                0.08346339552460674,
                0.9867971047453412
            ]
        ],
        "object_translation_in_cam": [
            -0.010604123439791023,
            0.01031221803107499,
            1.0589833827370074
        ],
        "raw_rvec": [
            0.08619948074156338,
            0.1379721222204665,
            -0.03399509841601064
        ],
        "refined_raw_rvec": [
            0.08619948074156338,
            0.1379721222204665,
            -0.03399509841601064
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4401549100875854,
            2.0576794147491455,
            0.4439518451690674,
            1.4805161952972412,
            1.805688500404358,
            0.950671374797821,
            1.2761149406433105,
            0.7886726260185242,
            2.444249391555786
        ],
        "mean_reprojection_error": 1.409744381904602,
        "std_reprojection_error": 0.5962676405906677,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3641233742237091,
            0.21592608094215393,
            0.4713141918182373,
            0.9945818781852722,
            0.11056628078222275,
            0.2917715609073639,
            0.7916556596755981,
            0.23996825516223907,
            0.5032016634941101
        ],
        "kf_translation_vector": [
            -0.011031058070019348,
            0.010187576179607994,
            1.0456990802020032
        ],
        "kf_rotation_matrix": [
            [
                0.9977817101256281,
                0.03524492491856959,
                0.05647525304291724
            ],
            [
                -0.02949327507521937,
                0.994587896078845,
                -0.09962461392042692
            ],
            [
                -0.05968086514214238,
                0.09773797747519164,
                0.9934211000854292
            ]
        ],
        "kf_euler_angles": [
            0.09806963003836787,
            0.05971635065549372,
            -0.029550240901791754
        ]
    },
    {
        "frame": 36,
        "object_rotation_in_cam": [
            [
                0.9907291880363117,
                0.04610140589835527,
                0.12779020442547886
            ],
            [
                -0.033841023715508074,
                0.9947570301132402,
                -0.09650510947184293
            ],
            [
                -0.13156922545487984,
                0.09128587740982205,
                0.9870949435078279
            ]
        ],
        "object_translation_in_cam": [
            -0.010147555605767392,
            0.010154887831800644,
            1.0577570486249257
        ],
        "raw_rvec": [
            0.09432694457472122,
            0.13027559508312322,
            -0.04015488311005666
        ],
        "refined_raw_rvec": [
            0.09432694457472122,
            0.13027559508312322,
            -0.04015488311005666
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.874635100364685,
            1.5423295497894287,
            0.7149546146392822,
            0.21593321859836578,
            6.492452144622803,
            1.0907800197601318,
            0.2669399678707123,
            1.6452832221984863,
            4.034174919128418
        ],
        "mean_reprojection_error": 1.986387014389038,
        "std_reprojection_error": 1.9245127439498901,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                847,
                362
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2532850503921509,
            0.26455608010292053,
            0.41249334812164307,
            0.9935279488563538,
            0.12017928063869476,
            0.1738346666097641,
            0.761026918888092,
            0.12280315905809402,
            0.38606593012809753
        ],
        "kf_translation_vector": [
            -0.010642500282921605,
            0.010136351606740233,
            1.0506401326855277
        ],
        "kf_rotation_matrix": [
            [
                0.9956090363764848,
                0.040162572045874874,
                0.08455539303999102
            ],
            [
                -0.03165665835019929,
                0.9945201632423355,
                -0.09963684502500567
            ],
            [
                -0.08809371525589217,
                0.09652260207380521,
                0.9914246742044075
            ]
        ],
        "kf_euler_angles": [
            0.09705161150709035,
            0.08820805693340512,
            -0.0317855657535607
        ]
    },
    {
        "frame": 37,
        "object_rotation_in_cam": [
            [
                0.9920484635941723,
                0.047553666912739705,
                0.11652679796336315
            ],
            [
                -0.03561916700435685,
                0.994101080443286,
                -0.10244177274631186
            ],
            [
                -0.12071089769510451,
                0.09747661578370204,
                0.987890271514503
            ]
        ],
        "object_translation_in_cam": [
            -0.01139657183312312,
            0.010802386107750016,
            1.0593519374196454
        ],
        "raw_rvec": [
            0.10039394553640964,
            0.11913475529812921,
            -0.041767288240862524
        ],
        "refined_raw_rvec": [
            0.10039394553640964,
            0.11913475529812921,
            -0.041767288240862524
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.2266676425933838,
            2.218731641769409,
            1.1329188346862793,
            2.078396797180176,
            0.34844115376472473,
            1.5846284627914429,
            2.2918453216552734,
            0.5079468488693237,
            2.8056254386901855
        ],
        "mean_reprojection_error": 1.5772446393966675,
        "std_reprojection_error": 0.7927429676055908,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                308
            ],
            [
                522,
                380
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.44107604026794434,
            0.31159383058547974,
            0.3999108076095581,
            0.991828203201294,
            0.28247782588005066,
            0.11797451227903366,
            0.8467972278594971,
            0.15229801833629608,
            0.1861313432455063,
            0.23018930852413177
        ],
        "kf_translation_vector": [
            -0.010990040266095137,
            0.010413050218642354,
            1.0545074214141479
        ],
        "kf_rotation_matrix": [
            [
                0.9943211021364772,
                0.04380160605541703,
                0.09698951053112599
            ],
            [
                -0.03380734253122519,
                0.9941695591040712,
                -0.10239116828024308
            ],
            [
                -0.10090891653901432,
                0.09853074168899116,
                0.990004587618229
            ]
        ],
        "kf_euler_angles": [
            0.09919886858468364,
            0.10108095871900548,
            -0.033987334738880826
        ]
    },
    {
        "frame": 38,
        "object_rotation_in_cam": [
            [
                0.9896698872867905,
                0.04242414302323577,
                0.1369441721523604
            ],
            [
                -0.030685624720092286,
                0.9957601345419127,
                -0.08671878050693249
            ],
            [
                -0.14004251723419195,
                0.08162074825567275,
                0.9867756314486567
            ]
        ],
        "object_translation_in_cam": [
            -0.011086461597913409,
            0.01100503999448784,
            1.055646287392278
        ],
        "raw_rvec": [
            0.08456185208338349,
            0.13913848772858617,
            -0.0367251673519901
        ],
        "refined_raw_rvec": [
            0.08456185208338349,
            0.13913848772858617,
            -0.0367251673519901
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            1.2659515142440796,
            2.876351833343506,
            0.7979530096054077,
            1.4057285785675049,
            1.9385449886322021,
            0.129136323928833,
            1.2206242084503174,
            2.7005064487457275,
            0.7234392762184143,
            2.796898603439331
        ],
        "mean_reprojection_error": 1.5855134725570679,
        "std_reprojection_error": 0.9084933400154114,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            8,
            9,
            10,
            11
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                844,
                360
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                308
            ],
            [
                522,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4122612774372101,
            0.21629665791988373,
            0.44689759612083435,
            0.9946738481521606,
            0.11525930464267731,
            0.12193633615970612,
            0.2735902667045593,
            0.16780386865139008,
            0.9319450855255127,
            0.1814751774072647,
            0.25701773166656494,
            0.3099232316017151
        ],
        "kf_translation_vector": [
            -0.011060531792085512,
            0.010682417067969841,
            1.0551845620846159
        ],
        "kf_rotation_matrix": [
            [
                0.9924557056726705,
                0.043849958364713046,
                0.11449390127502215
            ],
            [
                -0.03279744971303782,
                0.9947737286930164,
                -0.0966931021040981
            ],
            [
                -0.11813551358538357,
                0.09220851291288519,
                0.9887070296990468
            ]
        ],
        "kf_euler_angles": [
            0.09299272809801558,
            0.1184120369480461,
            -0.03303474210705088
        ]
    },
    {
        "frame": 39,
        "object_rotation_in_cam": [
            [
                0.9895935000713326,
                0.04214336416454247,
                0.13758139944579778
            ],
            [
                -0.030458419378899308,
                0.9958330229066809,
                -0.08595856663230914
            ],
            [
                -0.14063068408248786,
                0.08087352685172569,
                0.9867535068845992
            ]
        ],
        "object_translation_in_cam": [
            -0.011220999970393341,
            0.01101428263352319,
            1.0551057905294814
        ],
        "raw_rvec": [
            0.08380498363605246,
            0.13975463965313872,
            -0.03647014884692203
        ],
        "refined_raw_rvec": [
            0.08380498363605246,
            0.13975463965313872,
            -0.03647014884692203
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.150789737701416,
            2.4200847148895264,
            0.868558943271637,
            1.4240113496780396,
            1.8856557607650757,
            0.28856903314590454,
            1.2444525957107544,
            2.6280837059020996,
            0.7935857772827148,
            2.79731822013855
        ],
        "mean_reprojection_error": 1.5501110553741455,
        "std_reprojection_error": 0.8052399158477783,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                522,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.37275129556655884,
            0.30083492398262024,
            0.4963626265525818,
            0.9938797950744629,
            0.1067158505320549,
            0.11473745852708817,
            0.18860478699207306,
            0.8797497749328613,
            0.2526755630970001,
            0.21851679682731628,
            0.24259904026985168
        ],
        "kf_translation_vector": [
            -0.011165805913954056,
            0.01085459888776562,
            1.0553483000673891
        ],
        "kf_rotation_matrix": [
            [
                0.99110418783332,
                0.04361044057275368,
                0.1257402812638233
            ],
            [
                -0.032031584551317986,
                0.9951805721092674,
                -0.09268012994921405
            ],
            [
                -0.12917610634473714,
                0.08782800447079368,
                0.9877245441823805
            ]
        ],
        "kf_euler_angles": [
            0.08868628493434176,
            0.12953807980710672,
            -0.03230784346138062
        ]
    },
    {
        "frame": 40,
        "object_rotation_in_cam": [
            [
                0.9956917093239505,
                0.027144649164863904,
                -0.08866334081945125
            ],
            [
                -0.03648258366642004,
                0.9937542676086041,
                -0.10545841217612546
            ],
            [
                0.08524694171976128,
                0.10823873443182601,
                0.9904631922974343
            ]
        ],
        "object_translation_in_cam": [
            -0.011997622939474586,
            0.010346448465608992,
            1.0261147886818467
        ],
        "raw_rvec": [
            0.10720779657219001,
            -0.0872474831237744,
            -0.0319205733071489
        ],
        "refined_raw_rvec": [
            0.10720779657219001,
            -0.0872474831237744,
            -0.0319205733071489
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            2.760709047317505,
            2.3900411128997803,
            2.0453524589538574,
            1.6309032440185547,
            0.630959153175354,
            0.4981539249420166,
            1.451843023300171,
            1.4257291555404663
        ],
        "mean_reprojection_error": 1.6042113304138184,
        "std_reprojection_error": 0.7395934462547302,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.23897866904735565,
            0.2339404821395874,
            0.4624537527561188,
            0.9915665984153748,
            0.2342476099729538,
            0.1362989991903305,
            0.8619813323020935,
            0.24367067217826843,
            0.26932328939437866
        ],
        "kf_translation_vector": [
            -0.011591135620983717,
            0.010649528994528933,
            1.041940046117004
        ],
        "kf_rotation_matrix": [
            [
                0.9989237571002396,
                0.03743145249180083,
                0.027390032221511776
            ],
            [
                -0.034538021921864094,
                0.9944472889177071,
                -0.09940681367968418
            ],
            [
                -0.030958884709663417,
                0.09835383026896649,
                0.9946698304105525
            ]
        ],
        "kf_euler_angles": [
            0.09856049267124213,
            0.030963832280826394,
            -0.03456146552817912
        ]
    },
    {
        "frame": 41,
        "object_rotation_in_cam": [
            [
                0.9929273499815893,
                0.04714127975951088,
                0.10896319287343763
            ],
            [
                -0.03507120330421852,
                0.9932962234381545,
                -0.11014818746712968
            ],
            [
                -0.11342525449533984,
                0.10554767759707126,
                0.9879242882916343
            ]
        ],
        "object_translation_in_cam": [
            -0.011066282219590941,
            0.009996239476899944,
            1.067423229074566
        ],
        "raw_rvec": [
            0.10831503180779883,
            0.11167581605361991,
            -0.04128427642966398
        ],
        "refined_raw_rvec": [
            0.10831503180779883,
            0.11167581605361991,
            -0.04128427642966398
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.542157530784607,
            0.5387217998504639,
            0.45637887716293335,
            3.1917803287506104,
            4.978251934051514,
            0.6920374631881714,
            2.7248191833496094,
            0.45117342472076416,
            1.4194456338882446
        ],
        "mean_reprojection_error": 1.7771962881088257,
        "std_reprojection_error": 1.4735937118530273,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3660182058811188,
            0.25167372822761536,
            0.6010332107543945,
            0.9975069165229797,
            0.18425892293453217,
            0.3146512508392334,
            0.9729673266410828,
            0.24414463341236115,
            0.3882645070552826
        ],
        "kf_translation_vector": [
            -0.011420898212735838,
            0.010357712998104902,
            1.052771939670421
        ],
        "kf_rotation_matrix": [
            [
                0.997455386247517,
                0.04153765365109647,
                0.05794286647188257
            ],
            [
                -0.03525846888586507,
                0.9937971867668949,
                -0.105470336806279
            ],
            [
                -0.06196444801369044,
                0.10315897878210602,
                0.9927329108471179
            ]
        ],
        "kf_euler_angles": [
            0.10354251010044616,
            0.06200416972546631,
            -0.03533370524132762
        ]
    },
    {
        "frame": 42,
        "object_rotation_in_cam": [
            [
                0.9901606758517069,
                0.0464791680974829,
                0.13199061682504945
            ],
            [
                -0.03458167941459263,
                0.9952463537863807,
                -0.09104286201444173
            ],
            [
                -0.13559477661679095,
                0.0855826045869151,
                0.9870611299946738
            ]
        ],
        "object_translation_in_cam": [
            -0.010806666239667874,
            0.010929493693847912,
            1.0518739790484886
        ],
        "raw_rvec": [
            0.08872021326703558,
            0.13441002382111375,
            -0.04071743343280002
        ],
        "refined_raw_rvec": [
            0.08872021326703558,
            0.13441002382111375,
            -0.04071743343280002
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6285420656204224,
            2.1632747650146484,
            0.9883601069450378,
            0.2547115981578827,
            6.0677947998046875,
            0.1368502527475357,
            0.6686073541641235,
            2.2950730323791504,
            1.7922253608703613,
            4.087777614593506
        ],
        "mean_reprojection_error": 2.008321762084961,
        "std_reprojection_error": 1.7468067407608032,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                849,
                364
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                522,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3980293869972229,
            0.23184265196323395,
            0.4446176588535309,
            0.9951238036155701,
            0.10062089562416077,
            0.18389053642749786,
            0.8198410272598267,
            0.10265357792377472,
            0.19524210691452026,
            0.2700689136981964
        ],
        "kf_translation_vector": [
            -0.011190189127194052,
            0.01060735151383909,
            1.0523916456930926
        ],
        "kf_rotation_matrix": [
            [
                0.9951237854834823,
                0.044364648517950925,
                0.0880933001249401
            ],
            [
                -0.0354434284154738,
                0.9943185923786785,
                -0.1003708136473981
            ],
            [
                -0.09204572204715047,
                0.09675905545199481,
                0.9910425168684018
            ]
        ],
        "kf_euler_angles": [
            0.09732514417851347,
            0.09217619502660435,
            -0.03560205548612835
        ]
    },
    {
        "frame": 43,
        "object_rotation_in_cam": [
            [
                0.9904978143575387,
                0.040585935837052216,
                0.13140343056849588
            ],
            [
                -0.02846024720233773,
                0.9952708758573573,
                -0.09287571264496838
            ],
            [
                -0.13455145514679753,
                0.08825341626452538,
                0.9869687129972863
            ]
        ],
        "object_translation_in_cam": [
            -0.010769374885968259,
            0.010274781262160419,
            1.0570961647222985
        ],
        "raw_rvec": [
            0.09097832557780372,
            0.13358497513508066,
            -0.03468081670950385
        ],
        "refined_raw_rvec": [
            0.09097832557780372,
            0.13358497513508066,
            -0.03468081670950385
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4042205810546875,
            1.6265802383422852,
            0.13228051364421844,
            1.2336431741714478,
            0.7979424595832825,
            2.0825507640838623,
            0.20458096265792847,
            2.676034688949585
        ],
        "mean_reprojection_error": 1.2697291374206543,
        "std_reprojection_error": 0.8243194222450256,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.22379115223884583,
            0.24810147285461426,
            0.3809289038181305,
            0.9844794273376465,
            0.22587548196315765,
            0.6713774800300598,
            0.20541082322597504,
            0.49315232038497925
        ],
        "kf_translation_vector": [
            -0.011025931815795352,
            0.010462151842909538,
            1.0545669122421184
        ],
        "kf_rotation_matrix": [
            [
                0.9933323996836584,
                0.043167477744186646,
                0.10689860898959287
            ],
            [
                -0.032677430455842385,
                0.9946489752960664,
                -0.09800817048230442
            ],
            [
                -0.11055735741011677,
                0.09386151931270884,
                0.9894276557256734
            ]
        ],
        "kf_euler_angles": [
            0.09458141562414224,
            0.110783827754004,
            -0.03288491375224658
        ]
    },
    {
        "frame": 44,
        "object_rotation_in_cam": [
            [
                0.9929798748717945,
                0.04758561091029915,
                0.10828932419167175
            ],
            [
                -0.03524944883789497,
                0.9929571337350656,
                -0.11310882777779899
            ],
            [
                -0.11290900963262404,
                0.10849765066090963,
                0.9876638169665036
            ]
        ],
        "object_translation_in_cam": [
            -0.011047851192910076,
            0.009728082423384483,
            1.0676724529074606
        ],
        "raw_rvec": [
            0.11129334689282465,
            0.11108837192785831,
            -0.041600728933533365
        ],
        "refined_raw_rvec": [
            0.11129334689282465,
            0.11108837192785831,
            -0.041600728933533365
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.7829558849334717,
            1.1112241744995117,
            0.3907815217971802,
            3.1841022968292236,
            4.868886947631836,
            0.8903062343597412,
            2.90258526802063,
            0.4230249524116516,
            1.6113568544387817
        ],
        "mean_reprojection_error": 1.9072470664978027,
        "std_reprojection_error": 1.4010223150253296,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4096311032772064,
            0.29864370822906494,
            0.6241457462310791,
            0.985179603099823,
            0.11127889901399612,
            0.3720409572124481,
            0.1711210310459137,
            0.6762505173683167,
            0.19284863770008087,
            0.26681026816368103
        ],
        "kf_translation_vector": [
            -0.011049768815119192,
            0.01011998601840737,
            1.0607912798160612
        ],
        "kf_rotation_matrix": [
            [
                0.9930997505772613,
                0.04551428985621861,
                0.1080802240109896
            ],
            [
                -0.034044553133866444,
                0.993815986624488,
                -0.10569178365185693
            ],
            [
                -0.11222234093662867,
                0.10128294105366265,
                0.988507922095834
            ]
        ],
        "kf_euler_angles": [
            0.10210411797485133,
            0.11245923791764077,
            -0.03426768176382867
        ]
    },
    {
        "frame": 45,
        "object_rotation_in_cam": [
            [
                0.9898577895637849,
                0.03904525146589114,
                0.13659071995513838
            ],
            [
                -0.0273661069874832,
                0.9958879631531282,
                -0.08636122414060159
            ],
            [
                -0.1394010495952141,
                0.08174737417604878,
                0.9868559743889043
            ]
        ],
        "object_translation_in_cam": [
            -0.010983183502078647,
            0.010332648657097062,
            1.0573933361901595
        ],
        "raw_rvec": [
            0.08444023857484483,
            0.1386294996144592,
            -0.033358144723326995
        ],
        "refined_raw_rvec": [
            0.08444023857484483,
            0.1386294996144592,
            -0.033358144723326995
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7789047956466675,
            1.7293540239334106,
            0.16547748446464539,
            1.5121314525604248,
            1.7322758436203003,
            0.7980663180351257,
            1.3232887983322144,
            0.8970354199409485,
            2.4579527378082275
        ],
        "mean_reprojection_error": 1.3771653175354004,
        "std_reprojection_error": 0.6355070471763611,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.29568958282470703,
            0.17229031026363373,
            0.35955798625946045,
            0.9748970866203308,
            0.11653672903776169,
            0.2020188719034195,
            0.6648837924003601,
            0.21000832319259644,
            0.36640945076942444
        ],
        "kf_translation_vector": [
            -0.011034201608877628,
            0.010184380091105017,
            1.0599518843280786
        ],
        "kf_rotation_matrix": [
            [
                0.9916119911244692,
                0.04319760626301452,
                0.12181800306732654
            ],
            [
                -0.03126504291528812,
                0.9946736682998802,
                -0.09821807716691107
            ],
            [
                -0.12541194580131032,
                0.09358557797014277,
                0.9876809117555748
            ]
        ],
        "kf_euler_angles": [
            0.09447079755120917,
            0.12574304438083675,
            -0.031519071039008896
        ]
    },
    {
        "frame": 46,
        "object_rotation_in_cam": [
            [
                0.9905565129936028,
                0.03926570477862621,
                0.13136209116100447
            ],
            [
                -0.027492767216739315,
                0.9955382541417344,
                -0.09026478987508746
            ],
            [
                -0.13432029748597366,
                0.0858008681113733,
                0.9872164244554555
            ]
        ],
        "object_translation_in_cam": [
            -0.010803719536183802,
            0.010346587055105078,
            1.0570975954979187
        ],
        "raw_rvec": [
            0.08842651307354071,
            0.13343526205949913,
            -0.0335285084222486
        ],
        "refined_raw_rvec": [
            0.08842651307354071,
            0.13343526205949913,
            -0.0335285084222486
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.337006688117981,
            1.6927169561386108,
            0.13249868154525757,
            1.4968116283416748,
            0.7868704199790955,
            1.3591550588607788,
            0.1802186518907547,
            2.341695785522461
        ],
        "mean_reprojection_error": 1.1658717393875122,
        "std_reprojection_error": 0.7088114023208618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.1990310251712799,
            0.19774354994297028,
            0.35972878336906433,
            0.9948949217796326,
            0.1272660493850708,
            0.6381491422653198,
            0.2551266551017761,
            0.2890516519546509
        ],
        "kf_translation_vector": [
            -0.01094150212039765,
            0.010233432076967388,
            1.0592493674713919
        ],
        "kf_rotation_matrix": [
            [
                0.9909030396156956,
                0.04168958969893509,
                0.1279575874698698
            ],
            [
                -0.029569539882322422,
                0.9950190258167668,
                -0.09519863745768603
            ],
            [
                -0.1312890261656422,
                0.09054897223815764,
                0.987200119142563
            ]
        ],
        "kf_euler_angles": [
            0.0914670812763417,
            0.1316691493583376,
            -0.029832149368480936
        ]
    },
    {
        "frame": 47,
        "object_rotation_in_cam": [
            [
                0.9905565129936028,
                0.03926570477862621,
                0.13136209116100447
            ],
            [
                -0.027492767216739315,
                0.9955382541417344,
                -0.09026478987508746
            ],
            [
                -0.13432029748597366,
                0.0858008681113733,
                0.9872164244554555
            ]
        ],
        "object_translation_in_cam": [
            -0.010803719536183802,
            0.010346587055105078,
            1.0570975954979187
        ],
        "raw_rvec": [
            0.08842651307354071,
            0.13343526205949913,
            -0.0335285084222486
        ],
        "refined_raw_rvec": [
            0.08842651307354071,
            0.13343526205949913,
            -0.0335285084222486
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.337006688117981,
            1.6927169561386108,
            0.13249868154525757,
            1.4968116283416748,
            0.7868704199790955,
            1.3591550588607788,
            0.1802186518907547,
            2.341695785522461
        ],
        "mean_reprojection_error": 1.1658717393875122,
        "std_reprojection_error": 0.7088114023208618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.34715375304222107,
            0.234492227435112,
            0.4801346957683563,
            0.9959521293640137,
            0.23378701508045197,
            0.4143909215927124,
            0.258926659822464,
            0.3807487487792969
        ],
        "kf_translation_vector": [
            -0.010882853982851519,
            0.010266028009883408,
            1.0587743936297715
        ],
        "kf_rotation_matrix": [
            [
                0.9904539475478559,
                0.04071114278529352,
                0.1316950289114379
            ],
            [
                -0.028507718815693334,
                0.9952338339196923,
                -0.09325730957643821
            ],
            [
                -0.13486396017763375,
                0.08861274555404382,
                0.9868938613501352
            ]
        ],
        "kf_euler_angles": [
            0.08954940101208834,
            0.13527616705884796,
            -0.028774533708097447
        ]
    },
    {
        "frame": 48,
        "object_rotation_in_cam": [
            [
                0.9909304398927988,
                0.04641050948841017,
                0.12610681148490913
            ],
            [
                -0.03407978119770918,
                0.9945794242355838,
                -0.09823613083143619
            ],
            [
                -0.1299824288409033,
                0.09304747979521515,
                0.9871406863747327
            ]
        ],
        "object_translation_in_cam": [
            -0.011280670143100052,
            0.010663878891429104,
            1.0607377774324838
        ],
        "raw_rvec": [
            0.096080162473014,
            0.12863148984634748,
            -0.04042960179017537
        ],
        "refined_raw_rvec": [
            0.096080162473014,
            0.12863148984634748,
            -0.04042960179017537
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.9867460131645203,
            2.082394599914551,
            0.7822884917259216,
            2.1336889266967773,
            6.14542293548584,
            1.1289479732513428,
            0.1306927502155304,
            2.1903538703918457,
            3.641106367111206,
            0.9360015392303467,
            4.008056640625
        ],
        "mean_reprojection_error": 2.1968817710876465,
        "std_reprojection_error": 1.6905943155288696,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8,
            9,
            10,
            11
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                522,
                381
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3652457594871521,
            0.19920599460601807,
            0.5598511099815369,
            0.9950951933860779,
            0.10638854652643204,
            0.13032810389995575,
            0.2824842929840088,
            0.15007629990577698,
            0.5844139456748962,
            0.12409766763448715,
            0.30441388487815857,
            0.28169751167297363
        ],
        "kf_translation_vector": [
            -0.011063306739524287,
            0.010432513442313175,
            1.0601056727306306
        ],
        "kf_rotation_matrix": [
            [
                0.9903652348036338,
                0.043353717314242354,
                0.1315186560430872
            ],
            [
                -0.03085004826398619,
                0.9949356987024363,
                -0.09566206128661849
            ],
            [
                -0.13499991190535215,
                0.0906830229013777,
                0.9866871911315234
            ]
        ],
        "kf_euler_angles": [
            0.09164908838329096,
            0.13541337355800365,
            -0.03114010337748149
        ]
    },
    {
        "frame": 49,
        "object_rotation_in_cam": [
            [
                0.9929257925461499,
                0.04985873601497417,
                0.10776120331357271
            ],
            [
                -0.0377152578539413,
                0.993000548536993,
                -0.11192618071855052
            ],
            [
                -0.11258743189899463,
                0.107070150127008,
                0.9878562917399318
            ]
        ],
        "object_translation_in_cam": [
            -0.011475862277316156,
            0.010337260643030323,
            1.064587180483509
        ],
        "raw_rvec": [
            0.10997914732116386,
            0.1106582695723362,
            -0.04397933579994265
        ],
        "refined_raw_rvec": [
            0.10997914732116386,
            0.1106582695723362,
            -0.04397933579994265
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.2296003103256226,
            1.8061305284500122,
            0.8420774936676025,
            3.2408711910247803,
            5.062937259674072,
            0.1460338681936264,
            2.907705068588257,
            2.706286668777466,
            0.19475805759429932,
            1.824511170387268
        ],
        "mean_reprojection_error": 1.9960911273956299,
        "std_reprojection_error": 1.4471603631973267,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                522,
                380
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3345479667186737,
            0.36464667320251465,
            0.4627484977245331,
            0.9952881932258606,
            0.12091444432735443,
            0.16582125425338745,
            0.4261288046836853,
            0.25878071784973145,
            0.20429852604866028,
            0.3122413158416748
        ],
        "kf_translation_vector": [
            -0.011265093671085576,
            0.010389388692674383,
            1.0626628821302802
        ],
        "kf_rotation_matrix": [
            [
                0.9913144443218167,
                0.046676415350113666,
                0.12295114773352629
            ],
            [
                -0.03397843017396234,
                0.9940571357630207,
                -0.10342087372253647
            ],
            [
                -0.1270477814125099,
                0.09834491897746087,
                0.9870091884828002
            ]
        ],
        "kf_euler_angles": [
            0.0993115254283225,
            0.12739207071685188,
            -0.034262723780799295
        ]
    },
    {
        "frame": 50,
        "object_rotation_in_cam": [
            [
                0.9959179608350224,
                0.021150076725310617,
                -0.0877501540780665
            ],
            [
                -0.030876986322446138,
                0.99333873771456,
                -0.11101695308054477
            ],
            [
                0.084817610210701,
                0.11327323783735449,
                0.9899369407128858
            ]
        ],
        "object_translation_in_cam": [
            -0.01190733631309891,
            0.009919739948551953,
            1.0214719741453064
        ],
        "raw_rvec": [
            0.11253560953048246,
            -0.08658434174081965,
            -0.026104116404730843
        ],
        "refined_raw_rvec": [
            0.11253560953048246,
            -0.08658434174081965,
            -0.026104116404730843
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            3.102313280105591,
            2.943101406097412,
            2.179065704345703,
            0.9999058842658997,
            1.165399432182312,
            0.7920167446136475,
            1.757305383682251,
            2.455700635910034
        ],
        "mean_reprojection_error": 1.9243509769439697,
        "std_reprojection_error": 0.8301619291305542,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.40377378463745117,
            0.34316715598106384,
            0.5351848006248474,
            0.9961972832679749,
            0.13538528978824615,
            0.2931702435016632,
            0.14388792216777802,
            0.5681138038635254,
            0.21879397332668304,
            0.4851871728897095
        ],
        "kf_translation_vector": [
            -0.011586418294562884,
            0.01017312271503192,
            1.044657458460166
        ],
        "kf_rotation_matrix": [
            [
                0.9989272428166498,
                0.03631348986698177,
                0.028734891898292626
            ],
            [
                -0.033026300600148314,
                0.9936455878509023,
                -0.10759976400115082
            ],
            [
                -0.03245962149185653,
                0.10653532840384602,
                0.9937789476410184
            ]
        ],
        "kf_euler_angles": [
            0.10679438033895115,
            0.03246532425188292,
            -0.03304972935237444
        ]
    },
    {
        "frame": 51,
        "object_rotation_in_cam": [
            [
                0.9898754328574458,
                0.03932702170413621,
                0.13638186385721035
            ],
            [
                -0.02756803753319462,
                0.9958213203027495,
                -0.0870626288200468
            ],
            [
                -0.13923588162486217,
                0.08242137704728834,
                0.9868232292937658
            ]
        ],
        "object_translation_in_cam": [
            -0.010795758105556528,
            0.010320803931020292,
            1.0581600702662528
        ],
        "raw_rvec": [
            0.08513226729433755,
            0.13844352721878125,
            -0.03360156632196161
        ],
        "refined_raw_rvec": [
            0.08513226729433755,
            0.13844352721878125,
            -0.03360156632196161
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.3752496242523193,
            1.63979971408844,
            0.2355920672416687,
            1.5013432502746582,
            1.7643458843231201,
            0.853036642074585,
            1.307869791984558,
            0.8563403487205505,
            2.4390645027160645
        ],
        "mean_reprojection_error": 1.3302934169769287,
        "std_reprojection_error": 0.595923900604248,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.29057905077934265,
            0.34832730889320374,
            0.48300907015800476,
            0.9958090782165527,
            0.14302395284175873,
            0.1917629837989807,
            0.662295937538147,
            0.15653096139431,
            0.25765708088874817
        ],
        "kf_translation_vector": [
            -0.011281861514772472,
            0.010219976673850058,
            1.049968845415856
        ],
        "kf_rotation_matrix": [
            [
                0.9967328840589621,
                0.037962049349014794,
                0.07129123820447178
            ],
            [
                -0.030752121351444624,
                0.9945482553910951,
                -0.09963972466298344
            ],
            [
                -0.0746851047257068,
                0.09712183332161771,
                0.9924663644801057
            ]
        ],
        "kf_euler_angles": [
            0.09754847146428987,
            0.07475471015028083,
            -0.030843137349981276
        ]
    },
    {
        "frame": 52,
        "object_rotation_in_cam": [
            [
                0.9925444322157605,
                0.05043244569645144,
                0.11095998602454889
            ],
            [
                -0.037931405552802826,
                0.9929815866449008,
                -0.11202132411717063
            ],
            [
                -0.11583073232213638,
                0.1069772733119043,
                0.9874913186678999
            ]
        ],
        "object_translation_in_cam": [
            -0.011281184733543333,
            0.01032695525313296,
            1.0659924293383827
        ],
        "raw_rvec": [
            0.10999440202561626,
            0.1139080786011999,
            -0.04438169510190585
        ],
        "refined_raw_rvec": [
            0.10999440202561626,
            0.1139080786011999,
            -0.04438169510190585
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            1.2315391302108765,
            1.724256157875061,
            0.8011855483055115,
            3.310418128967285,
            4.926741600036621,
            0.7301379442214966,
            0.12494463473558426,
            2.9607157707214355,
            2.366162061691284,
            0.5986561179161072,
            1.7743439674377441
        ],
        "mean_reprojection_error": 1.8681000471115112,
        "std_reprojection_error": 1.3616660833358765,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8,
            9,
            10,
            11
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2923721671104431,
            0.2846513092517853,
            0.5464464426040649,
            0.9968312382698059,
            0.10511311888694763,
            0.11309459805488586,
            0.19907672703266144,
            0.13338783383369446,
            0.8400354385375977,
            0.12344235926866531,
            0.2491605430841446,
            0.3051038980484009
        ],
        "kf_translation_vector": [
            -0.011307270030513478,
            0.010253712673339617,
            1.0568963301784382
        ],
        "kf_rotation_matrix": [
            [
                0.99528242107536,
                0.04326842711417698,
                0.08683746606986373
            ],
            [
                -0.0339888481152823,
                0.9938243728410745,
                -0.10563083901418835
            ],
            [
                -0.09087167051488516,
                0.1021810117492984,
                0.9906065719223368
            ]
        ],
        "kf_euler_angles": [
            0.10278642579397439,
            0.09099720211282109,
            -0.034136687051466594
        ]
    },
    {
        "frame": 53,
        "object_rotation_in_cam": [
            [
                0.9959179608350224,
                0.021150076725310617,
                -0.0877501540780665
            ],
            [
                -0.030876986322446138,
                0.99333873771456,
                -0.11101695308054477
            ],
            [
                0.084817610210701,
                0.11327323783735449,
                0.9899369407128858
            ]
        ],
        "object_translation_in_cam": [
            -0.01190733631309891,
            0.009919739948551953,
            1.0214719741453064
        ],
        "raw_rvec": [
            0.11253560953048246,
            -0.08658434174081965,
            -0.026104116404730843
        ],
        "refined_raw_rvec": [
            0.11253560953048246,
            -0.08658434174081965,
            -0.026104116404730843
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            3.102313280105591,
            2.943101406097412,
            2.179065704345703,
            0.9999058842658997,
            1.165399432182312,
            0.7920167446136475,
            1.757305383682251,
            2.455700635910034
        ],
        "mean_reprojection_error": 1.9243509769439697,
        "std_reprojection_error": 0.8301619291305542,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3668571710586548,
            0.29389721155166626,
            0.48830294609069824,
            0.9962060451507568,
            0.1811726838350296,
            0.1334257274866104,
            0.8255685567855835,
            0.16753767430782318,
            0.45506858825683594
        ],
        "kf_translation_vector": [
            -0.011604547052079202,
            0.010092016650418752,
            1.041135211624853
        ],
        "kf_rotation_matrix": [
            [
                0.9994023815442062,
                0.033882467476967965,
                0.006845302143889487
            ],
            [
                -0.032937565115746865,
                0.9935159031125576,
                -0.10881758620133716
            ],
            [
                -0.010487924866953652,
                0.10852708721840698,
                0.9940381656515375
            ]
        ],
        "kf_euler_angles": [
            0.10874727011415707,
            0.010488117149094967,
            -0.03294533623619594
        ]
    },
    {
        "frame": 54,
        "object_rotation_in_cam": [
            [
                0.9894481315612729,
                0.04415674903623249,
                0.1379948421661377
            ],
            [
                -0.032435698127459923,
                0.9957616201066619,
                -0.08606231120264089
            ],
            [
                -0.14121019947896954,
                0.08067823397365052,
                0.9866867294769919
            ]
        ],
        "object_translation_in_cam": [
            -0.01083449600417745,
            0.011322495223385716,
            1.0566697904327302
        ],
        "raw_rvec": [
            0.08376298044345896,
            0.14026010541291928,
            -0.03847661435379101
        ],
        "refined_raw_rvec": [
            0.08376298044345896,
            0.14026010541291928,
            -0.03847661435379101
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.49610573053359985,
            2.5333409309387207,
            1.1538716554641724,
            1.4482585191726685,
            1.852447509765625,
            0.4350053668022156,
            1.2232869863510132,
            0.9470378756523132,
            3.4582178592681885,
            2.8697574138641357
        ],
        "mean_reprojection_error": 1.641732931137085,
        "std_reprojection_error": 0.9668929576873779,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                844,
                360
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3694519102573395,
            0.2275736927986145,
            0.5612829327583313,
            0.9960800409317017,
            0.10197699069976807,
            0.14085398614406586,
            0.21240729093551636,
            0.8107312321662903,
            0.17189811170101166,
            0.14225079119205475,
            0.2809846103191376
        ],
        "kf_translation_vector": [
            -0.011304756477903488,
            0.010625027571829012,
            1.0471316335832113
        ],
        "kf_rotation_matrix": [
            [
                0.997509972543025,
                0.038908520017689886,
                0.05882160952614792
            ],
            [
                -0.03291400317876724,
                0.9944779494988937,
                -0.0996507719750526
            ],
            [
                -0.06237405768395776,
                0.09746658417380213,
                0.9932823072508287
            ]
        ],
        "kf_euler_angles": [
            0.09781262990624989,
            0.06241457327461209,
            -0.03298419752722225
        ]
    },
    {
        "frame": 55,
        "object_rotation_in_cam": [
            [
                0.9900582009135206,
                0.020355489808720775,
                0.13917763052491566
            ],
            [
                -0.04304244390137486,
                0.9858512748471872,
                0.1620018885852037
            ],
            [
                -0.13391081669110927,
                -0.16638184371145437,
                0.9769262895716837
            ]
        ],
        "object_translation_in_cam": [
            -0.010977621657143565,
            0.012997155054859481,
            1.0419733340476962
        ],
        "raw_rvec": [
            -0.16549482908277544,
            0.13762778558003655,
            -0.031950517555099305
        ],
        "refined_raw_rvec": [
            -0.16549482908277544,
            0.13762778558003655,
            -0.031950517555099305
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            1.789756417274475,
            0.6461512446403503,
            1.198145866394043,
            1.2779468297958374,
            0.12479427456855774,
            1.3212472200393677,
            0.5881053805351257,
            1.7594242095947266
        ],
        "mean_reprojection_error": 1.0881965160369873,
        "std_reprojection_error": 0.5498611927032471,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33162230253219604,
            0.27728596329689026,
            0.5012809038162231,
            0.9963992238044739,
            0.1008569747209549,
            0.21423755586147308,
            0.6627506613731384,
            0.11386332660913467,
            0.15388500690460205,
            0.31444674730300903
        ],
        "kf_translation_vector": [
            -0.011178058772297429,
            0.011716508699217193,
            1.0443324190145307
        ],
        "kf_rotation_matrix": [
            [
                0.9950441739088266,
                0.03577145360314027,
                0.09277658690218749
            ],
            [
                -0.03764625277898437,
                0.9991191939160863,
                0.01853634268594381
            ],
            [
                -0.09203179679763715,
                -0.021937170637717038,
                0.9955143941313004
            ]
        ],
        "kf_euler_angles": [
            -0.02203244976368274,
            0.09216221041837487,
            -0.03781571410244514
        ]
    },
    {
        "frame": 56,
        "object_rotation_in_cam": [
            [
                0.9928366674544298,
                0.050313021707072345,
                0.10836951418496642
            ],
            [
                -0.03798658281443246,
                0.9928745738050482,
                -0.11294733382212363
            ],
            [
                -0.1132800568682071,
                0.10802166698467319,
                0.9876735028225614
            ]
        ],
        "object_translation_in_cam": [
            -0.011275488765946532,
            0.010324590320073665,
            1.0656403009552644
        ],
        "raw_rvec": [
            0.11097721971650022,
            0.11131902238333988,
            -0.044346693771906205
        ],
        "refined_raw_rvec": [
            0.11097721971650022,
            0.11131902238333988,
            -0.044346693771906205
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.2247058153152466,
            1.7139911651611328,
            0.811515748500824,
            3.246906042098999,
            5.030708312988281,
            0.12333523482084274,
            2.9045159816741943,
            2.326162099838257,
            0.23038630187511444,
            1.7914984226226807
        ],
        "mean_reprojection_error": 1.9403724670410156,
        "std_reprojection_error": 1.4290275573730469,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5182268619537354,
            0.37620747089385986,
            0.569837749004364,
            0.9972745776176453,
            0.12110572308301926,
            0.2912738621234894,
            0.1533122956752777,
            0.8326146602630615,
            0.16270431876182556,
            0.16668836772441864,
            0.36771121621131897
        ],
        "kf_translation_vector": [
            -0.011231301245756121,
            0.011195936635772744,
            1.0532748515251864
        ],
        "kf_rotation_matrix": [
            [
                0.9940997997502071,
                0.04129193732925039,
                0.10030236312368457
            ],
            [
                -0.03828471346390159,
                0.9987631543771528,
                -0.03172447278658212
            ],
            [
                -0.10148826952700087,
                0.027697244812379708,
                0.9944511017532325
            ]
        ],
        "kf_euler_angles": [
            0.027844593167990633,
            0.10166330131986812,
            -0.0384929186429528
        ]
    },
    {
        "frame": 57,
        "object_rotation_in_cam": [
            [
                0.9904880401459707,
                0.040043899727082055,
                0.13164318600839686
            ],
            [
                -0.02800389503804283,
                0.9953585874498895,
                -0.09207097399538616
            ],
            [
                -0.13471905652316696,
                0.08750867662356798,
                0.9870121616905738
            ]
        ],
        "object_translation_in_cam": [
            -0.010925898946261527,
            0.01023452205785175,
            1.0564725039870504
        ],
        "raw_rvec": [
            0.09019821041347142,
            0.1337868601217241,
            -0.03417864601719872
        ],
        "refined_raw_rvec": [
            0.09019821041347142,
            0.1337868601217241,
            -0.03417864601719872
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4021357297897339,
            1.644133448600769,
            0.18019385635852814,
            1.2434494495391846,
            0.8160990476608276,
            2.100196361541748,
            0.7574905157089233,
            0.16933220624923706,
            2.66801381111145
        ],
        "mean_reprojection_error": 1.2201160192489624,
        "std_reprojection_error": 0.7921316623687744,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                593,
                392
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4244367480278015,
            0.41647613048553467,
            0.5033275485038757,
            0.9957746863365173,
            0.2544231414794922,
            0.17258447408676147,
            0.8394156098365784,
            0.2810482084751129,
            0.14144136011600494,
            0.29933494329452515
        ],
        "kf_translation_vector": [
            -0.011106569782810737,
            0.010821963177703594,
            1.0548062976445252
        ],
        "kf_rotation_matrix": [
            [
                0.9925299513097924,
                0.0402515689054209,
                0.11516990472181989
            ],
            [
                -0.03414954505983253,
                0.997931018956133,
                -0.054474672806548746
            ],
            [
                -0.11712431141819954,
                0.05013474449746629,
                0.9918509984211269
            ]
        ],
        "kf_euler_angles": [
            0.05050366680823094,
            0.11739376538778643,
            -0.0343929964383765
        ]
    },
    {
        "frame": 58,
        "object_rotation_in_cam": [
            [
                0.9894905100756738,
                0.04401404370948768,
                0.13773632210322118
            ],
            [
                -0.03171584561164631,
                0.9954146682236333,
                -0.0902426917948048
            ],
            [
                -0.14107670114983978,
                0.08492586320770147,
                0.9863493104124449
            ]
        ],
        "object_translation_in_cam": [
            -0.010864708066609462,
            0.010907593061567961,
            1.0565916712471504
        ],
        "raw_rvec": [
            0.08800631397188649,
            0.1400782604132842,
            -0.03804740192414428
        ],
        "refined_raw_rvec": [
            0.08800631397188649,
            0.1400782604132842,
            -0.03804740192414428
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8174270987510681,
            2.2064878940582275,
            0.7365382313728333,
            1.1813713312149048,
            1.871246099472046,
            0.11288335919380188,
            1.946312427520752,
            2.414458990097046,
            0.7364687323570251,
            3.1010632514953613
        ],
        "mean_reprojection_error": 1.5124257802963257,
        "std_reprojection_error": 0.8883476257324219,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.35455039143562317,
            0.3223903775215149,
            0.4869440495967865,
            0.9974889159202576,
            0.10376942157745361,
            0.2054952085018158,
            0.8997323513031006,
            0.23511245846748352,
            0.21655024588108063,
            0.3505963385105133
        ],
        "kf_translation_vector": [
            -0.010999751886752479,
            0.010886283265727277,
            1.0558194147387614
        ],
        "kf_rotation_matrix": [
            [
                0.9909873731537441,
                0.04168959892580232,
                0.12730280276273495
            ],
            [
                -0.03319369675656209,
                0.9971230397319177,
                -0.06814559509912473
            ],
            [
                -0.12977752018541366,
                0.06330577364811361,
                0.9895201737596553
            ]
        ],
        "kf_euler_angles": [
            0.0638891631617955,
            0.13014459906373999,
            -0.0334830615134532
        ]
    },
    {
        "frame": 59,
        "object_rotation_in_cam": [
            [
                0.9923101388545937,
                0.05300808504249556,
                0.11185138017255027
            ],
            [
                -0.0403209765411478,
                0.9928005765882261,
                -0.11278844788742383
            ],
            [
                -0.11702481436492441,
                0.10741116350833126,
                0.987303415762673
            ]
        ],
        "object_translation_in_cam": [
            -0.010730453993944027,
            0.0098354195253259,
            1.0628163461206492
        ],
        "raw_rvec": [
            0.11060881489992845,
            0.11496716309411062,
            -0.04688026846212789
        ],
        "refined_raw_rvec": [
            0.11060881489992845,
            0.11496716309411062,
            -0.04688026846212789
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.877530813217163,
            1.0522006750106812,
            0.5329723358154297,
            2.546912908554077,
            6.639708518981934,
            0.6799429655075073,
            1.823495864868164,
            1.3133865594863892,
            1.5333305597305298,
            3.5859410762786865
        ],
        "mean_reprojection_error": 2.1585421562194824,
        "std_reprojection_error": 1.7209961414337158,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                844,
                360
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3086082637310028,
            0.3173990547657013,
            0.4687216877937317,
            0.9953230619430542,
            0.12034855037927628,
            0.20630863308906555,
            0.8588265180587769,
            0.27146613597869873,
            0.1737734079360962,
            0.2500303387641907
        ],
        "kf_translation_vector": [
            -0.010872029391214974,
            0.01044306785269521,
            1.0592441086366404
        ],
        "kf_rotation_matrix": [
            [
                0.9912570088264668,
                0.04707050857727921,
                0.12326357805403103
            ],
            [
                -0.03644706631608149,
                0.9955356714426187,
                -0.08706513792698903
            ],
            [
                -0.12681148926401375,
                0.08181133239087815,
                0.9885472938019061
            ]
        ],
        "kf_euler_angles": [
            0.08257098001900375,
            0.12715385178725422,
            -0.036751977271808484
        ]
    },
    {
        "frame": 60,
        "object_rotation_in_cam": [
            [
                0.9905540579928085,
                0.04039403113988527,
                0.1310380877540941
            ],
            [
                -0.02829803206392222,
                0.995273975936372,
                -0.09289205673853518
            ],
            [
                -0.13417108323066085,
                0.08830648374879382,
                0.9870157472667977
            ]
        ],
        "object_translation_in_cam": [
            -0.010771524880004836,
            0.010229462382923372,
            1.0570820029913708
        ],
        "raw_rvec": [
            0.0910115659953086,
            0.13320803745286228,
            -0.03450233223078534
        ],
        "refined_raw_rvec": [
            0.0910115659953086,
            0.13320803745286228,
            -0.03450233223078534
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4465558528900146,
            2.096953868865967,
            0.17082946002483368,
            1.2219388484954834,
            0.8472520112991333,
            2.0732884407043457,
            0.9283350706100464,
            0.24883176386356354,
            2.6726841926574707
        ],
        "mean_reprojection_error": 1.3007409572601318,
        "std_reprojection_error": 0.8074676394462585,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.327146977186203,
            0.3577615022659302,
            0.5136370658874512,
            0.9957160353660583,
            0.26948049664497375,
            0.7812029719352722,
            0.3168568015098572,
            0.11182776093482971,
            0.29650354385375977
        ],
        "kf_translation_vector": [
            -0.010810531036289091,
            0.01033984538746089,
            1.0588043119088706
        ],
        "kf_rotation_matrix": [
            [
                0.9906315104506255,
                0.04460357526062452,
                0.12907258258934062
            ],
            [
                -0.03308397318223878,
                0.9953870209239454,
                -0.09005625627700728
            ],
            [
                -0.13249400447110524,
                0.0849423313202723,
                0.9875374115085908
            ]
        ],
        "kf_euler_angles": [
            0.08580310434657894,
            0.13288474701266023,
            -0.03338444314753477
        ]
    },
    {
        "frame": 61,
        "object_rotation_in_cam": [
            [
                0.9904880401459707,
                0.040043899727082055,
                0.13164318600839686
            ],
            [
                -0.02800389503804283,
                0.9953585874498895,
                -0.09207097399538616
            ],
            [
                -0.13471905652316696,
                0.08750867662356798,
                0.9870121616905738
            ]
        ],
        "object_translation_in_cam": [
            -0.010925898946261527,
            0.01023452205785175,
            1.0564725039870504
        ],
        "raw_rvec": [
            0.09019821041347142,
            0.1337868601217241,
            -0.03417864601719872
        ],
        "refined_raw_rvec": [
            0.09019821041347142,
            0.1337868601217241,
            -0.03417864601719872
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4021357297897339,
            1.644133448600769,
            0.18019385635852814,
            1.2434494495391846,
            0.8160990476608276,
            2.100196361541748,
            0.7574905157089233,
            0.16933220624923706,
            2.66801381111145
        ],
        "mean_reprojection_error": 1.2201160192489624,
        "std_reprojection_error": 0.7921316623687744,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2935246229171753,
            0.189677894115448,
            0.4340275228023529,
            0.9921066761016846,
            0.16576850414276123,
            0.8043445944786072,
            0.21503497660160065,
            0.10406839102506638,
            0.47217392921447754
        ],
        "kf_translation_vector": [
            -0.010842124420159737,
            0.010277739611664626,
            1.0582228855715419
        ],
        "kf_rotation_matrix": [
            [
                0.9902052747761023,
                0.042879778484081955,
                0.13287151087701152
            ],
            [
                -0.0308187693424153,
                0.9953248402635829,
                -0.09153505235969503
            ],
            [
                -0.136175318107955,
                0.08654355522757988,
                0.9868974089472361
            ]
        ],
        "kf_euler_angles": [
            0.08746880161790868,
            0.13659973545842144,
            -0.031113572848759735
        ]
    },
    {
        "frame": 62,
        "object_rotation_in_cam": [
            [
                0.9910865823040811,
                0.04802969128166825,
                0.12425994983180814
            ],
            [
                -0.035381343331184166,
                0.9941482708415936,
                -0.10206554818718379
            ],
            [
                -0.1284349910300799,
                0.09675931137651357,
                0.9869863670492345
            ]
        ],
        "object_translation_in_cam": [
            -0.010357370795507859,
            0.00983242411615367,
            1.0597932232969516
        ],
        "raw_rvec": [
            0.09987526151905364,
            0.12693570290206788,
            -0.041899684545556384
        ],
        "refined_raw_rvec": [
            0.09987526151905364,
            0.12693570290206788,
            -0.041899684545556384
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0194201469421387,
            1.0387405157089233,
            0.5784304141998291,
            1.0457631349563599,
            7.411799430847168,
            1.1104627847671509,
            0.6068879961967468,
            1.4916749000549316,
            4.650954723358154
        ],
        "mean_reprojection_error": 2.2171261310577393,
        "std_reprojection_error": 2.1791205406188965,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                844,
                360
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.32866963744163513,
            0.27797994017601013,
            0.40834739804267883,
            0.9936078786849976,
            0.12763850390911102,
            0.17582164704799652,
            0.9307319521903992,
            0.21369194984436035,
            0.48466256260871887
        ],
        "kf_translation_vector": [
            -0.010608024834077317,
            0.010059232106458156,
            1.0593199299604936
        ],
        "kf_rotation_matrix": [
            [
                0.9902356376327047,
                0.04539644865047523,
                0.1318049483595953
            ],
            [
                -0.03270101645658507,
                0.9947533286184873,
                -0.09693533269734987
            ],
            [
                -0.13551393096230724,
                0.09167866519733214,
                0.9865247066661729
            ]
        ],
        "kf_euler_angles": [
            0.09266479243880527,
            0.1359321599778815,
            -0.03301147285247492
        ]
    },
    {
        "frame": 63,
        "object_rotation_in_cam": [
            [
                0.9898067899766857,
                0.04064912629016434,
                0.1364923699255585
            ],
            [
                -0.02848468388043408,
                0.9955414614111924,
                -0.08992119547414328
            ],
            [
                -0.13953903145815857,
                0.08511666783370704,
                0.986551575720502
            ]
        ],
        "object_translation_in_cam": [
            -0.01076350090403158,
            0.010247824701785481,
            1.058165262247039
        ],
        "raw_rvec": [
            0.0879311320194742,
            0.13866573287577103,
            -0.03472970975673192
        ],
        "refined_raw_rvec": [
            0.0879311320194742,
            0.13866573287577103,
            -0.03472970975673192
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.438955307006836,
            1.5776296854019165,
            0.23593026399612427,
            1.2645522356033325,
            1.7428951263427734,
            0.8635430932044983,
            2.04172420501709,
            0.8168458342552185,
            2.762242555618286
        ],
        "mean_reprojection_error": 1.4160352945327759,
        "std_reprojection_error": 0.7005637884140015,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.24139538407325745,
            0.13892054557800293,
            0.37093254923820496,
            0.9957590699195862,
            0.16870640218257904,
            0.2014802098274231,
            0.9268650412559509,
            0.22242438793182373,
            0.45196446776390076
        ],
        "kf_translation_vector": [
            -0.01064404629773276,
            0.010109467216106768,
            1.0592554872917634
        ],
        "kf_rotation_matrix": [
            [
                0.9896852161655318,
                0.04363939673429379,
                0.13645063560149334
            ],
            [
                -0.030798983083596406,
                0.9950162355164771,
                -0.09483730120387772
            ],
            [
                -0.13990924038247424,
                0.089656534124879,
                0.9860969071771362
            ]
        ],
        "kf_euler_angles": [
            0.09067131367667317,
            0.1403697529498169,
            -0.031109938692834575
        ]
    },
    {
        "frame": 64,
        "object_rotation_in_cam": [
            [
                0.9894905100756738,
                0.04401404370948768,
                0.13773632210322118
            ],
            [
                -0.03171584561164631,
                0.9954146682236333,
                -0.0902426917948048
            ],
            [
                -0.14107670114983978,
                0.08492586320770147,
                0.9863493104124449
            ]
        ],
        "object_translation_in_cam": [
            -0.010864708066609462,
            0.010907593061567961,
            1.0565916712471504
        ],
        "raw_rvec": [
            0.08800631397188649,
            0.1400782604132842,
            -0.03804740192414428
        ],
        "refined_raw_rvec": [
            0.08800631397188649,
            0.1400782604132842,
            -0.03804740192414428
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8174270987510681,
            2.2064878940582275,
            0.7365382313728333,
            1.1813713312149048,
            1.871246099472046,
            0.11288335919380188,
            1.946312427520752,
            2.414458990097046,
            0.7364687323570251,
            3.1010632514953613
        ],
        "mean_reprojection_error": 1.5124257802963257,
        "std_reprojection_error": 0.8883476257324219,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.25242477655410767,
            0.2639612853527069,
            0.4061201214790344,
            0.9962276816368103,
            0.13098976016044617,
            0.19660446047782898,
            0.9245657920837402,
            0.14713245630264282,
            0.2885679006576538,
            0.5080374479293823
        ],
        "kf_translation_vector": [
            -0.010714171982445219,
            0.010439131351475756,
            1.05848131430114
        ],
        "kf_rotation_matrix": [
            [
                0.9892060924239697,
                0.0440116369249736,
                0.13976509766921402
            ],
            [
                -0.031050517669642057,
                0.9951257484730847,
                -0.09359813074164557
            ],
            [
                -0.1432032543755479,
                0.08824806253435387,
                0.985751037227547
            ]
        ],
        "kf_euler_angles": [
            0.0892856634550166,
            0.14369727600043972,
            -0.031379028100597416
        ]
    },
    {
        "frame": 65,
        "object_rotation_in_cam": [
            [
                0.9895315212173239,
                0.04495257801578277,
                0.13713728248388146
            ],
            [
                -0.03283736860772023,
                0.9954578054676212,
                -0.08936142767720463
            ],
            [
                -0.14053140481845916,
                0.0839227219727919,
                0.9865130009262056
            ]
        ],
        "object_translation_in_cam": [
            -0.010788201130325444,
            0.011076471804543044,
            1.056991052773669
        ],
        "raw_rvec": [
            0.08705595093405723,
            0.13949753434772463,
            -0.03908076872637811
        ],
        "refined_raw_rvec": [
            0.08705595093405723,
            0.13949753434772463,
            -0.03908076872637811
        ],
        "num_inliers": 11,
        "total_matches": 11,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.7140269875526428,
            2.734602451324463,
            0.9650903344154358,
            1.2034574747085571,
            1.8330914974212646,
            0.2888496220111847,
            1.9127955436706543,
            1.309916615486145,
            0.8857799172401428,
            3.657296895980835,
            3.1889994144439697
        ],
        "mean_reprojection_error": 1.6994460821151733,
        "std_reprojection_error": 1.0333871841430664,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.20331864058971405,
            0.14740315079689026,
            0.36919522285461426,
            0.9938715696334839,
            0.17390471696853638,
            0.1183800920844078,
            0.941741943359375,
            0.18376846611499786,
            0.2593348026275635,
            0.10405132174491882,
            0.5385120511054993
        ],
        "kf_translation_vector": [
            -0.01072579514205614,
            0.010723979790611139,
            1.058147116259665
        ],
        "kf_rotation_matrix": [
            [
                0.9889439823860366,
                0.04464494798391096,
                0.1414094350528293
            ],
            [
                -0.03171862239524592,
                0.9952184155700117,
                -0.09238091958658627
            ],
            [
                -0.14485761524957624,
                0.08687424203887709,
                0.985631339484686
            ]
        ],
        "kf_euler_angles": [
            0.08791351527717246,
            0.14536906842691752,
            -0.03206223349333365
        ]
    },
    {
        "frame": 66,
        "object_rotation_in_cam": [
            [
                0.989989319293431,
                0.04018287531463611,
                0.13530145681542927
            ],
            [
                -0.027847537545664647,
                0.9953826174270166,
                -0.09185836693945951
            ],
            [
                -0.13836785153196485,
                0.08717098975915094,
                0.9865371539921028
            ]
        ],
        "object_translation_in_cam": [
            -0.010416128980396828,
            0.009959497794049116,
            1.0601045057540202
        ],
        "raw_rvec": [
            0.08993613859496496,
            0.13747891015524424,
            -0.0341753595751159
        ],
        "refined_raw_rvec": [
            0.08993613859496496,
            0.13747891015524424,
            -0.0341753595751159
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.8006069660186768,
            1.6942908763885498,
            0.8094363808631897,
            1.2352948188781738,
            1.7486234903335571,
            1.9946154356002808,
            0.7513012886047363,
            2.679413080215454
        ],
        "mean_reprojection_error": 1.5891977548599243,
        "std_reprojection_error": 0.5988982915878296,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                845,
                373
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.26561829447746277,
            0.2385634034872055,
            0.45572176575660706,
            0.9951688647270203,
            0.1830948144197464,
            0.9597533941268921,
            0.28265905380249023,
            0.5785714983940125
        ],
        "kf_translation_vector": [
            -0.010567787330211678,
            0.010402783456750777,
            1.0593105731624348
        ],
        "kf_rotation_matrix": [
            [
                0.9890161887372807,
                0.04289640014610275,
                0.14144566896900335
            ],
            [
                -0.029911377142955105,
                0.9952462624179804,
                -0.09268325987173827
            ],
            [
                -0.14474905157891482,
                0.0874344096883241,
                0.9855977557144998
            ]
        ],
        "kf_euler_angles": [
            0.08848043892191239,
            0.1452593483567264,
            -0.030234350834853527
        ]
    },
    {
        "frame": 67,
        "object_rotation_in_cam": [
            [
                0.9950863632623868,
                0.01962989438746629,
                -0.09704533422877304
            ],
            [
                -0.029776933025849092,
                0.9941058552008,
                -0.10424434236475477
            ],
            [
                0.09442702954563087,
                0.1066218359522243,
                0.9898056982000889
            ]
        ],
        "object_translation_in_cam": [
            -0.012230409603975744,
            0.009884453137888887,
            1.017092890856606
        ],
        "raw_rvec": [
            0.10580369876244597,
            -0.0960727057312504,
            -0.024790249086738738
        ],
        "refined_raw_rvec": [
            0.10580369876244597,
            -0.0960727057312504,
            -0.024790249086738738
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            3.0178656578063965,
            2.0706589221954346,
            2.730499267578125,
            1.0002727508544922,
            1.5497679710388184,
            0.9096413850784302,
            1.7943201065063477,
            2.539266347885132,
            2.4872348308563232
        ],
        "mean_reprojection_error": 2.0110585689544678,
        "std_reprojection_error": 0.7098612785339355,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                391
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2596810758113861,
            0.2980496287345886,
            0.43615323305130005,
            0.9917562007904053,
            0.18875400722026825,
            0.13844293355941772,
            0.8077155947685242,
            0.2321462333202362,
            0.49940258264541626
        ],
        "kf_translation_vector": [
            -0.011282353498410209,
            0.010165933781107875,
            1.0407575710348869
        ],
        "kf_rotation_matrix": [
            [
                0.9987348095858298,
                0.03367707443132852,
                0.037344809268530454
            ],
            [
                -0.029861344759781007,
                0.994698204803623,
                -0.09840620635705269
            ],
            [
                -0.040460847874132094,
                0.09716653754351906,
                0.9944453649000081
            ]
        ],
        "kf_euler_angles": [
            0.09740009921352268,
            0.04047189562368603,
            -0.029890268122304536
        ]
    },
    {
        "frame": 68,
        "object_rotation_in_cam": [
            [
                0.990632575834766,
                0.039702421727457686,
                0.1306553382145239
            ],
            [
                -0.027854471597669343,
                0.9954346457130934,
                -0.09129071434742382
            ],
            [
                -0.1336833127469213,
                0.08679622009640396,
                0.9872158771362955
            ]
        ],
        "object_translation_in_cam": [
            -0.01061151546479459,
            0.010339651718699775,
            1.0578779997999033
        ],
        "raw_rvec": [
            0.08944209229757462,
            0.1327610141134044,
            -0.03392966422266828
        ],
        "refined_raw_rvec": [
            0.08944209229757462,
            0.1327610141134044,
            -0.03392966422266828
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4158787727355957,
            2.059030294418335,
            0.3418034017086029,
            1.4731203317642212,
            0.8813613057136536,
            1.3273475170135498,
            0.27368664741516113,
            2.3472087383270264
        ],
        "mean_reprojection_error": 1.2649296522140503,
        "std_reprojection_error": 0.6940639615058899,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.43945127725601196,
            0.2606917917728424,
            0.6152686476707458,
            0.9934454560279846,
            0.28424835205078125,
            0.7688693404197693,
            0.11953400820493698,
            0.36432233452796936
        ],
        "kf_translation_vector": [
            -0.01100878378142463,
            0.010221205123511379,
            1.0473297884823736
        ],
        "kf_rotation_matrix": [
            [
                0.9966373884620022,
                0.035957739769005445,
                0.07362714764504096
            ],
            [
                -0.028787796227277736,
                0.9949430411070569,
                -0.09622685561223522
            ],
            [
                -0.07671491841888974,
                0.09378371875408714,
                0.9926325782426434
            ]
        ],
        "kf_euler_angles": [
            0.09420016489756236,
            0.07679036523234413,
            -0.028876895756359287
        ]
    },
    {
        "frame": 69,
        "object_rotation_in_cam": [
            [
                0.9905683120268796,
                0.02273842624631201,
                0.1351198844732325
            ],
            [
                -0.039155326835402356,
                0.9919876463212682,
                0.1201139872221519
            ],
            [
                -0.13130605313020224,
                -0.12427177281197642,
                0.9835218588793728
            ]
        ],
        "object_translation_in_cam": [
            -0.010787536926883112,
            0.012638457635313237,
            1.0439399775519036
        ],
        "raw_rvec": [
            -0.12288844285112782,
            0.1339712616752532,
            -0.03112303653601542
        ],
        "refined_raw_rvec": [
            -0.12288844285112782,
            0.1339712616752532,
            -0.03112303653601542
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7570220232009888,
            1.4726570844650269,
            0.8538540601730347,
            1.4013973474502563,
            0.1725829392671585,
            1.562543511390686,
            0.7945241928100586,
            1.6820498704910278
        ],
        "mean_reprojection_error": 1.2120788097381592,
        "std_reprojection_error": 0.5157073140144348,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.28393644094467163,
            0.22157558798789978,
            0.4561540484428406,
            0.9950680732727051,
            0.18849100172519684,
            0.7331154942512512,
            0.3152446746826172,
            0.4688282608985901
        ],
        "kf_translation_vector": [
            -0.0109138903712368,
            0.011286673509523965,
            1.0452925316910846
        ],
        "kf_rotation_matrix": [
            [
                0.994558675503305,
                0.033011082946492284,
                0.09880945999149827
            ],
            [
                -0.03318521217451796,
                0.9994492121045768,
                0.0001188127634256842
            ],
            [
                -0.09875111479899311,
                -0.0033971791592929492,
                0.9951063644152397
            ]
        ],
        "kf_euler_angles": [
            -0.0034138722083016677,
            0.09891232313844858,
            -0.0333543970015476
        ]
    },
    {
        "frame": 70,
        "object_rotation_in_cam": [
            [
                0.9905565129936028,
                0.03926570477862621,
                0.13136209116100447
            ],
            [
                -0.027492767216739315,
                0.9955382541417344,
                -0.09026478987508746
            ],
            [
                -0.13432029748597366,
                0.0858008681113733,
                0.9872164244554555
            ]
        ],
        "object_translation_in_cam": [
            -0.010803719536183802,
            0.010346587055105078,
            1.0570975954979187
        ],
        "raw_rvec": [
            0.08842651307354071,
            0.13343526205949913,
            -0.0335285084222486
        ],
        "refined_raw_rvec": [
            0.08842651307354071,
            0.13343526205949913,
            -0.0335285084222486
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.337006688117981,
            1.6927169561386108,
            0.13249868154525757,
            1.4968116283416748,
            0.7868704199790955,
            1.3591550588607788,
            0.1802186518907547,
            2.341695785522461
        ],
        "mean_reprojection_error": 1.1658717393875122,
        "std_reprojection_error": 0.7088114023208618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                308
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3011441230773926,
            0.24593399465084076,
            0.39503034949302673,
            0.9965775012969971,
            0.1828063726425171,
            0.8699354529380798,
            0.23580344021320343,
            0.38571465015411377
        ],
        "kf_translation_vector": [
            -0.010861230757265684,
            0.010932188693272409,
            1.0499340872357559
        ],
        "kf_rotation_matrix": [
            [
                0.9929946041194512,
                0.03434822661120798,
                0.1130571338674374
            ],
            [
                -0.030717044644266916,
                0.9989596642107659,
                -0.03370537714128112
            ],
            [
                -0.11409723641691183,
                0.02999647660274431,
                0.9930166323045372
            ]
        ],
        "kf_euler_angles": [
            0.030198243216585534,
            0.11434625436648731,
            -0.030923886653731067
        ]
    },
    {
        "frame": 71,
        "object_rotation_in_cam": [
            [
                0.9904978143575387,
                0.040585935837052216,
                0.13140343056849588
            ],
            [
                -0.02846024720233773,
                0.9952708758573573,
                -0.09287571264496838
            ],
            [
                -0.13455145514679753,
                0.08825341626452538,
                0.9869687129972863
            ]
        ],
        "object_translation_in_cam": [
            -0.010769374885968259,
            0.010274781262160419,
            1.0570961647222985
        ],
        "raw_rvec": [
            0.09097832557780372,
            0.13358497513508066,
            -0.03468081670950385
        ],
        "refined_raw_rvec": [
            0.09097832557780372,
            0.13358497513508066,
            -0.03468081670950385
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4042205810546875,
            1.6265802383422852,
            0.13228051364421844,
            1.2336431741714478,
            0.7979424595832825,
            2.0825507640838623,
            0.20458096265792847,
            2.676034688949585
        ],
        "mean_reprojection_error": 1.2697291374206543,
        "std_reprojection_error": 0.8243194222450256,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.27049413323402405,
            0.27992329001426697,
            0.34679853916168213,
            0.9955862760543823,
            0.2520044147968292,
            0.829796314239502,
            0.12605881690979004,
            0.4417518079280853
        ],
        "kf_translation_vector": [
            -0.010812994985360598,
            0.010672942703032911,
            1.052895252764162
        ],
        "kf_rotation_matrix": [
            [
                0.9918556172391988,
                0.036326199677623294,
                0.12207719593777337
            ],
            [
                -0.029592454109114007,
                0.9979623789361014,
                -0.05652766480226474
            ],
            [
                -0.12388188411082571,
                0.052454718044982945,
                0.9909095727380847
            ]
        ],
        "kf_euler_angles": [
            0.052886565312398534,
            0.12420095603493465,
            -0.029826597409703046
        ]
    },
    {
        "frame": 72,
        "object_rotation_in_cam": [
            [
                0.9905540579928085,
                0.04039403113988527,
                0.1310380877540941
            ],
            [
                -0.02829803206392222,
                0.995273975936372,
                -0.09289205673853518
            ],
            [
                -0.13417108323066085,
                0.08830648374879382,
                0.9870157472667977
            ]
        ],
        "object_translation_in_cam": [
            -0.010771524880004836,
            0.010229462382923372,
            1.0570820029913708
        ],
        "raw_rvec": [
            0.0910115659953086,
            0.13320803745286228,
            -0.03450233223078534
        ],
        "refined_raw_rvec": [
            0.0910115659953086,
            0.13320803745286228,
            -0.03450233223078534
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4465558528900146,
            2.096953868865967,
            0.17082946002483368,
            1.2219388484954834,
            0.8472520112991333,
            2.0732884407043457,
            0.9283350706100464,
            0.24883176386356354,
            2.6726841926574707
        ],
        "mean_reprojection_error": 1.3007409572601318,
        "std_reprojection_error": 0.8074676394462585,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2745509445667267,
            0.21328656375408173,
            0.332046240568161,
            0.9954462051391602,
            0.2586410641670227,
            0.8873531222343445,
            0.22062835097312927,
            0.19104084372520447,
            0.5194966793060303
        ],
        "kf_translation_vector": [
            -0.010784116587742474,
            0.01048738062546561,
            1.054768975521382
        ],
        "kf_rotation_matrix": [
            [
                0.9911180552786266,
                0.03774205639976888,
                0.12751681332055706
            ],
            [
                -0.028818668308104558,
                0.9970518768194581,
                -0.07111286302592339
            ],
            [
                -0.12982482373437132,
                0.06680637776075693,
                0.9892837929698568
            ]
        ],
        "kf_euler_angles": [
            0.06742767108184484,
            0.13019230621316188,
            -0.02906873759460154
        ]
    },
    {
        "frame": 73,
        "object_rotation_in_cam": [
            [
                0.9905540579928085,
                0.04039403113988527,
                0.1310380877540941
            ],
            [
                -0.02829803206392222,
                0.995273975936372,
                -0.09289205673853518
            ],
            [
                -0.13417108323066085,
                0.08830648374879382,
                0.9870157472667977
            ]
        ],
        "object_translation_in_cam": [
            -0.010771524880004836,
            0.010229462382923372,
            1.0570820029913708
        ],
        "raw_rvec": [
            0.0910115659953086,
            0.13320803745286228,
            -0.03450233223078534
        ],
        "refined_raw_rvec": [
            0.0910115659953086,
            0.13320803745286228,
            -0.03450233223078534
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4465558528900146,
            2.096953868865967,
            0.17082946002483368,
            1.2219388484954834,
            0.8472520112991333,
            2.0732884407043457,
            0.9283350706100464,
            0.24883176386356354,
            2.6726841926574707
        ],
        "mean_reprojection_error": 1.3007409572601318,
        "std_reprojection_error": 0.8074676394462585,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                391
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3204897344112396,
            0.2424488216638565,
            0.4317479133605957,
            0.9967429041862488,
            0.3257769048213959,
            0.10834036767482758,
            0.7955352067947388,
            0.32893142104148865,
            0.2115468680858612,
            0.5184488892555237
        ],
        "kf_translation_vector": [
            -0.010766663746006733,
            0.01036981613406755,
            1.0559495802300636
        ],
        "kf_rotation_matrix": [
            [
                0.9906462850695483,
                0.038738917398553174,
                0.13084049127350172
            ],
            [
                -0.028343648134236333,
                0.9963597405893965,
                -0.08039841380943563
            ],
            [
                -0.13347874545539382,
                0.07593789311943491,
                0.9881380778515902
            ]
        ],
        "kf_euler_angles": [
            0.07669872250021854,
            0.13387831302622685,
            -0.028603466520815603
        ]
    },
    {
        "frame": 74,
        "object_rotation_in_cam": [
            [
                0.9901797993337242,
                0.04050469476203783,
                0.13380334335755478
            ],
            [
                -0.02854239113590522,
                0.9955199538099461,
                -0.09014074258895238
            ],
            [
                -0.13685502146311823,
                0.0854364750471186,
                0.9868998489369895
            ]
        ],
        "object_translation_in_cam": [
            -0.010755043541478614,
            0.010229451184750566,
            1.0576816334941739
        ],
        "raw_rvec": [
            0.08819172593555032,
            0.13595060141518678,
            -0.03468207184363524
        ],
        "refined_raw_rvec": [
            0.08819172593555032,
            0.13595060141518678,
            -0.03468207184363524
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.4735461473464966,
            2.0869929790496826,
            0.2248193323612213,
            1.2022136449813843,
            1.1539603471755981,
            0.8788706064224243,
            2.0098350048065186,
            0.899849534034729,
            0.5422082543373108,
            2.7613365650177
        ],
        "mean_reprojection_error": 1.3233633041381836,
        "std_reprojection_error": 0.7336218357086182,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.27132850885391235,
            0.23031960427761078,
            0.45689332485198975,
            0.9974638819694519,
            0.10623829066753387,
            0.23088394105434418,
            0.1128840520977974,
            0.867594301700592,
            0.30772197246551514,
            0.18629755079746246,
            0.4060184359550476
        ],
        "kf_translation_vector": [
            -0.010749131677216346,
            0.010295970275449876,
            1.056953026337041
        ],
        "kf_rotation_matrix": [
            [
                0.9901885291613451,
                0.03945230918977776,
                0.1340529448273556
            ],
            [
                -0.02816916016321162,
                0.9959786189108665,
                -0.08504756956023192
            ],
            [
                -0.13686918986021362,
                0.0804369689384013,
                0.9873179421518742
            ]
        ],
        "kf_euler_angles": [
            0.08129064311957238,
            0.1373001653477571,
            -0.028440608912306913
        ]
    },
    {
        "frame": 75,
        "object_rotation_in_cam": [
            [
                0.9910817993191887,
                0.047869447478422616,
                0.1243598932789419
            ],
            [
                -0.03528783260770911,
                0.9942121786674335,
                -0.10147370427458367
            ],
            [
                -0.1284976105929195,
                0.09618035031889778,
                0.9870348039884128
            ]
        ],
        "object_translation_in_cam": [
            -0.010453483553300587,
            0.009853710317820261,
            1.0592578736547786
        ],
        "raw_rvec": [
            0.09928534209872336,
            0.12701507098238388,
            -0.041771462863900356
        ],
        "refined_raw_rvec": [
            0.09928534209872336,
            0.12701507098238388,
            -0.041771462863900356
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.9686187505722046,
            1.4725481271743774,
            0.44730642437934875,
            1.037198543548584,
            7.4419941902160645,
            1.0254318714141846,
            0.6071208119392395,
            1.362363576889038,
            1.516509771347046,
            4.654155254364014
        ],
        "mean_reprojection_error": 2.153324604034424,
        "std_reprojection_error": 2.0873913764953613,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                844,
                360
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.21678225696086884,
            0.186636820435524,
            0.3585979640483856,
            0.997551441192627,
            0.11466168612241745,
            0.16474831104278564,
            0.88682621717453,
            0.24143238365650177,
            0.1722409725189209,
            0.46947768330574036
        ],
        "kf_translation_vector": [
            -0.010604083809861952,
            0.010082142311362811,
            1.0582763013280263
        ],
        "kf_rotation_matrix": [
            [
                0.990337951005572,
                0.04326053310462677,
                0.13175457894733217
            ],
            [
                -0.031090861571092684,
                0.9951747792485298,
                -0.0930618991553851
            ],
            [
                -0.13514474138808524,
                0.08806636715082214,
                0.9869043590196591
            ]
        ],
        "kf_euler_angles": [
            0.08899922566209881,
            0.13555954257150163,
            -0.03138388591373263
        ]
    },
    {
        "frame": 76,
        "object_rotation_in_cam": [
            [
                0.9895361741291024,
                0.10904184563721402,
                0.09448828493505815
            ],
            [
                -0.04247521529185318,
                0.846003015600306,
                -0.5314835403670553
            ],
            [
                -0.13789132016138458,
                0.5219087789022316,
                0.8417821632280718
            ]
        ],
        "object_translation_in_cam": [
            -0.010568435446743695,
            0.0033125600505381787,
            1.0649749830824857
        ],
        "raw_rvec": [
            0.556985954203388,
            0.12287176744542115,
            -0.08011533140683111
        ],
        "refined_raw_rvec": [
            0.556985954203388,
            0.12287176744542115,
            -0.08011533140683111
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7231310606002808,
            1.0745370388031006,
            0.9519928097724915,
            1.4568111896514893,
            0.27718648314476013,
            0.7342259883880615,
            1.8141192197799683,
            1.5081241130828857
        ],
        "mean_reprojection_error": 1.1925159692764282,
        "std_reprojection_error": 0.4945997893810272,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.373321533203125,
            0.2720886766910553,
            0.4182978868484497,
            0.9959333539009094,
            0.3107287585735321,
            0.8896077871322632,
            0.3154304325580597,
            0.4450530707836151
        ],
        "kf_translation_vector": [
            -0.010574517456840314,
            0.010041856937572825,
            1.0587594943152232
        ],
        "kf_rotation_matrix": [
            [
                0.9900285491328227,
                0.04364799099381945,
                0.13393403146385735
            ],
            [
                -0.03106467043014835,
                0.9950264230167666,
                -0.09464356158516593
            ],
            [
                -0.13739890157138937,
                0.08953921141411893,
                0.9864604763832727
            ]
        ],
        "kf_euler_angles": [
            0.09052011879720144,
            0.1378349292480279,
            -0.03136725861261199
        ]
    },
    {
        "frame": 77,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                365
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3394209146499634,
            0.2858147919178009,
            0.44465741515159607,
            0.9963245987892151,
            0.10599800944328308,
            0.12489927560091019,
            0.19631262123584747,
            0.8194392919540405,
            0.19164061546325684,
            0.5249567031860352
        ],
        "kf_translation_vector": [
            -0.010547463544620892,
            0.010130499182357757,
            1.05897956483371
        ],
        "kf_rotation_matrix": [
            [
                0.9898839967128865,
                0.04251845819606249,
                0.13535824232144816
            ],
            [
                -0.02990168604734642,
                0.995131030838828,
                -0.09391549730037929
            ],
            [
                -0.13869232935980316,
                0.08891800815516117,
                0.9863356556479496
            ]
        ],
        "kf_euler_angles": [
            0.0899068148983169,
            0.13914086028453126,
            -0.03019808001600371
        ]
    },
    {
        "frame": 78,
        "object_rotation_in_cam": [
            [
                0.9902192576640987,
                0.04580406297339908,
                0.13178698557251467
            ],
            [
                -0.033703974654962825,
                0.9951305212963821,
                -0.0926244442728181
            ],
            [
                -0.13538782753120354,
                0.08727676322778963,
                0.9869411850545409
            ]
        ],
        "object_translation_in_cam": [
            -0.010608948831686168,
            0.011254750690977765,
            1.056326710124284
        ],
        "raw_rvec": [
            0.09036832703130854,
            0.13420777559263453,
            -0.03993863324120891
        ],
        "refined_raw_rvec": [
            0.09036832703130854,
            0.13420777559263453,
            -0.03993863324120891
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.7164987325668335,
            2.7693397998809814,
            1.2424131631851196,
            1.1193090677261353,
            0.5815872550010681,
            1.93743097782135,
            0.6127162575721741,
            3.3929240703582764,
            3.1093244552612305
        ],
        "mean_reprojection_error": 1.7201714515686035,
        "std_reprojection_error": 1.0538438558578491,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3052748441696167,
            0.26341167092323303,
            0.4334389269351959,
            0.9966010451316833,
            0.3258119225502014,
            0.9243658781051636,
            0.16742698848247528,
            0.11161661893129349,
            0.49576565623283386
        ],
        "kf_translation_vector": [
            -0.010553855274879223,
            0.010654374079863953,
            1.058061802864131
        ],
        "kf_rotation_matrix": [
            [
                0.989810943063668,
                0.0443224239468532,
                0.13531378247202944
            ],
            [
                -0.03164757736552686,
                0.9950288413453237,
                -0.09442476231304923
            ],
            [
                -0.1388262505375164,
                0.08918030963423633,
                0.9862931331684494
            ]
        ],
        "kf_euler_angles": [
            0.09017446662212611,
            0.13927608965260813,
            -0.03196246697977008
        ]
    },
    {
        "frame": 79,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.1549033522605896,
            0.16616594791412354,
            0.30677330493927,
            0.9968768358230591,
            0.12727253139019012,
            0.19957047700881958,
            0.9332684874534607,
            0.20170721411705017,
            0.3722156584262848
        ],
        "kf_translation_vector": [
            -0.010537435958398601,
            0.010487329581990716,
            1.058552370520388
        ],
        "kf_rotation_matrix": [
            [
                0.9897529044541025,
                0.043160191559038254,
                0.13611166735168415
            ],
            [
                -0.030459441883816774,
                0.9951013146711728,
                -0.09405102838262776
            ],
            [
                -0.13950415952506504,
                0.08894139308719302,
                0.986219051768376
            ]
        ],
        "kf_euler_angles": [
            0.08994090812791616,
            0.1399606600869406,
            -0.030765084177945726
        ]
    },
    {
        "frame": 80,
        "object_rotation_in_cam": [
            [
                0.9903415126525155,
                0.03996921787554127,
                0.1327635113257595
            ],
            [
                -0.02793224511067425,
                0.9954296967820935,
                -0.09132090914673735
            ],
            [
                -0.13580676713700526,
                0.0867305043610779,
                0.9869317816409948
            ]
        ],
        "object_translation_in_cam": [
            -0.010598855973317934,
            0.01001113533821312,
            1.0586887458222312
        ],
        "raw_rvec": [
            0.08943295353316558,
            0.1348994246153261,
            -0.034106038612345124
        ],
        "refined_raw_rvec": [
            0.08943295353316558,
            0.1348994246153261,
            -0.034106038612345124
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7127494812011719,
            1.823067307472229,
            0.5598629713058472,
            1.1838263273239136,
            1.152508020401001,
            0.5690060257911682,
            1.979309320449829,
            0.48653385043144226,
            2.708287239074707
        ],
        "mean_reprojection_error": 1.3527944087982178,
        "std_reprojection_error": 0.7182341814041138,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.17431429028511047,
            0.21001191437244415,
            0.31901833415031433,
            0.9948567152023315,
            0.20349526405334473,
            0.18708539009094238,
            0.9459660053253174,
            0.21384285390377045,
            0.36742687225341797
        ],
        "kf_translation_vector": [
            -0.010543581370680472,
            0.010275540713040054,
            1.0589212908277037
        ],
        "kf_rotation_matrix": [
            [
                0.9897982545503178,
                0.04194230127529502,
                0.13616261841223753
            ],
            [
                -0.02925840463740173,
                0.9951560840009139,
                -0.09385261975054265
            ],
            [
                -0.139439452979486,
                0.08891125822806843,
                0.9862309197713705
            ]
        ],
        "kf_euler_angles": [
            0.08990952247313433,
            0.13989531485987775,
            -0.0295513626649751
        ]
    },
    {
        "frame": 81,
        "object_rotation_in_cam": [
            [
                0.989436126625093,
                0.045442047456733484,
                0.13766325454555028
            ],
            [
                -0.03338095173226195,
                0.995499851010481,
                -0.08868911263260247
            ],
            [
                -0.14107396425485952,
                0.08315688162172767,
                0.9865004154324358
            ]
        ],
        "object_translation_in_cam": [
            -0.010588241552923663,
            0.011268599289977343,
            1.0559675419353318
        ],
        "raw_rvec": [
            0.08633439340152173,
            0.14003590137774913,
            -0.03960020046204298
        ],
        "refined_raw_rvec": [
            0.08633439340152173,
            0.14003590137774913,
            -0.03960020046204298
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.6930992007255554,
            2.7809081077575684,
            1.1929906606674194,
            1.649728536605835,
            1.3316857814788818,
            0.5412269830703735,
            1.930894374847412,
            0.7361254692077637,
            3.4525234699249268,
            3.157698392868042
        ],
        "mean_reprojection_error": 1.7466881275177002,
        "std_reprojection_error": 1.0038425922393799,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3864673972129822,
            0.22355902194976807,
            0.43661433458328247,
            0.9980812668800354,
            0.1590881645679474,
            0.23960933089256287,
            0.9205176830291748,
            0.2714258134365082,
            0.1125262901186943,
            0.5721991062164307
        ],
        "kf_translation_vector": [
            -0.01054396283942353,
            0.01070857217694595,
            1.0579114165884764
        ],
        "kf_rotation_matrix": [
            [
                0.989430360152856,
                0.043635666024367165,
                0.13828771116190805
            ],
            [
                -0.030962927860856485,
                0.9952309566798143,
                -0.09250210789200809
            ],
            [
                -0.14166460216325327,
                0.0872426015017388,
                0.9860628118822532
            ]
        ],
        "kf_euler_angles": [
            0.08824592117314906,
            0.14214277441041087,
            -0.03128348164862366
        ]
    },
    {
        "frame": 82,
        "object_rotation_in_cam": [
            [
                0.9894859493429562,
                0.0407191105908016,
                0.13877863699274062
            ],
            [
                -0.02841076355961259,
                0.9955774528899357,
                -0.08954531708106034
            ],
            [
                -0.14181108760188182,
                0.08466102603844294,
                0.9862667621405932
            ]
        ],
        "object_translation_in_cam": [
            -0.010515595252784843,
            0.010261011643824165,
            1.0580993055122352
        ],
        "raw_rvec": [
            0.08752177842647993,
            0.1409691017270898,
            -0.03473105180729566
        ],
        "refined_raw_rvec": [
            0.08752177842647993,
            0.1409691017270898,
            -0.03473105180729566
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.505332350730896,
            2.0010666847229004,
            0.4661843776702881,
            1.689826250076294,
            1.875169038772583,
            0.9819218516349792,
            2.04276967048645,
            0.7841288447380066,
            2.741020917892456
        ],
        "mean_reprojection_error": 1.5652689933776855,
        "std_reprojection_error": 0.6727988719940186,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                845,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.40397363901138306,
            0.25813886523246765,
            0.44243234395980835,
            0.9983609318733215,
            0.1122429370880127,
            0.3088495135307312,
            0.9072294235229492,
            0.24372133612632751,
            0.531068742275238
        ],
        "kf_translation_vector": [
            -0.010513076744709934,
            0.010529437848533501,
            1.0582134510982262
        ],
        "kf_rotation_matrix": [
            [
                0.9892325288855063,
                0.0425730761536013,
                0.1400233444165854
            ],
            [
                -0.02981437834318097,
                0.9953138385110649,
                -0.09198622566656099
            ],
            [
                -0.14328330900281336,
                0.08682105767145137,
                0.9858661153047177
            ]
        ],
        "kf_euler_angles": [
            0.08783915564772621,
            0.1437781647928032,
            -0.030129777439841434
        ]
    },
    {
        "frame": 83,
        "object_rotation_in_cam": [
            [
                0.9896000960494675,
                0.03922728450956865,
                0.13839389455062645
            ],
            [
                -0.027074036661224238,
                0.9956965037899578,
                -0.08863108303141286
            ],
            [
                -0.14127507366039926,
                0.08396244690610123,
                0.9864033967255936
            ]
        ],
        "object_translation_in_cam": [
            -0.010726447704369105,
            0.010038501552903088,
            1.0574409302441645
        ],
        "raw_rvec": [
            0.08670611596007421,
            0.14049779268619533,
            -0.03330791162230801
        ],
        "refined_raw_rvec": [
            0.08670611596007421,
            0.14049779268619533,
            -0.03330791162230801
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.6428064107894897,
            2.004641532897949,
            0.4960640072822571,
            1.68923819065094,
            1.832495093345642,
            0.38068172335624695,
            2.0626518726348877,
            0.840305745601654,
            0.8097712397575378,
            2.6855030059814453
        ],
        "mean_reprojection_error": 1.4444159269332886,
        "std_reprojection_error": 0.7269726395606995,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                845,
                360
            ],
            [
                845,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2973251938819885,
            0.2624157965183258,
            0.39072638750076294,
            0.9980865716934204,
            0.10538887232542038,
            0.17622262239456177,
            0.21247947216033936,
            0.9667838215827942,
            0.2589472234249115,
            0.23417538404464722,
            0.49999088048934937
        ],
        "kf_translation_vector": [
            -0.010589316606649232,
            0.010316179674582471,
            1.0580936610053384
        ],
        "kf_rotation_matrix": [
            [
                0.989174820206271,
                0.04122121692160352,
                0.14083318623603425
            ],
            [
                -0.02849681606809838,
                0.9954245885426646,
                -0.09120208330212667
            ],
            [
                -0.14394827732165597,
                0.086201506948366,
                0.9858236118373096
            ]
        ],
        "kf_euler_angles": [
            0.08721926614023981,
            0.14445009871449035,
            -0.02880070930092699
        ]
    },
    {
        "frame": 84,
        "object_rotation_in_cam": [
            [
                0.9902328723984778,
                0.04002170743047946,
                0.13355568634771414
            ],
            [
                -0.027883826251553428,
                0.9954103434127265,
                -0.0915463842023875
            ],
            [
                -0.1366065542169667,
                0.08692819543339819,
                0.9868040019090214
            ]
        ],
        "object_translation_in_cam": [
            -0.010716312286997156,
            0.010250356495489712,
            1.0561468714161202
        ],
        "raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "refined_raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4483399391174316,
            2.098471164703369,
            0.1919967085123062,
            1.5742348432540894,
            0.8647984862327576,
            2.1309452056884766,
            0.9372336268424988,
            0.2782991826534271,
            2.6772689819335938
        ],
        "mean_reprojection_error": 1.3557319641113281,
        "std_reprojection_error": 0.8087503910064697,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                391
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3683635890483856,
            0.2300381064414978,
            0.474780797958374,
            0.9953576922416687,
            0.28705278038978577,
            0.14131063222885132,
            0.7256743311882019,
            0.23461014032363892,
            0.13651181757450104,
            0.41482770442962646
        ],
        "kf_translation_vector": [
            -0.010634200063366654,
            0.010276399114774327,
            1.0574237524512244
        ],
        "kf_rotation_matrix": [
            [
                0.9894458009852416,
                0.04071904304339473,
                0.13906461248751875
            ],
            [
                -0.028036838024558492,
                0.9953671972339528,
                -0.09196781167457399
            ],
            [
                -0.1421651948483111,
                0.08709823307194817,
                0.9860035269559061
            ]
        ],
        "kf_euler_angles": [
            0.0881059173403774,
            0.14264848547254216,
            -0.028328320560519427
        ]
    },
    {
        "frame": 85,
        "object_rotation_in_cam": [
            [
                0.9873402115110039,
                0.040425904227421434,
                0.15337878927935694
            ],
            [
                -0.03286514137544238,
                0.9981313054800453,
                -0.05151484740414851
            ],
            [
                -0.15517470546380363,
                0.045821864738308835,
                0.9868237773260867
            ]
        ],
        "object_translation_in_cam": [
            -0.010696821611247532,
            0.01166974139974952,
            1.0547315586541985
        ],
        "raw_rvec": [
            0.0488943324372133,
            0.15499308343758453,
            -0.036815674882594344
        ],
        "refined_raw_rvec": [
            0.0488943324372133,
            0.15499308343758453,
            -0.036815674882594344
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.564200222492218,
            2.8895270824432373,
            1.1406567096710205,
            1.7022290229797363,
            1.3915244340896606,
            0.4470832943916321,
            2.137174367904663,
            3.302297830581665,
            2.959782838821411
        ],
        "mean_reprojection_error": 1.8371639251708984,
        "std_reprojection_error": 0.9921385645866394,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                845,
                372
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.30550485849380493,
            0.20149631798267365,
            0.5490990281105042,
            0.9970200657844543,
            0.12013909220695496,
            0.37605202198028564,
            0.8453847765922546,
            0.18835163116455078,
            0.14741133153438568,
            0.44828879833221436
        ],
        "kf_translation_vector": [
            -0.010654745084392543,
            0.010886606523036564,
            1.0563547285375348
        ],
        "kf_rotation_matrix": [
            [
                0.9883474144138595,
                0.040700797414952375,
                0.1466725383677044
            ],
            [
                -0.02998928186213619,
                0.996768781838705,
                -0.07451602864603987
            ],
            [
                -0.1492314691840567,
                0.06924912015015851,
                0.9863744359844272
            ]
        ],
        "kf_euler_angles": [
            0.07009070820302626,
            0.14979099305022356,
            -0.0303335476036895
        ]
    },
    {
        "frame": 86,
        "object_rotation_in_cam": [
            [
                0.9907688899148775,
                0.022775740534966213,
                0.1336348473263061
            ],
            [
                -0.0440996590314664,
                0.9863166387305647,
                0.15885436171710565
            ],
            [
                -0.12818824770683795,
                -0.16328121081840535,
                0.9782162436514361
            ]
        ],
        "object_translation_in_cam": [
            -0.01079584513797256,
            0.013038912042292176,
            1.0403103451743074
        ],
        "raw_rvec": [
            -0.162278524219763,
            0.13189560263154618,
            -0.03368904918767184
        ],
        "refined_raw_rvec": [
            -0.162278524219763,
            0.13189560263154618,
            -0.03368904918767184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.8545247316360474,
            1.3297595977783203,
            1.3036152124404907,
            1.0611050128936768,
            0.19176526367664337,
            2.0800929069519043,
            0.8661751747131348,
            0.36378052830696106,
            1.8829680681228638
        ],
        "mean_reprojection_error": 1.2148652076721191,
        "std_reprojection_error": 0.6272982358932495,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.32627907395362854,
            0.29168131947517395,
            0.5473311543464661,
            0.9966738820075989,
            0.3144618272781372,
            0.9206768870353699,
            0.2998841106891632,
            0.18423570692539215,
            0.15155425667762756,
            0.5191287398338318
        ],
        "kf_translation_vector": [
            -0.010712680242930102,
            0.01188363986154566,
            1.04922400240402
        ],
        "kf_rotation_matrix": [
            [
                0.9892714220717976,
                0.03150164212163578,
                0.14265237472851197
            ],
            [
                -0.03624322826594511,
                0.9988694051149996,
                0.03076263854206444
            ],
            [
                -0.14152201905324138,
                -0.035602781757153375,
                0.9892946780682925
            ]
        ],
        "kf_euler_angles": [
            -0.03597252091858603,
            0.1419987401425623,
            -0.03661990539199679
        ]
    },
    {
        "frame": 87,
        "object_rotation_in_cam": [
            [
                0.9902328723984778,
                0.04002170743047946,
                0.13355568634771414
            ],
            [
                -0.027883826251553428,
                0.9954103434127265,
                -0.0915463842023875
            ],
            [
                -0.1366065542169667,
                0.08692819543339819,
                0.9868040019090214
            ]
        ],
        "object_translation_in_cam": [
            -0.010716312286997156,
            0.010250356495489712,
            1.0561468714161202
        ],
        "raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "refined_raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4483399391174316,
            2.098471164703369,
            0.1919967085123062,
            1.5742348432540894,
            0.8647984862327576,
            2.1309452056884766,
            0.9372336268424988,
            0.2782991826534271,
            2.6772689819335938
        ],
        "mean_reprojection_error": 1.3557319641113281,
        "std_reprojection_error": 0.8087503910064697,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                594,
                391
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.41125789284706116,
            0.3042050302028656,
            0.5888540148735046,
            0.9983029961585999,
            0.41142603754997253,
            0.12584581971168518,
            0.9597174525260925,
            0.29771995544433594,
            0.13889335095882416,
            0.5011494755744934
        ],
        "kf_translation_vector": [
            -0.01071417374228785,
            0.011262306669899332,
            1.0518112862245454
        ],
        "kf_rotation_matrix": [
            [
                0.9895610840793403,
                0.03475038773026878,
                0.13986161527852004
            ],
            [
                -0.03294415972847545,
                0.9993414577674584,
                -0.015209639278953704
            ],
            [
                -0.1402980513603288,
                0.010443243739718997,
                0.9900542386378068
            ]
        ],
        "kf_euler_angles": [
            0.010547761971643747,
            0.14076243703499458,
            -0.0332793975769683
        ]
    },
    {
        "frame": 88,
        "object_rotation_in_cam": [
            [
                0.9908679070258388,
                0.022873581022750434,
                0.1328818652692279
            ],
            [
                -0.04214221191573299,
                0.9886712573476403,
                0.14405963650337864
            ],
            [
                -0.1280813210467593,
                -0.14834400623493962,
                0.9806065628033932
            ]
        ],
        "object_translation_in_cam": [
            -0.010623759302657642,
            0.012704718577927102,
            1.0424892840035027
        ],
        "raw_rvec": [
            -0.14718075666572789,
            0.13135526925791277,
            -0.03272556220673339
        ],
        "refined_raw_rvec": [
            -0.14718075666572789,
            0.13135526925791277,
            -0.03272556220673339
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0703659057617188,
            1.147816777229309,
            0.8825656771659851,
            1.0796202421188354,
            0.29373112320899963,
            2.059354543685913,
            1.8977837562561035
        ],
        "mean_reprojection_error": 1.3473197221755981,
        "std_reprojection_error": 0.6290934681892395,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33067744970321655,
            0.4245712161064148,
            0.5692495703697205,
            0.9964768290519714,
            0.39759576320648193,
            0.9365794062614441,
            0.49892017245292664
        ],
        "kf_translation_vector": [
            -0.01067399882986605,
            0.011961623400375042,
            1.0473639129769194
        ],
        "kf_rotation_matrix": [
            [
                0.9900597530992841,
                0.028535120420196538,
                0.1377223010103652
            ],
            [
                -0.03721092139807361,
                0.997453880826459,
                0.06083669084477223
            ],
            [
                -0.1356356613199167,
                -0.06535673283481121,
                0.9886007611020072
            ]
        ],
        "kf_euler_angles": [
            -0.06601427873327194,
            0.13605502473180928,
            -0.03756683854845141
        ]
    },
    {
        "frame": 89,
        "object_rotation_in_cam": [
            [
                0.9907688899148775,
                0.022775740534966213,
                0.1336348473263061
            ],
            [
                -0.0440996590314664,
                0.9863166387305647,
                0.15885436171710565
            ],
            [
                -0.12818824770683795,
                -0.16328121081840535,
                0.9782162436514361
            ]
        ],
        "object_translation_in_cam": [
            -0.01079584513797256,
            0.013038912042292176,
            1.0403103451743074
        ],
        "raw_rvec": [
            -0.162278524219763,
            0.13189560263154618,
            -0.03368904918767184
        ],
        "refined_raw_rvec": [
            -0.162278524219763,
            0.13189560263154618,
            -0.03368904918767184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.8545247316360474,
            1.3297595977783203,
            1.3036152124404907,
            1.0611050128936768,
            0.19176526367664337,
            2.0800929069519043,
            0.8661751747131348,
            0.36378052830696106,
            1.8829680681228638
        ],
        "mean_reprojection_error": 1.2148652076721191,
        "std_reprojection_error": 0.6272982358932495,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.20463520288467407,
            0.24892090260982513,
            0.5268822312355042,
            0.9979254007339478,
            0.2279423475265503,
            0.9671892523765564,
            0.27219653129577637,
            0.1824084222316742,
            0.13784576952457428,
            0.5696595907211304
        ],
        "kf_translation_vector": [
            -0.010725881375860344,
            0.012547569991532124,
            1.0436071828164986
        ],
        "kf_rotation_matrix": [
            [
                0.9903209646841593,
                0.024865758385082797,
                0.13655065348423107
            ],
            [
                -0.04076364569999175,
                0.9925410663122054,
                0.1148936763841934
            ],
            [
                -0.13267521281792394,
                -0.11934791889163758,
                0.9839478452438186
            ]
        ],
        "kf_euler_angles": [
            -0.12070531145185558,
            0.1330675693719779,
            -0.041138831126425475
        ]
    },
    {
        "frame": 90,
        "object_rotation_in_cam": [
            [
                0.9898221695189301,
                0.04071795699309751,
                0.13636026073290852
            ],
            [
                -0.028592990256641432,
                0.9955559883558525,
                -0.08972577643567888
            ],
            [
                -0.13940772445249272,
                0.08491361508680502,
                0.9865876364195265
            ]
        ],
        "object_translation_in_cam": [
            -0.010509220387480346,
            0.01027754840094374,
            1.0576201721864273
        ],
        "raw_rvec": [
            0.08772998684176506,
            0.1385318713079722,
            -0.03481831010289003
        ],
        "refined_raw_rvec": [
            0.08772998684176506,
            0.1385318713079722,
            -0.03481831010289003
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5135436058044434,
            1.9779152870178223,
            0.43024832010269165,
            1.6136136054992676,
            1.2566975355148315,
            0.9596569538116455,
            2.0300230979919434,
            0.5390300750732422,
            2.7524666786193848
        ],
        "mean_reprojection_error": 1.4525771141052246,
        "std_reprojection_error": 0.7063088417053223,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.1458614617586136,
            0.21312539279460907,
            0.3819018006324768,
            0.9961535334587097,
            0.1279134750366211,
            0.2463240623474121,
            0.935937762260437,
            0.22956053912639618,
            0.4613846242427826
        ],
        "kf_translation_vector": [
            -0.010630795227302967,
            0.011674976254512784,
            1.049019087742897
        ],
        "kf_rotation_matrix": [
            [
                0.9900830659125983,
                0.030626309859474884,
                0.13710416382262477
            ],
            [
                -0.036036287915988445,
                0.9986596689183701,
                0.037151737901309496
            ],
            [
                -0.1357825782136489,
                -0.04172403168730274,
                0.9898596853258604
            ]
        ],
        "kf_euler_angles": [
            -0.042126523201208084,
            0.136203313485822,
            -0.03638117715805985
        ]
    },
    {
        "frame": 91,
        "object_rotation_in_cam": [
            [
                0.9894094618532949,
                0.11095726190122072,
                0.09358099607589895
            ],
            [
                -0.04268367043163833,
                0.838616314647933,
                -0.5430476784636894
            ],
            [
                -0.13873363353439852,
                0.5333021309142719,
                0.8344709797761933
            ]
        ],
        "object_translation_in_cam": [
            -0.010517016740932635,
            0.0029082567232790704,
            1.064082954139474
        ],
        "raw_rvec": [
            0.5706507468068907,
            0.1231667583588805,
            -0.08145615116197387
        ],
        "refined_raw_rvec": [
            0.5706507468068907,
            0.1231667583588805,
            -0.08145615116197387
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.913706660270691,
            0.8753042817115784,
            0.8329786658287048,
            1.952113389968872,
            0.3787909746170044,
            0.46564769744873047,
            1.9292691946029663,
            1.7208970785140991
        ],
        "mean_reprojection_error": 1.2585885524749756,
        "std_reprojection_error": 0.6427040100097656,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4249323606491089,
            0.29359957575798035,
            0.5313114523887634,
            0.995846152305603,
            0.2922916114330292,
            0.8948600888252258,
            0.27102017402648926,
            0.4527665972709656
        ],
        "kf_translation_vector": [
            -0.010623875076511831,
            0.0117600768331634,
            1.048524219176086
        ],
        "kf_rotation_matrix": [
            [
                0.9900141883435588,
                0.029798796262077046,
                0.1377822144537374
            ],
            [
                -0.0364329415803963,
                0.9982823349619884,
                0.045880502074845377
            ],
            [
                -0.13617836702738026,
                -0.050442159392433655,
                0.989399333388488
            ]
        ],
        "kf_euler_angles": [
            -0.05093850601210524,
            0.1366028130469847,
            -0.03678382458142809
        ]
    },
    {
        "frame": 92,
        "object_rotation_in_cam": [
            [
                0.9902510839145091,
                0.04066594288113223,
                0.13322564278594531
            ],
            [
                -0.028419900548281085,
                0.9953009857025833,
                -0.09256488055570439
            ],
            [
                -0.13636385173118873,
                0.08787621378424595,
                0.9867536019655464
            ]
        ],
        "object_translation_in_cam": [
            -0.010520506426358812,
            0.010291071704923773,
            1.0569426781477422
        ],
        "raw_rvec": [
            0.09063930041957494,
            0.13542038898003828,
            -0.034703250610644866
        ],
        "refined_raw_rvec": [
            0.09063930041957494,
            0.13542038898003828,
            -0.034703250610644866
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4867888689041138,
            1.9969944953918457,
            0.3603288233280182,
            1.5591793060302734,
            0.9104936718940735,
            2.1100656986236572,
            0.32758769392967224,
            2.681793451309204
        ],
        "mean_reprojection_error": 1.4291539192199707,
        "std_reprojection_error": 0.7905900478363037,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3325047791004181,
            0.2499595433473587,
            0.48089441657066345,
            0.9922412037849426,
            0.27353090047836304,
            0.8582439422607422,
            0.10163424164056778,
            0.40847519040107727
        ],
        "kf_translation_vector": [
            -0.01056152402009332,
            0.011007836827560255,
            1.0528278429054947
        ],
        "kf_rotation_matrix": [
            [
                0.9901061204652299,
                0.03532191519296709,
                0.13580218158922355
            ],
            [
                -0.03228088388458008,
                0.9991777478565433,
                -0.024531056315540707
            ],
            [
                -0.13655700184509711,
                0.019904534544339703,
                0.9904322262283529
            ]
        ],
        "kf_euler_angles": [
            0.020094111411058803,
            0.13698501831655724,
            -0.03259191360384528
        ]
    },
    {
        "frame": 93,
        "object_rotation_in_cam": [
            [
                0.9898221695189301,
                0.04071795699309751,
                0.13636026073290852
            ],
            [
                -0.028592990256641432,
                0.9955559883558525,
                -0.08972577643567888
            ],
            [
                -0.13940772445249272,
                0.08491361508680502,
                0.9865876364195265
            ]
        ],
        "object_translation_in_cam": [
            -0.010509220387480346,
            0.01027754840094374,
            1.0576201721864273
        ],
        "raw_rvec": [
            0.08772998684176506,
            0.1385318713079722,
            -0.03481831010289003
        ],
        "refined_raw_rvec": [
            0.08772998684176506,
            0.1385318713079722,
            -0.03481831010289003
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5135436058044434,
            1.9779152870178223,
            0.43024832010269165,
            1.6136136054992676,
            1.2566975355148315,
            0.9596569538116455,
            2.0300230979919434,
            0.5390300750732422,
            2.7524666786193848
        ],
        "mean_reprojection_error": 1.4525771141052246,
        "std_reprojection_error": 0.7063088417053223,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.23103168606758118,
            0.18392401933670044,
            0.32689109444618225,
            0.9961622953414917,
            0.20945701003074646,
            0.21807774901390076,
            0.9415826201438904,
            0.2273053377866745,
            0.30502966046333313
        ],
        "kf_translation_vector": [
            -0.01052687179202309,
            0.010659446805845614,
            1.055110361374024
        ],
        "kf_rotation_matrix": [
            [
                0.9899322745463786,
                0.037754232239388376,
                0.13641374476000392
            ],
            [
                -0.03047375535217818,
                0.998017309337186,
                -0.05507086796210154
            ],
            [
                -0.13822243684065463,
                0.05035939049847563,
                0.9891200583055897
            ]
        ],
        "kf_euler_angles": [
            0.05086940085478976,
            0.13866639792554997,
            -0.030773958591164434
        ]
    },
    {
        "frame": 94,
        "object_rotation_in_cam": [
            [
                0.9903474369503106,
                0.03934014937554276,
                0.13290713589969752
            ],
            [
                -0.027227749466839708,
                0.9954094836729691,
                -0.09175298073024205
            ],
            [
                -0.13590659948995007,
                0.08724856710011425,
                0.9868723746027422
            ]
        ],
        "object_translation_in_cam": [
            -0.010725998054926385,
            0.010069221475639642,
            1.0564206144580963
        ],
        "raw_rvec": [
            0.08991130531384048,
            0.1350233790049592,
            -0.033436619679906965
        ],
        "refined_raw_rvec": [
            0.08991130531384048,
            0.1350233790049592,
            -0.033436619679906965
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6083757877349854,
            1.9760743379592896,
            0.39940616488456726,
            1.565470814704895,
            1.0645335912704468,
            2.1001975536346436,
            1.3859909772872925,
            0.2785049378871918,
            2.6571333408355713
        ],
        "mean_reprojection_error": 1.4484096765518188,
        "std_reprojection_error": 0.7321130037307739,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.31808289885520935,
            0.1268392652273178,
            0.5237609148025513,
            0.9963535666465759,
            0.29215744137763977,
            0.9010842442512512,
            0.2546462416648865,
            0.17074087262153625,
            0.3809798061847687
        ],
        "kf_translation_vector": [
            -0.010607628836786441,
            0.010367206269572849,
            1.0558394654474117
        ],
        "kf_rotation_matrix": [
            [
                0.9900789112962926,
                0.038549343396277996,
                0.1351210476945168
            ],
            [
                -0.028828273845404918,
                0.9969022797660345,
                -0.07317632967276512
            ],
            [
                -0.13752337995207356,
                0.06855503424985432,
                0.9881232348475361
            ]
        ],
        "kf_euler_angles": [
            0.0692680356136941,
            0.13796060060685184,
            -0.029108923246905175
        ]
    },
    {
        "frame": 95,
        "object_rotation_in_cam": [
            [
                0.9898146791362441,
                0.0401252127353818,
                0.13659014704346154
            ],
            [
                -0.028123727061473803,
                0.9956623534239633,
                -0.08868784556198561
            ],
            [
                -0.13955628593003547,
                0.08394310738348468,
                0.9866496834136314
            ]
        ],
        "object_translation_in_cam": [
            -0.010699489427566856,
            0.010249421134362672,
            1.0568002434823012
        ],
        "raw_rvec": [
            0.08671870787979524,
            0.13871823936835018,
            -0.034283885782746874
        ],
        "refined_raw_rvec": [
            0.08671870787979524,
            0.13871823936835018,
            -0.034283885782746874
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4746308326721191,
            2.089217185974121,
            0.2489507496356964,
            1.6240532398223877,
            1.2355138063430786,
            0.8993428945541382,
            2.0514068603515625,
            0.9045011401176453,
            0.5783613324165344,
            2.7490646839141846
        ],
        "mean_reprojection_error": 1.3855042457580566,
        "std_reprojection_error": 0.727752149105072,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33939075469970703,
            0.36925432085990906,
            0.49801769852638245,
            0.9975355267524719,
            0.12645353376865387,
            0.39194250106811523,
            0.9574605822563171,
            0.26396656036376953,
            0.2866329252719879,
            0.5632143020629883
        ],
        "kf_translation_vector": [
            -0.010644934765494118,
            0.010272792048134851,
            1.0564472314335442
        ],
        "kf_rotation_matrix": [
            [
                0.9899288823713928,
                0.039357555366023936,
                0.1359845236875713
            ],
            [
                -0.02824555858790696,
                0.9961741519475823,
                -0.08269974251212775
            ],
            [
                -0.13871912725713925,
                0.07802590484656667,
                0.987253241020708
            ]
        ],
        "kf_euler_angles": [
            0.07886938315210044,
            0.13916791974835388,
            -0.02852517758826457
        ]
    },
    {
        "frame": 96,
        "object_rotation_in_cam": [
            [
                0.989436126625093,
                0.045442047456733484,
                0.13766325454555028
            ],
            [
                -0.03338095173226195,
                0.995499851010481,
                -0.08868911263260247
            ],
            [
                -0.14107396425485952,
                0.08315688162172767,
                0.9865004154324358
            ]
        ],
        "object_translation_in_cam": [
            -0.010588241552923663,
            0.011268599289977343,
            1.0559675419353318
        ],
        "raw_rvec": [
            0.08633439340152173,
            0.14003590137774913,
            -0.03960020046204298
        ],
        "refined_raw_rvec": [
            0.08633439340152173,
            0.14003590137774913,
            -0.03960020046204298
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.6930992007255554,
            2.7809081077575684,
            1.1929906606674194,
            1.649728536605835,
            1.3316857814788818,
            0.5412269830703735,
            1.930894374847412,
            0.7361254692077637,
            3.4525234699249268,
            3.157698392868042
        ],
        "mean_reprojection_error": 1.7466881275177002,
        "std_reprojection_error": 1.0038425922393799,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                392
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.24247924983501434,
            0.2964591383934021,
            0.5307340621948242,
            0.9979451894760132,
            0.15883909165859222,
            0.3423737585544586,
            0.11375129222869873,
            0.9434364438056946,
            0.2580960690975189,
            0.1427428275346756,
            0.593346118927002
        ],
        "kf_translation_vector": [
            -0.010618575939606715,
            0.010673310052350005,
            1.0564418857506084
        ],
        "kf_rotation_matrix": [
            [
                0.9896740552590322,
                0.042252127868087505,
                0.13696722979516207
            ],
            [
                -0.030256906090438594,
                0.9956159954992949,
                -0.08850598363829618
            ],
            [
                -0.14010633098106715,
                0.0834478711326224,
                0.9866137384115715
            ]
        ],
        "kf_euler_angles": [
            0.08437925415469273,
            0.14056880412265108,
            -0.030563077140393184
        ]
    },
    {
        "frame": 97,
        "object_rotation_in_cam": [
            [
                0.990393766740914,
                0.039548274661338624,
                0.13249951234648194
            ],
            [
                -0.027346256612280913,
                0.9953206336442707,
                -0.09267695771475598
            ],
            [
                -0.1355447123647377,
                0.0881633155755766,
                0.9868408487373644
            ]
        ],
        "object_translation_in_cam": [
            -0.010553872282078037,
            0.010046375324148406,
            1.0571427896478147
        ],
        "raw_rvec": [
            0.09083601329037941,
            0.13463853109305932,
            -0.033601102349965536
        ],
        "refined_raw_rvec": [
            0.09083601329037941,
            0.13463853109305932,
            -0.033601102349965536
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.683921217918396,
            1.8375113010406494,
            0.5160590410232544,
            1.5498666763305664,
            0.5499374866485596,
            2.10144305229187,
            0.32323822379112244,
            2.627084732055664
        ],
        "mean_reprojection_error": 1.3986327648162842,
        "std_reprojection_error": 0.7870519161224365,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.32353371381759644,
            0.35009464621543884,
            0.5583849549293518,
            0.9939725995063782,
            0.2874646782875061,
            0.9576584696769714,
            0.14823119342327118,
            0.47772541642189026
        ],
        "kf_translation_vector": [
            -0.010586984515023311,
            0.010379403596057598,
            1.0569527372982677
        ],
        "kf_rotation_matrix": [
            [
                0.9899480058366451,
                0.04142362111797322,
                0.1352295431979425
            ],
            [
                -0.02883208129900112,
                0.9951755898051396,
                -0.0937776974763189
            ],
            [
                -0.13846175222066703,
                0.08893609542512423,
                0.9863664197966776
            ]
        ],
        "kf_euler_angles": [
            0.0899222152735688,
            0.1389080367837609,
            -0.02911661313710529
        ]
    },
    {
        "frame": 98,
        "object_rotation_in_cam": [
            [
                0.9908180311481948,
                0.037593142474476975,
                0.12987064637749557
            ],
            [
                -0.02803959330064413,
                0.9968175126703643,
                -0.07462323794370358
            ],
            [
                -0.13226265670683202,
                0.0702965295911669,
                0.9887188617439686
            ]
        ],
        "object_translation_in_cam": [
            -0.010888973800807234,
            0.01149805257362346,
            1.0582613386313904
        ],
        "raw_rvec": [
            0.07274680059510724,
            0.13158563150623281,
            -0.03294630969370858
        ],
        "refined_raw_rvec": [
            0.07274680059510724,
            0.13158563150623281,
            -0.03294630969370858
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.48421281576156616,
            2.98555850982666,
            0.9529871940612793,
            1.3767797946929932,
            1.338281512260437,
            0.9628713726997375,
            3.7610316276550293,
            1.4067914485931396
        ],
        "mean_reprojection_error": 1.6585643291473389,
        "std_reprojection_error": 1.0480687618255615,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.277108758687973,
            0.17884092032909393,
            0.3690952658653259,
            0.9965850114822388,
            0.1999492347240448,
            0.1837642341852188,
            0.958807647228241,
            0.24436238408088684,
            0.10754599422216415,
            0.5456725358963013
        ],
        "kf_translation_vector": [
            -0.010717341806013825,
            0.010844283756862359,
            1.0577620337534468
        ],
        "kf_rotation_matrix": [
            [
                0.9903171289776374,
                0.03996684801053548,
                0.13294598569942687
            ],
            [
                -0.02825389237818772,
                0.9956440826663493,
                -0.08885143902585634
            ],
            [
                -0.13591799593494325,
                0.08423486042955397,
                0.9871326084520976
            ]
        ],
        "kf_euler_angles": [
            0.08512664938397616,
            0.13633999836110375,
            -0.028522408994381604
        ]
    },
    {
        "frame": 99,
        "object_rotation_in_cam": [
            [
                0.9908180311481948,
                0.037593142474476975,
                0.12987064637749557
            ],
            [
                -0.02803959330064413,
                0.9968175126703643,
                -0.07462323794370358
            ],
            [
                -0.13226265670683202,
                0.0702965295911669,
                0.9887188617439686
            ]
        ],
        "object_translation_in_cam": [
            -0.010888973800807234,
            0.01149805257362346,
            1.0582613386313904
        ],
        "raw_rvec": [
            0.07274680059510724,
            0.13158563150623281,
            -0.03294630969370858
        ],
        "refined_raw_rvec": [
            0.07274680059510724,
            0.13158563150623281,
            -0.03294630969370858
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.48421281576156616,
            2.98555850982666,
            0.9529871940612793,
            1.3767797946929932,
            1.338281512260437,
            0.9628713726997375,
            3.7610316276550293,
            1.4067914485931396
        ],
        "mean_reprojection_error": 1.6585643291473389,
        "std_reprojection_error": 1.0480687618255615,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.20666052401065826,
            0.16591475903987885,
            0.4100395143032074,
            0.9970112442970276,
            0.2296736240386963,
            0.177819162607193,
            0.9743170142173767,
            0.24951045215129852,
            0.11149228364229202,
            0.4840286672115326
        ],
        "kf_translation_vector": [
            -0.010799858581717066,
            0.01113865606966267,
            1.0582572681141253
        ],
        "kf_rotation_matrix": [
            [
                0.9905499126397513,
                0.03904707168956726,
                0.13147698187078438
            ],
            [
                -0.0279038212604731,
                0.9959426267640408,
                -0.08555501711417136
            ],
            [
                -0.13428420357005638,
                0.08107780452634605,
                0.9876204444444957
            ]
        ],
        "kf_euler_angles": [
            0.08191041234237878,
            0.13469108829427953,
            -0.028162582607200056
        ]
    },
    {
        "frame": 100,
        "object_rotation_in_cam": [
            [
                0.9899764924845417,
                0.039604429091756835,
                0.13556560597850878
            ],
            [
                -0.0275217540967226,
                0.9955732109193957,
                -0.0898695429557979
            ],
            [
                -0.1385247175757591,
                0.08523773164485594,
                0.9866840587161605
            ]
        ],
        "object_translation_in_cam": [
            -0.010542449111961349,
            0.010033065063911982,
            1.0578082050659319
        ],
        "raw_rvec": [
            0.0879610733142913,
            0.13768290951862466,
            -0.03371927942009293
        ],
        "refined_raw_rvec": [
            0.0879610733142913,
            0.13768290951862466,
            -0.03371927942009293
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7146283388137817,
            1.8255494832992554,
            0.5831778049468994,
            1.6015517711639404,
            1.2353218793869019,
            0.5840859413146973,
            2.0219674110412598,
            0.5219044089317322,
            2.6956441402435303
        ],
        "mean_reprojection_error": 1.4204257726669312,
        "std_reprojection_error": 0.7081724405288696,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2807185649871826,
            0.17646002769470215,
            0.3416288197040558,
            0.9953292608261108,
            0.1909303069114685,
            0.1789013147354126,
            0.9618131518363953,
            0.2783435583114624,
            0.5155408382415771
        ],
        "kf_translation_vector": [
            -0.01069673368334629,
            0.010668655639123338,
            1.0583491002812768
        ],
        "kf_rotation_matrix": [
            [
                0.9903228924425336,
                0.03937149327805603,
                0.13308063052642174
            ],
            [
                -0.027468262497840495,
                0.9955515873965209,
                -0.09012508744859529
            ],
            [
                -0.13603699224697566,
                0.0855974435910513,
                0.9869989941185721
            ]
        ],
        "kf_euler_angles": [
            0.08650850542676754,
            0.1364601102815699,
            -0.027729563729139185
        ]
    },
    {
        "frame": 101,
        "object_rotation_in_cam": [
            [
                0.9952908814139094,
                0.018876068190463873,
                -0.09507762840959134
            ],
            [
                -0.029638140924713816,
                0.9931430762096597,
                -0.11308585578816172
            ],
            [
                0.09229107203218619,
                0.11537124523243678,
                0.9890256992599671
            ]
        ],
        "object_translation_in_cam": [
            -0.011978490338928048,
            0.009659001493980447,
            1.0198611766220254
        ],
        "raw_rvec": [
            0.1146596195471009,
            -0.09403789075373013,
            -0.024348644602967377
        ],
        "refined_raw_rvec": [
            0.1146596195471009,
            -0.09403789075373013,
            -0.024348644602967377
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            3.265204668045044,
            2.8688721656799316,
            2.3201346397399902,
            0.9987524151802063,
            0.6437691450119019,
            0.8050243854522705,
            1.7574961185455322,
            2.397822618484497
        ],
        "mean_reprojection_error": 1.8821344375610352,
        "std_reprojection_error": 0.9242514967918396,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                356
            ],
            [
                594,
                392
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.34582027792930603,
            0.26381194591522217,
            0.4945414066314697,
            0.9962418675422668,
            0.264263391494751,
            0.11265645176172256,
            0.9635661840438843,
            0.17998656630516052,
            0.4519405961036682
        ],
        "kf_translation_vector": [
            -0.011273219873384095,
            0.010203809743195305,
            1.0414243604503433
        ],
        "kf_rotation_matrix": [
            [
                0.999016008223266,
                0.03169923221341804,
                0.03101892955488863
            ],
            [
                -0.028337569103697505,
                0.9942376801500288,
                -0.10338480327002696
            ],
            [
                -0.03411740744758476,
                0.1024040724139856,
                0.9941576376320239
            ]
        ],
        "kf_euler_angles": [
            0.10264386719675113,
            0.034124029679666955,
            -0.028357876547357382
        ]
    },
    {
        "frame": 102,
        "object_rotation_in_cam": [
            [
                0.990393766740914,
                0.039548274661338624,
                0.13249951234648194
            ],
            [
                -0.027346256612280913,
                0.9953206336442707,
                -0.09267695771475598
            ],
            [
                -0.1355447123647377,
                0.0881633155755766,
                0.9868408487373644
            ]
        ],
        "object_translation_in_cam": [
            -0.010553872282078037,
            0.010046375324148406,
            1.0571427896478147
        ],
        "raw_rvec": [
            0.09083601329037941,
            0.13463853109305932,
            -0.033601102349965536
        ],
        "refined_raw_rvec": [
            0.09083601329037941,
            0.13463853109305932,
            -0.033601102349965536
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.683921217918396,
            1.8375113010406494,
            0.5160590410232544,
            1.5498666763305664,
            0.5499374866485596,
            2.10144305229187,
            0.32323822379112244,
            2.627084732055664
        ],
        "mean_reprojection_error": 1.3986327648162842,
        "std_reprojection_error": 0.7870519161224365,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4329245090484619,
            0.21429523825645447,
            0.49085476994514465,
            0.9941418766975403,
            0.31791889667510986,
            0.9235472083091736,
            0.11565704643726349,
            0.45614364743232727
        ],
        "kf_translation_vector": [
            -0.010999139763013022,
            0.010084997158995856,
            1.0474201216938352
        ],
        "kf_rotation_matrix": [
            [
                0.9970381480641656,
                0.03485843709881096,
                0.06855523807709557
            ],
            [
                -0.027728923570773084,
                0.994364068701569,
                -0.10232890927234317
            ],
            [
                -0.07173589131240539,
                0.10012486323730713,
                0.9923854964978708
            ]
        ],
        "kf_euler_angles": [
            0.10055284556790052,
            0.0717975601653665,
            -0.02780412945437815
        ]
    },
    {
        "frame": 103,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.27450960874557495,
            0.18998080492019653,
            0.4190078675746918,
            0.9943763613700867,
            0.12854257225990295,
            0.2627570331096649,
            0.9392920732498169,
            0.26168712973594666,
            0.48940378427505493
        ],
        "kf_translation_vector": [
            -0.010828977361587005,
            0.010106678530361613,
            1.051866517171978
        ],
        "kf_rotation_matrix": [
            [
                0.9949498165752906,
                0.03752650767324025,
                0.09309470295696626
            ],
            [
                -0.02808606561216002,
                0.9945182249844835,
                -0.10072076792867259
            ],
            [
                -0.09636407741074983,
                0.0975974456405613,
                0.9905496974858014
            ]
        ],
        "kf_euler_angles": [
            0.09821158029402088,
            0.09651384413054719,
            -0.028221130887731854
        ]
    },
    {
        "frame": 104,
        "object_rotation_in_cam": [
            [
                0.990639431750361,
                0.039466521951907724,
                0.13067482506719316
            ],
            [
                -0.02738606982532012,
                0.9952907058307144,
                -0.09298609609248573
            ],
            [
                -0.13372927667808812,
                0.08853702351004289,
                0.987055052176492
            ]
        ],
        "object_translation_in_cam": [
            -0.010802814814305008,
            0.010030066828661826,
            1.0572951136934328
        ],
        "raw_rvec": [
            0.09117243163859037,
            0.13280052119046298,
            -0.03357761461470051
        ],
        "refined_raw_rvec": [
            0.09117243163859037,
            0.13280052119046298,
            -0.03357761461470051
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6146559715270996,
            1.4166033267974854,
            0.4035654366016388,
            1.2283494472503662,
            0.309957891702652,
            2.0749316215515137,
            0.19935761392116547,
            2.617238759994507
        ],
        "mean_reprojection_error": 1.2330825328826904,
        "std_reprojection_error": 0.8225526809692383,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.32628753781318665,
            0.2103649079799652,
            0.35337942838668823,
            0.9949728846549988,
            0.30842459201812744,
            0.8945591449737549,
            0.20230107009410858,
            0.35233795642852783
        ],
        "kf_translation_vector": [
            -0.010826558866865328,
            0.010022727656865156,
            1.054158107291276
        ],
        "kf_rotation_matrix": [
            [
                0.9934615490056307,
                0.0384056016071049,
                0.10751353595026607
            ],
            [
                -0.027589975612659176,
                0.9945709672466182,
                -0.10033635610195869
            ],
            [
                -0.11078331956132062,
                0.09671401591973386,
                0.9891276233285833
            ]
        ],
        "kf_euler_angles": [
            0.09746726581928963,
            0.11101118653182573,
            -0.027764422197149558
        ]
    },
    {
        "frame": 105,
        "object_rotation_in_cam": [
            [
                0.9901797993337242,
                0.04050469476203783,
                0.13380334335755478
            ],
            [
                -0.02854239113590522,
                0.9955199538099461,
                -0.09014074258895238
            ],
            [
                -0.13685502146311823,
                0.0854364750471186,
                0.9868998489369895
            ]
        ],
        "object_translation_in_cam": [
            -0.010755043541478614,
            0.010229451184750566,
            1.0576816334941739
        ],
        "raw_rvec": [
            0.08819172593555032,
            0.13595060141518678,
            -0.03468207184363524
        ],
        "refined_raw_rvec": [
            0.08819172593555032,
            0.13595060141518678,
            -0.03468207184363524
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4735461473464966,
            2.0869929790496826,
            0.2248193323612213,
            1.2022136449813843,
            1.1539603471755981,
            0.8788706064224243,
            2.0098350048065186,
            0.899849534034729,
            0.5422082543373108,
            2.7613365650177
        ],
        "mean_reprojection_error": 1.3233633041381836,
        "std_reprojection_error": 0.7336218357086182,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3210242986679077,
            0.19275608658790588,
            0.3742334842681885,
            0.9947357177734375,
            0.10660995543003082,
            0.32412397861480713,
            0.9176986217498779,
            0.23607757687568665,
            0.2753989100456238,
            0.3958691358566284
        ],
        "kf_translation_vector": [
            -0.010803161655816754,
            0.010062091029875753,
            1.0557827190984292
        ],
        "kf_rotation_matrix": [
            [
                0.9922149911069338,
                0.03944768456224367,
                0.11812405176484955
            ],
            [
                -0.02780740200230985,
                0.9947367819204183,
                -0.09861786394204688
            ],
            [
                -0.12139258550895549,
                0.09456540000067602,
                0.9880896848495905
            ]
        ],
        "kf_euler_angles": [
            0.09541467129126029,
            0.12169272352024527,
            -0.028018247451168987
        ]
    },
    {
        "frame": 106,
        "object_rotation_in_cam": [
            [
                0.9902468312883906,
                0.04391777174781404,
                0.13222118759112883
            ],
            [
                -0.031666469976422584,
                0.9951273013235725,
                -0.09337499044013844
            ],
            [
                -0.13567773510246217,
                0.08827731013782944,
                0.9868123776647187
            ]
        ],
        "object_translation_in_cam": [
            -0.010840839467968103,
            0.010914429526871472,
            1.0556226452795652
        ],
        "raw_rvec": [
            0.09124953844161846,
            0.13457386978869867,
            -0.037968289687781875
        ],
        "refined_raw_rvec": [
            0.09124953844161846,
            0.13457386978869867,
            -0.037968289687781875
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8177854418754578,
            2.2335052490234375,
            0.7785555124282837,
            1.1251236200332642,
            0.11902051419019699,
            1.9815889596939087,
            2.317814826965332,
            0.38943278789520264,
            3.0045270919799805
        ],
        "mean_reprojection_error": 1.4185948371887207,
        "std_reprojection_error": 0.9374691247940063,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3481370508670807,
            0.2543672025203705,
            0.3945205807685852,
            0.995711088180542,
            0.3249582052230835,
            0.9597805738449097,
            0.13211117684841156,
            0.3153240382671356,
            0.5876174569129944
        ],
        "kf_translation_vector": [
            -0.01082630487077658,
            0.01039642396485282,
            1.0558826081665498
        ],
        "kf_rotation_matrix": [
            [
                0.9913905804536699,
                0.04158992862102544,
                0.12415713763224977
            ],
            [
                -0.029355320808728894,
                0.9946749146841424,
                -0.09879311331419223
            ],
            [
                -0.12760478881277149,
                0.09429788934749403,
                0.9873322267284989
            ]
        ],
        "kf_euler_angles": [
            0.0952189403407072,
            0.12795364887344726,
            -0.029601598644398982
        ]
    },
    {
        "frame": 107,
        "object_rotation_in_cam": [
            [
                0.9904978143575387,
                0.040585935837052216,
                0.13140343056849588
            ],
            [
                -0.02846024720233773,
                0.9952708758573573,
                -0.09287571264496838
            ],
            [
                -0.13455145514679753,
                0.08825341626452538,
                0.9869687129972863
            ]
        ],
        "object_translation_in_cam": [
            -0.010769374885968259,
            0.010274781262160419,
            1.0570961647222985
        ],
        "raw_rvec": [
            0.09097832557780372,
            0.13358497513508066,
            -0.03468081670950385
        ],
        "refined_raw_rvec": [
            0.09097832557780372,
            0.13358497513508066,
            -0.03468081670950385
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4042205810546875,
            1.6265802383422852,
            0.13228051364421844,
            1.2336431741714478,
            0.7979424595832825,
            2.0825507640838623,
            0.20458096265792847,
            2.676034688949585
        ],
        "mean_reprojection_error": 1.2697291374206543,
        "std_reprojection_error": 0.8243194222450256,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.41244933009147644,
            0.27402395009994507,
            0.42136937379837036,
            0.9960889220237732,
            0.33587002754211426,
            0.8701450824737549,
            0.2603738605976105,
            0.45281657576560974
        ],
        "kf_translation_vector": [
            -0.010808568281449696,
            0.010323880993925776,
            1.056594226814822
        ],
        "kf_rotation_matrix": [
            [
                0.9909578962174671,
                0.04143846039080015,
                0.12761387826052442
            ],
            [
                -0.02890660083816366,
                0.9947138504040516,
                -0.0985330616713458
            ],
            [
                -0.13102235058277248,
                0.09395323206141579,
                0.9869173895686401
            ]
        ],
        "kf_euler_angles": [
            0.09491264455619436,
            0.13140015010074502,
            -0.029162092718197974
        ]
    },
    {
        "frame": 108,
        "object_rotation_in_cam": [
            [
                0.9901378547331375,
                0.04064441241468422,
                0.13407110189718496
            ],
            [
                -0.028665723351505246,
                0.9955204233915071,
                -0.09009640900240916
            ],
            [
                -0.13713243572982747,
                0.08536462001238858,
                0.9868675578419555
            ]
        ],
        "object_translation_in_cam": [
            -0.010757009266838452,
            0.010264456179806696,
            1.0576809350447707
        ],
        "raw_rvec": [
            0.08813445539378552,
            0.13622612510501647,
            -0.03481463150718936
        ],
        "refined_raw_rvec": [
            0.08813445539378552,
            0.13622612510501647,
            -0.03481463150718936
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.44003164768219,
            1.5772616863250732,
            0.19607369601726532,
            1.212457537651062,
            1.1440201997756958,
            0.8400605320930481,
            2.0172927379608154,
            0.5532322525978088,
            2.765092134475708
        ],
        "mean_reprojection_error": 1.3050580024719238,
        "std_reprojection_error": 0.728553295135498,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2125927060842514,
            0.20785270631313324,
            0.2693217098712921,
            0.9965723156929016,
            0.1967267394065857,
            0.18221668899059296,
            0.8002806901931763,
            0.3314796984195709,
            0.4825781285762787
        ],
        "kf_translation_vector": [
            -0.010791424617679422,
            0.010274838418376153,
            1.0572934373735172
        ],
        "kf_rotation_matrix": [
            [
                0.9905230987490583,
                0.041361140596871356,
                0.1309704046458173
            ],
            [
                -0.02872112888879807,
                0.9948728625658304,
                -0.09696950080011392
            ],
            [
                -0.13430967053759135,
                0.09228891254422757,
                0.9866324893401227
            ]
        ],
        "kf_euler_angles": [
            0.0932679129277032,
            0.1347167880726423,
            -0.028987798223466626
        ]
    },
    {
        "frame": 109,
        "object_rotation_in_cam": [
            [
                0.9904880401459707,
                0.040043899727082055,
                0.13164318600839686
            ],
            [
                -0.02800389503804283,
                0.9953585874498895,
                -0.09207097399538616
            ],
            [
                -0.13471905652316696,
                0.08750867662356798,
                0.9870121616905738
            ]
        ],
        "object_translation_in_cam": [
            -0.010925898946261527,
            0.01023452205785175,
            1.0564725039870504
        ],
        "raw_rvec": [
            0.09019821041347142,
            0.1337868601217241,
            -0.03417864601719872
        ],
        "refined_raw_rvec": [
            0.09019821041347142,
            0.1337868601217241,
            -0.03417864601719872
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4021357297897339,
            1.644133448600769,
            0.18019385635852814,
            1.2434494495391846,
            0.8160990476608276,
            2.100196361541748,
            0.7574905157089233,
            0.16933220624923706,
            2.66801381111145
        ],
        "mean_reprojection_error": 1.2201160192489624,
        "std_reprojection_error": 0.7921316623687744,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                365
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2941496670246124,
            0.2981402575969696,
            0.4509890377521515,
            0.994581937789917,
            0.10798995196819305,
            0.31187015771865845,
            0.8337326645851135,
            0.32549357414245605,
            0.1592276394367218,
            0.4507092237472534
        ],
        "kf_translation_vector": [
            -0.010855786005757402,
            0.010232114476894483,
            1.0571801657137105
        ],
        "kf_rotation_matrix": [
            [
                0.9904046381495267,
                0.04101652143247734,
                0.1319708214018698
            ],
            [
                -0.028315305504057822,
                0.9949088754967189,
                -0.09671904120733585
            ],
            [
                -0.13526602014592196,
                0.09205419288350522,
                0.9865237601631547
            ]
        ],
        "kf_euler_angles": [
            0.09304226582350028,
            0.13568194528076358,
            -0.028581847790453918
        ]
    },
    {
        "frame": 110,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.1671609729528427,
            0.15998074412345886,
            0.36956921219825745,
            0.9966965913772583,
            0.12418172508478165,
            0.1940351128578186,
            0.9060149788856506,
            0.2487182319164276,
            0.30796197056770325
        ],
        "kf_translation_vector": [
            -0.010734944780328897,
            0.010216414816525353,
            1.0580002433292288
        ],
        "kf_rotation_matrix": [
            [
                0.9902014680491802,
                0.04125443303701194,
                0.1334133592562716
            ],
            [
                -0.028514681493142985,
                0.9949699562508889,
                -0.09602967821173247
            ],
            [
                -0.1367039341518484,
                0.09128448889542502,
                0.9863970683626894
            ]
        ],
        "kf_euler_angles": [
            0.09228051026318948,
            0.13713334158647433,
            -0.028788892279635988
        ]
    },
    {
        "frame": 111,
        "object_rotation_in_cam": [
            [
                0.9901378547331375,
                0.04064441241468422,
                0.13407110189718496
            ],
            [
                -0.028665723351505246,
                0.9955204233915071,
                -0.09009640900240916
            ],
            [
                -0.13713243572982747,
                0.08536462001238858,
                0.9868675578419555
            ]
        ],
        "object_translation_in_cam": [
            -0.010757009266838452,
            0.010264456179806696,
            1.0576809350447707
        ],
        "raw_rvec": [
            0.08813445539378552,
            0.13622612510501647,
            -0.03481463150718936
        ],
        "refined_raw_rvec": [
            0.08813445539378552,
            0.13622612510501647,
            -0.03481463150718936
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.44003164768219,
            1.5772616863250732,
            0.19607369601726532,
            1.212457537651062,
            1.1440201997756958,
            0.8400605320930481,
            2.0172927379608154,
            0.5532322525978088,
            2.765092134475708
        ],
        "mean_reprojection_error": 1.3050580024719238,
        "std_reprojection_error": 0.728553295135498,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.14514128863811493,
            0.2084769457578659,
            0.339078426361084,
            0.9964360594749451,
            0.19619852304458618,
            0.17324256896972656,
            0.8843068480491638,
            0.23222129046916962,
            0.3677145838737488
        ],
        "kf_translation_vector": [
            -0.010743936633454942,
            0.01021222854156306,
            1.0581345529456974
        ],
        "kf_rotation_matrix": [
            [
                0.990056476014455,
                0.041193143340376916,
                0.1345039004771912
            ],
            [
                -0.02849740077700766,
                0.9950705859133184,
                -0.09498645797733497
            ],
            [
                -0.13775366583432036,
                0.0902089462961661,
                0.9863499751900143
            ]
        ],
        "kf_euler_angles": [
            0.09120361677836442,
            0.13819309928949708,
            -0.028775666217240085
        ]
    },
    {
        "frame": 112,
        "object_rotation_in_cam": [
            [
                0.9905731744557881,
                0.041023544253962645,
                0.13069757023535686
            ],
            [
                -0.0288233853766549,
                0.9951636130600974,
                -0.09390737828627514
            ],
            [
                -0.13391787970249422,
                0.08925498337917,
                0.9869648167173805
            ]
        ],
        "object_translation_in_cam": [
            -0.01057715199481251,
            0.010267687755598252,
            1.0578765794831255
        ],
        "raw_rvec": [
            0.09200013899166085,
            0.1329129956190992,
            -0.035083229849890415
        ],
        "refined_raw_rvec": [
            0.09200013899166085,
            0.1329129956190992,
            -0.035083229849890415
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4815189838409424,
            1.9918506145477295,
            0.3512059152126312,
            1.2086690664291382,
            0.893867015838623,
            2.0497326850891113,
            0.29888254404067993,
            2.6815648078918457
        ],
        "mean_reprojection_error": 1.3696614503860474,
        "std_reprojection_error": 0.7920966148376465,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3379034399986267,
            0.22031204402446747,
            0.5099093914031982,
            0.9971820712089539,
            0.2545260787010193,
            0.7448070049285889,
            0.24852652847766876,
            0.24566763639450073
        ],
        "kf_translation_vector": [
            -0.010669257031749129,
            0.010212839454822221,
            1.0582885153898094
        ],
        "kf_rotation_matrix": [
            [
                0.9901697956853361,
                0.04130863044330716,
                0.133631481183731
            ],
            [
                -0.02856441789969206,
                0.9949793411533276,
                -0.09591759331916981
            ],
            [
                -0.136922787520965,
                0.09115759830638462,
                0.9863784479237674
            ]
        ],
        "kf_euler_angles": [
            0.09215469043102145,
            0.13735427240333736,
            -0.028840001120391468
        ]
    },
    {
        "frame": 113,
        "object_rotation_in_cam": [
            [
                0.9901797993337242,
                0.04050469476203783,
                0.13380334335755478
            ],
            [
                -0.02854239113590522,
                0.9955199538099461,
                -0.09014074258895238
            ],
            [
                -0.13685502146311823,
                0.0854364750471186,
                0.9868998489369895
            ]
        ],
        "object_translation_in_cam": [
            -0.010755043541478614,
            0.010229451184750566,
            1.0576816334941739
        ],
        "raw_rvec": [
            0.08819172593555032,
            0.13595060141518678,
            -0.03468207184363524
        ],
        "refined_raw_rvec": [
            0.08819172593555032,
            0.13595060141518678,
            -0.03468207184363524
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4735461473464966,
            2.0869929790496826,
            0.2248193323612213,
            1.2022136449813843,
            1.1539603471755981,
            0.8788706064224243,
            2.0098350048065186,
            0.899849534034729,
            0.5422082543373108,
            2.7613365650177
        ],
        "mean_reprojection_error": 1.3233633041381836,
        "std_reprojection_error": 0.7336218357086182,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2757340371608734,
            0.24833530187606812,
            0.4393026530742645,
            0.9961239695549011,
            0.1164061650633812,
            0.2463683784008026,
            0.9015374779701233,
            0.221602663397789,
            0.22777141630649567,
            0.3881106972694397
        ],
        "kf_translation_vector": [
            -0.010701788382883605,
            0.010197863027204133,
            1.0582804293888302
        ],
        "kf_rotation_matrix": [
            [
                0.9900704859602987,
                0.04113825533747914,
                0.13441754639230105
            ],
            [
                -0.02848801902177657,
                0.995096703177769,
                -0.09471527911034239
            ],
            [
                -0.13765487860062547,
                0.0899455127981576,
                0.9863878238932815
            ]
        ],
        "kf_euler_angles": [
            0.09093527646442276,
            0.13809336189636684,
            -0.028765791248893082
        ]
    },
    {
        "frame": 114,
        "object_rotation_in_cam": [
            [
                0.9921698095744231,
                0.046623075920424695,
                0.11586784610396117
            ],
            [
                -0.03426346542183177,
                0.9937263589093577,
                -0.10646097193825213
            ],
            [
                -0.12010447080079847,
                0.10165732831659843,
                0.9875427604378413
            ]
        ],
        "object_translation_in_cam": [
            -0.01090788045184099,
            0.010112407951772026,
            1.0624575382768902
        ],
        "raw_rvec": [
            0.10452226497667405,
            0.11851125539885886,
            -0.04062326329241191
        ],
        "refined_raw_rvec": [
            0.10452226497667405,
            0.11851125539885886,
            -0.04062326329241191
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.498042106628418,
            1.9586738348007202,
            0.349771112203598,
            1.9915897846221924,
            0.6222308278083801,
            1.914696455001831,
            1.0916781425476074,
            0.35229066014289856,
            2.821136951446533
        ],
        "mean_reprojection_error": 1.4000121355056763,
        "std_reprojection_error": 0.8067019581794739,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                863,
                256
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5252469778060913,
            0.34596455097198486,
            0.6011185646057129,
            0.998039186000824,
            0.28198185563087463,
            0.8500975966453552,
            0.2406489998102188,
            0.17391112446784973,
            0.41635942459106445
        ],
        "kf_translation_vector": [
            -0.010790957567171749,
            0.010137758319091595,
            1.060392439841343
        ],
        "kf_rotation_matrix": [
            [
                0.9909525686746266,
                0.04380286325654215,
                0.12686337457157615
            ],
            [
                -0.03100150795256599,
                0.9943851093638073,
                -0.10117885540070068
            ],
            [
                -0.13058297416518874,
                0.09633049073921289,
                0.9867464331894572
            ]
        ],
        "kf_euler_angles": [
            0.09731598636699099,
            0.1309569660298259,
            -0.031274352478502264
        ]
    },
    {
        "frame": 115,
        "object_rotation_in_cam": [
            [
                0.9902527017839928,
                0.039178673198076205,
                0.13365858811143022
            ],
            [
                -0.027612599315889247,
                0.9957978654924475,
                -0.0873164099107691
            ],
            [
                -0.13651787783481972,
                0.0827746497855693,
                0.9871733517393759
            ]
        ],
        "object_translation_in_cam": [
            -0.010782124734369647,
            0.010296470103727213,
            1.0577078417074763
        ],
        "raw_rvec": [
            0.08542710504940147,
            0.13569433560747693,
            -0.033545473016748796
        ],
        "refined_raw_rvec": [
            0.08542710504940147,
            0.13569433560747693,
            -0.033545473016748796
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.4168586730957031,
            2.139169454574585,
            0.236292764544487,
            1.4456143379211426,
            1.1964515447616577,
            0.8767601847648621,
            1.273497462272644,
            0.8801708817481995,
            0.5897642970085144,
            2.4366517066955566
        ],
        "mean_reprojection_error": 1.249123215675354,
        "std_reprojection_error": 0.6330780386924744,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                391
            ],
            [
                829,
                308
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4051456153392792,
            0.2400805652141571,
            0.5485070943832397,
            0.9946103692054749,
            0.1392538994550705,
            0.25910577178001404,
            0.21377383172512054,
            0.7901158928871155,
            0.2790883779525757,
            0.2870584726333618,
            0.4043174684047699
        ],
        "kf_translation_vector": [
            -0.010791065376801379,
            0.010183833494539902,
            1.0595817022268432
        ],
        "kf_rotation_matrix": [
            [
                0.990617969393183,
                0.042111679972254186,
                0.1300101731605686
            ],
            [
                -0.0296182650187324,
                0.9948848176572568,
                -0.09657617704365276
            ],
            [
                -0.13341213247904674,
                0.09181942063093883,
                0.9867980527455412
            ]
        ],
        "kf_euler_angles": [
            0.09278068668445216,
            0.13381109889754014,
            -0.029889871822483063
        ]
    },
    {
        "frame": 116,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4266124665737152,
            0.24110999703407288,
            0.5694711208343506,
            0.9963864088058472,
            0.15244144201278687,
            0.33906441926956177,
            0.8993324637413025,
            0.31636959314346313,
            0.3689042031764984
        ],
        "kf_translation_vector": [
            -0.01069406843424795,
            0.010196475990101766,
            1.0594001997241584
        ],
        "kf_rotation_matrix": [
            [
                0.9903753577085384,
                0.04185999737789826,
                0.13192570433091116
            ],
            [
                -0.02936412613535625,
                0.9950172970529307,
                -0.09528025326260686
            ],
            [
                -0.13525678888688555,
                0.09048933188504582,
                0.9866697937380097
            ]
        ],
        "kf_euler_angles": [
            0.0914560283698485,
            0.13567262839909727,
            -0.02964080825465652
        ]
    },
    {
        "frame": 117,
        "object_rotation_in_cam": [
            [
                0.9909420078110531,
                0.023838282667768915,
                0.1321577596467577
            ],
            [
                -0.04150323558882972,
                0.9903043449265864,
                0.13256992817069296
            ],
            [
                -0.12771616417296883,
                -0.13685408543034489,
                0.9823235417671548
            ]
        ],
        "object_translation_in_cam": [
            -0.010667189898776581,
            0.012602398824114344,
            1.0442998797676226
        ],
        "raw_rvec": [
            -0.13553594191855733,
            0.13073169156011105,
            -0.032870582339445155
        ],
        "refined_raw_rvec": [
            -0.13553594191855733,
            0.13073169156011105,
            -0.032870582339445155
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0156493186950684,
            1.214657187461853,
            0.8262442350387573,
            1.0332080125808716,
            0.3212546110153198,
            1.877640962600708,
            2.0979275703430176
        ],
        "mean_reprojection_error": 1.340940237045288,
        "std_reprojection_error": 0.6246858835220337,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3867262899875641,
            0.2638968229293823,
            0.5277578234672546,
            0.9948077201843262,
            0.26487699151039124,
            0.7138749957084656,
            0.36997857689857483
        ],
        "kf_translation_vector": [
            -0.010678231756555141,
            0.011254874446991702,
            1.0529165080180845
        ],
        "kf_rotation_matrix": [
            [
                0.9905887596844214,
                0.033722310629926526,
                0.13265261004842113
            ],
            [
                -0.03478904701315938,
                0.9993782428985347,
                0.005731477030693145
            ],
            [
                -0.13237685369729832,
                -0.010292394610386894,
                0.9911460211383529
            ]
        ],
        "kf_euler_angles": [
            -0.010383964074460399,
            0.13276655516180896,
            -0.035105137725669665
        ]
    },
    {
        "frame": 118,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                837,
                366
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                594,
                391
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4359891712665558,
            0.3303260803222656,
            0.6157556176185608,
            0.9969757199287415,
            0.15425516664981842,
            0.12039541453123093,
            0.343318909406662,
            0.14018072187900543,
            0.8237283825874329,
            0.25896981358528137,
            0.48182255029678345
        ],
        "kf_translation_vector": [
            -0.010623068604732392,
            0.010873449489480477,
            1.0551650103930714
        ],
        "kf_rotation_matrix": [
            [
                0.9903708337985407,
                0.03645176783162647,
                0.13355478345283045
            ],
            [
                -0.03261991768509501,
                0.9989941128936296,
                -0.03076854520590243
            ],
            [
                -0.13454201028452362,
                0.02611572372765566,
                0.9905636862124413
            ]
        ],
        "kf_euler_angles": [
            0.026358401495150608,
            0.134951255930908,
            -0.032925171389505785
        ]
    },
    {
        "frame": 119,
        "object_rotation_in_cam": [
            [
                0.9903041516253449,
                0.03982053786293832,
                0.13308648330282166
            ],
            [
                -0.027877127895583734,
                0.9955125719894907,
                -0.09042999917705524
            ],
            [
                -0.1360902384960038,
                0.0858431347003081,
                0.9869703152632938
            ]
        ],
        "object_translation_in_cam": [
            -0.010765233060991527,
            0.010047980828044005,
            1.0579419289264917
        ],
        "raw_rvec": [
            0.08853849816824215,
            0.13520212732190642,
            -0.03400319449658853
        ],
        "refined_raw_rvec": [
            0.08853849816824215,
            0.13520212732190642,
            -0.03400319449658853
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6351860761642456,
            1.9709455966949463,
            0.41309472918510437,
            1.1868760585784912,
            1.122202754020691,
            1.0765752792358398,
            1.9849798679351807,
            1.3251546621322632,
            0.5424622893333435,
            2.73925518989563
        ],
        "mean_reprojection_error": 1.3996732234954834,
        "std_reprojection_error": 0.6677759885787964,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4824828505516052,
            0.2963354289531708,
            0.5449053645133972,
            0.9969571828842163,
            0.1166892871260643,
            0.36569759249687195,
            0.9559620022773743,
            0.3101348280906677,
            0.2857842445373535,
            0.4010498821735382
        ],
        "kf_translation_vector": [
            -0.010677933426756641,
            0.010536640364962166,
            1.0563431604197118
        ],
        "kf_rotation_matrix": [
            [
                0.9902851775611671,
                0.03770120581045495,
                0.13384276664461736
            ],
            [
                -0.030726302375396405,
                0.9980787887174435,
                -0.053801727246034665
            ],
            [
                -0.13561401640311183,
                0.04916655970025479,
                0.9895410491547371
            ]
        ],
        "kf_euler_angles": [
            0.049645398804305615,
            0.13603317795659456,
            -0.03101778001601544
        ]
    },
    {
        "frame": 120,
        "object_rotation_in_cam": [
            [
                0.9900489303246357,
                0.04320948285637271,
                0.13392556198997035
            ],
            [
                -0.03108616769008781,
                0.9953355757603004,
                -0.09132766176934064
            ],
            [
                -0.13724709738784385,
                0.08625562136577637,
                0.986774139325416
            ]
        ],
        "object_translation_in_cam": [
            -0.010839621729068206,
            0.010646245740706405,
            1.0566179892056966
        ],
        "raw_rvec": [
            0.0892059628043795,
            0.13621900518426872,
            -0.037321165157938936
        ],
        "refined_raw_rvec": [
            0.0892059628043795,
            0.13621900518426872,
            -0.037321165157938936
        ],
        "num_inliers": 11,
        "total_matches": 11,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.075907588005066,
            2.434385299682617,
            0.4410199522972107,
            1.0733325481414795,
            1.2182388305664062,
            0.32183802127838135,
            1.8491461277008057,
            2.7098543643951416,
            1.8112329244613647,
            0.5243101716041565,
            3.1061465740203857
        ],
        "mean_reprojection_error": 1.5059466361999512,
        "std_reprojection_error": 0.9064252376556396,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4289354979991913,
            0.24567845463752747,
            0.479281485080719,
            0.9970545172691345,
            0.20449063181877136,
            0.2446880042552948,
            0.9437348246574402,
            0.15308383107185364,
            0.32917362451553345,
            0.2884295582771301,
            0.2964898347854614
        ],
        "kf_translation_vector": [
            -0.010746283497101708,
            0.010590230152366393,
            1.0564948646475671
        ],
        "kf_rotation_matrix": [
            [
                0.9901181049621607,
                0.040025750566183085,
                0.1344026693103725
            ],
            [
                -0.030955739435389474,
                0.9971425695727584,
                -0.06890891191888758
            ],
            [
                -0.13677675395383504,
                0.06406742727354071,
                0.9885279380677117
            ]
        ],
        "kf_euler_angles": [
            0.06472042521840024,
            0.13720685187620046,
            -0.03125451294655076
        ]
    },
    {
        "frame": 121,
        "object_rotation_in_cam": [
            [
                0.9901883287024298,
                0.041086944963845094,
                0.1335624822134827
            ],
            [
                -0.02900481902200835,
                0.9954119554604016,
                -0.09117981903908268
            ],
            [
                -0.13669599180294006,
                0.08641123700096698,
                0.9868370199505961
            ]
        ],
        "object_translation_in_cam": [
            -0.010565522307890608,
            0.010255775452479129,
            1.0585021986602616
        ],
        "raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "refined_raw_rvec": [
            0.08920569734390012,
            0.13575343362053335,
            -0.035207767912659185
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5096083879470825,
            1.9729598760604858,
            0.4153265953063965,
            1.191264033317566,
            1.1736414432525635,
            0.9397532343864441,
            1.9867337942123413,
            0.5034334063529968,
            2.769167184829712
        ],
        "mean_reprojection_error": 1.38465416431427,
        "std_reprojection_error": 0.7177977561950684,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.23695577681064606,
            0.17806249856948853,
            0.39724043011665344,
            0.9960507154464722,
            0.14870531857013702,
            0.31625351309776306,
            0.8810287714004517,
            0.19814705848693848,
            0.36571887135505676
        ],
        "kf_translation_vector": [
            -0.010667057070806415,
            0.010449289701965254,
            1.0574288262747549
        ],
        "kf_rotation_matrix": [
            [
                0.9900798263509053,
                0.04056296198292335,
                0.13452354280248888
            ],
            [
                -0.03016628861599595,
                0.9964620928708464,
                -0.07844292512769431
            ],
            [
                -0.13722948839115293,
                0.0736066816710585,
                0.9878006498931239
            ]
        ],
        "kf_euler_angles": [
            0.07437826425364029,
            0.13766389596198866,
            -0.03045911878209475
        ]
    },
    {
        "frame": 122,
        "object_rotation_in_cam": [
            [
                0.9905731744557881,
                0.041023544253962645,
                0.13069757023535686
            ],
            [
                -0.0288233853766549,
                0.9951636130600974,
                -0.09390737828627514
            ],
            [
                -0.13391787970249422,
                0.08925498337917,
                0.9869648167173805
            ]
        ],
        "object_translation_in_cam": [
            -0.01057715199481251,
            0.010267687755598252,
            1.0578765794831255
        ],
        "raw_rvec": [
            0.09200013899166085,
            0.1329129956190992,
            -0.035083229849890415
        ],
        "refined_raw_rvec": [
            0.09200013899166085,
            0.1329129956190992,
            -0.035083229849890415
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4815189838409424,
            1.9918506145477295,
            0.3512059152126312,
            1.2086690664291382,
            0.893867015838623,
            2.0497326850891113,
            0.29888254404067993,
            2.6815648078918457
        ],
        "mean_reprojection_error": 1.3696614503860474,
        "std_reprojection_error": 0.7920966148376465,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.24723653495311737,
            0.16875487565994263,
            0.3593088686466217,
            0.9948487877845764,
            0.2922210693359375,
            0.7317229509353638,
            0.19623367488384247,
            0.23491032421588898
        ],
        "kf_translation_vector": [
            -0.010622319659240771,
            0.01036551249232765,
            1.0577327924594682
        ],
        "kf_rotation_matrix": [
            [
                0.9902345414022664,
                0.04088321872619173,
                0.13328208972112365
            ],
            [
                -0.0295840132016554,
                0.9958832646087133,
                -0.08568144160304363
            ],
            [
                -0.13623633574317673,
                0.08090170393062103,
                0.987367497502523
            ]
        ],
        "kf_euler_angles": [
            0.08175414098369975,
            0.13666132709317466,
            -0.029866879842893677
        ]
    },
    {
        "frame": 123,
        "object_rotation_in_cam": [
            [
                0.9900044824726103,
                0.04471809650192552,
                0.13375879982036112
            ],
            [
                -0.03262256398995008,
                0.9952897645448238,
                -0.09129103412181806
            ],
            [
                -0.13721112565262547,
                0.08601497798380124,
                0.9868001472231273
            ]
        ],
        "object_translation_in_cam": [
            -0.01057792200587578,
            0.011112485823589556,
            1.0555233676122617
        ],
        "raw_rvec": [
            0.08906764040941459,
            0.13611863239819014,
            -0.03885119323316323
        ],
        "refined_raw_rvec": [
            0.08906764040941459,
            0.13611863239819014,
            -0.03885119323316323
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8311604857444763,
            2.6509926319122314,
            1.0149950981140137,
            1.541678547859192,
            1.306393027305603,
            1.9759901762008667,
            0.6552353501319885,
            3.6595265865325928,
            3.0594093799591064
        ],
        "mean_reprojection_error": 1.8550423383712769,
        "std_reprojection_error": 0.9970842003822327,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.38109731674194336,
            0.2172384262084961,
            0.3852131962776184,
            0.9953113794326782,
            0.2778454124927521,
            0.8925789594650269,
            0.1668025404214859,
            0.11328811943531036,
            0.4089466631412506
        ],
        "kf_translation_vector": [
            -0.010594822726306493,
            0.010690697300821634,
            1.0568637818123068
        ],
        "kf_rotation_matrix": [
            [
                0.9900821131130093,
                0.04271585096812425,
                0.13383857952678388
            ],
            [
                -0.030915033778412114,
                0.9955479796473908,
                -0.08904201764604
            ],
            [
                -0.13704623300243568,
                0.08402128477991193,
                0.9869948093702291
            ]
        ],
        "kf_euler_angles": [
            0.0849236479311713,
            0.1374788926563904,
            -0.031214575066281447
        ]
    },
    {
        "frame": 124,
        "object_rotation_in_cam": [
            [
                0.9899764924845417,
                0.039604429091756835,
                0.13556560597850878
            ],
            [
                -0.0275217540967226,
                0.9955732109193957,
                -0.0898695429557979
            ],
            [
                -0.1385247175757591,
                0.08523773164485594,
                0.9866840587161605
            ]
        ],
        "object_translation_in_cam": [
            -0.010542449111961349,
            0.010033065063911982,
            1.0578082050659319
        ],
        "raw_rvec": [
            0.0879610733142913,
            0.13768290951862466,
            -0.03371927942009293
        ],
        "refined_raw_rvec": [
            0.0879610733142913,
            0.13768290951862466,
            -0.03371927942009293
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7146283388137817,
            1.8255494832992554,
            0.5831778049468994,
            1.6015517711639404,
            1.2353218793869019,
            0.5840859413146973,
            2.0219674110412598,
            0.5219044089317322,
            2.6956441402435303
        ],
        "mean_reprojection_error": 1.4204257726669312,
        "std_reprojection_error": 0.7081724405288696,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3575408458709717,
            0.24891339242458344,
            0.4118361473083496,
            0.995745837688446,
            0.14441156387329102,
            0.297713965177536,
            0.7532810568809509,
            0.23482771217823029,
            0.5002633333206177
        ],
        "kf_translation_vector": [
            -0.010562178999903332,
            0.010413565507625922,
            1.0573286608995784
        ],
        "kf_rotation_matrix": [
            [
                0.9899777857716757,
                0.04157749420755309,
                0.13496405319206628
            ],
            [
                -0.02947485356649785,
                0.9954634339852028,
                -0.09046427253684816
            ],
            [
                -0.1381130576225272,
                0.0855795745128972,
                0.9867121767467695
            ]
        ],
        "kf_euler_angles": [
            0.08651555190656317,
            0.13855595947469398,
            -0.029764454645341783
        ]
    },
    {
        "frame": 125,
        "object_rotation_in_cam": [
            [
                0.9895747950619727,
                0.043903823139860194,
                0.1371647888189925
            ],
            [
                -0.03195883416097372,
                0.9955983745001414,
                -0.08810510548059865
            ],
            [
                -0.14042919175558302,
                0.08280296496128571,
                0.9866221724127701
            ]
        ],
        "object_translation_in_cam": [
            -0.010738154666030475,
            0.010963615576301522,
            1.0557736919476457
        ],
        "raw_rvec": [
            0.08585801527315945,
            0.13945314672552836,
            -0.03811064727579547
        ],
        "refined_raw_rvec": [
            0.08585801527315945,
            0.13945314672552836,
            -0.03811064727579547
        ],
        "num_inliers": 11,
        "total_matches": 11,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8526301980018616,
            2.6139535903930664,
            0.7769073247909546,
            1.6403380632400513,
            1.2407426834106445,
            1.0626665353775024,
            1.9068362712860107,
            1.2385096549987793,
            0.7921143770217896,
            3.86820125579834,
            3.1186678409576416
        ],
        "mean_reprojection_error": 1.7374153137207031,
        "std_reprojection_error": 0.9910712838172913,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.30000704526901245,
            0.41509851813316345,
            0.4554957449436188,
            0.9949734210968018,
            0.12498277425765991,
            0.35686320066452026,
            0.8403818607330322,
            0.25702914595603943,
            0.22568540275096893,
            0.1185794472694397,
            0.45427513122558594
        ],
        "kf_translation_vector": [
            -0.01062973800109304,
            0.010654149866648298,
            1.0567071473730085
        ],
        "kf_rotation_matrix": [
            [
                0.989736185527293,
                0.04276947617221835,
                0.1363563528620422
            ],
            [
                -0.030547705174395045,
                0.9954281603352416,
                -0.09049649341369417
            ],
            [
                -0.13960344109821202,
                0.08540228052898001,
                0.9865177797252249
            ]
        ],
        "kf_euler_angles": [
            0.08635413776931734,
            0.14006092278170285,
            -0.03085469751908216
        ]
    },
    {
        "frame": 126,
        "object_rotation_in_cam": [
            [
                0.9899372248286678,
                0.03919434212315953,
                0.135970932349706
            ],
            [
                -0.027227673395871538,
                0.9956791762648791,
                -0.08877855458352316
            ],
            [
                -0.13886304295946908,
                0.08418302381136339,
                0.9867270513176438
            ]
        ],
        "object_translation_in_cam": [
            -0.010726746023368977,
            0.010050887735618,
            1.056937283516788
        ],
        "raw_rvec": [
            0.08688163395007611,
            0.13805392539457734,
            -0.0333649431978203
        ],
        "refined_raw_rvec": [
            0.08688163395007611,
            0.13805392539457734,
            -0.0333649431978203
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6455415487289429,
            1.975947380065918,
            0.46229878067970276,
            1.6138063669204712,
            1.2227256298065186,
            0.36340731382369995,
            2.0497853755950928,
            0.8701758980751038,
            0.5602766275405884,
            2.6984620094299316
        ],
        "mean_reprojection_error": 1.3462426662445068,
        "std_reprojection_error": 0.7408190369606018,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.359881192445755,
            0.37950676679611206,
            0.391379177570343,
            0.9950088262557983,
            0.1152697205543518,
            0.2934953272342682,
            0.930149495601654,
            0.21384650468826294,
            0.29777973890304565,
            0.5380566716194153
        ],
        "kf_translation_vector": [
            -0.010667914656142223,
            0.010398045439825873,
            1.0568294316018139
        ],
        "kf_rotation_matrix": [
            [
                0.9897509445358716,
                0.041402968132365825,
                0.1366706333495979
            ],
            [
                -0.02911102590715385,
                0.9954487938830571,
                -0.09074275137662514
            ],
            [
                -0.13980563637058036,
                0.08583410153661122,
                0.9864516668607843
            ]
        ],
        "kf_euler_angles": [
            0.0867943753536223,
            0.14026512057428958,
            -0.02940399888839614
        ]
    },
    {
        "frame": 127,
        "object_rotation_in_cam": [
            [
                0.9899372248286678,
                0.03919434212315953,
                0.135970932349706
            ],
            [
                -0.027227673395871538,
                0.9956791762648791,
                -0.08877855458352316
            ],
            [
                -0.13886304295946908,
                0.08418302381136339,
                0.9867270513176438
            ]
        ],
        "object_translation_in_cam": [
            -0.010726746023368977,
            0.010050887735618,
            1.056937283516788
        ],
        "raw_rvec": [
            0.08688163395007611,
            0.13805392539457734,
            -0.0333649431978203
        ],
        "refined_raw_rvec": [
            0.08688163395007611,
            0.13805392539457734,
            -0.0333649431978203
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6455415487289429,
            1.975947380065918,
            0.46229878067970276,
            1.6138063669204712,
            1.2227256298065186,
            0.36340731382369995,
            2.0497853755950928,
            0.8701758980751038,
            0.5602766275405884,
            2.6984620094299316
        ],
        "mean_reprojection_error": 1.3462426662445068,
        "std_reprojection_error": 0.7408190369606018,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.31810125708580017,
            0.3383907973766327,
            0.4121825098991394,
            0.9955605268478394,
            0.10126448422670364,
            0.2058410346508026,
            0.8834584355354309,
            0.22526124119758606,
            0.17245496809482574,
            0.39728519320487976
        ],
        "kf_translation_vector": [
            -0.010692332070273218,
            0.010236109667891765,
            1.0569031760804832
        ],
        "kf_rotation_matrix": [
            [
                0.9897650067390944,
                0.040527105115961116,
                0.13683122883932683
            ],
            [
                -0.028204287485507535,
                0.9954673324648442,
                -0.09082570210442736
            ],
            [
                -0.13989192114698842,
                0.08603687434029189,
                0.9864217691492608
            ]
        ],
        "kf_euler_angles": [
            0.08700100843268323,
            0.14035226169758333,
            -0.028488233948197536
        ]
    },
    {
        "frame": 128,
        "object_rotation_in_cam": [
            [
                0.990460414199262,
                0.03840515976997279,
                0.13233749131394817
            ],
            [
                -0.02632785172893194,
                0.9954264059992887,
                -0.09183199041008956
            ],
            [
                -0.13525905562129958,
                0.08747178940882751,
                0.9869415757429879
            ]
        ],
        "object_translation_in_cam": [
            -0.010753326862972883,
            0.009870541500348875,
            1.0565655900562358
        ],
        "raw_rvec": [
            0.09006010676432709,
            0.13440750446584332,
            -0.032513881930740576
        ],
        "refined_raw_rvec": [
            0.09006010676432709,
            0.13440750446584332,
            -0.032513881930740576
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.779126524925232,
            1.8672682046890259,
            0.646101713180542,
            1.5579681396484375,
            0.4173261821269989,
            2.0989255905151367,
            1.2248408794403076,
            0.2732621729373932,
            2.6080322265625
        ],
        "mean_reprojection_error": 1.3858723640441895,
        "std_reprojection_error": 0.757723331451416,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.23377712070941925,
            0.309943288564682,
            0.34155330061912537,
            0.9944170713424683,
            0.1625058650970459,
            0.9170401096343994,
            0.2728186249732971,
            0.17403824627399445,
            0.3978119194507599
        ],
        "kf_translation_vector": [
            -0.010719764005029508,
            0.010054106339700471,
            1.056779884434249
        ],
        "kf_rotation_matrix": [
            [
                0.9900163579308736,
                0.03961589770542256,
                0.13527080867016958
            ],
            [
                -0.027236322796894506,
                0.995370595731781,
                -0.09217136145822519
            ],
            [
                -0.13829603663804504,
                0.08756687616646451,
                0.9865121633556555
            ]
        ],
        "kf_euler_angles": [
            0.08853208178867066,
            0.13874071142429878,
            -0.027504045149679426
        ]
    },
    {
        "frame": 129,
        "object_rotation_in_cam": [
            [
                0.9903474369503106,
                0.03934014937554276,
                0.13290713589969752
            ],
            [
                -0.027227749466839708,
                0.9954094836729691,
                -0.09175298073024205
            ],
            [
                -0.13590659948995007,
                0.08724856710011425,
                0.9868723746027422
            ]
        ],
        "object_translation_in_cam": [
            -0.010725998054926385,
            0.010069221475639642,
            1.0564206144580963
        ],
        "raw_rvec": [
            0.08991130531384048,
            0.1350233790049592,
            -0.033436619679906965
        ],
        "refined_raw_rvec": [
            0.08991130531384048,
            0.1350233790049592,
            -0.033436619679906965
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6083757877349854,
            1.9760743379592896,
            0.39940616488456726,
            1.565470814704895,
            1.0645335912704468,
            2.1001975536346436,
            1.3859909772872925,
            0.2785049378871918,
            2.6571333408355713
        ],
        "mean_reprojection_error": 1.4484096765518188,
        "std_reprojection_error": 0.7321130037307739,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33275899291038513,
            0.3249257802963257,
            0.43132704496383667,
            0.9945327043533325,
            0.31018561124801636,
            0.7360794544219971,
            0.3062506914138794,
            0.1406117081642151,
            0.48441195487976074
        ],
        "kf_translation_vector": [
            -0.010724865942656663,
            0.010029651184839342,
            1.0566338250713747
        ],
        "kf_rotation_matrix": [
            [
                0.9901267272378146,
                0.0394543023080122,
                0.13450807425103703
            ],
            [
                -0.02703769250042007,
                0.995306479479765,
                -0.09291918580061234
            ],
            [
                -0.1375428194911942,
                0.08836498138393947,
                0.9865463004195134
            ]
        ],
        "kf_euler_angles": [
            0.08933164227322796,
            0.1379802266488871,
            -0.027300520421257714
        ]
    },
    {
        "frame": 130,
        "object_rotation_in_cam": [
            [
                0.9907150063452012,
                0.03990219865994028,
                0.12996765268531515
            ],
            [
                -0.027748468422560693,
                0.9951837944993922,
                -0.09401722005033743
            ],
            [
                -0.13309319555345497,
                0.08953786745223542,
                0.9870507441816129
            ]
        ],
        "object_translation_in_cam": [
            -0.01061061296093711,
            0.0100228138654573,
            1.0580756139276566
        ],
        "raw_rvec": [
            0.09219356606189148,
            0.13212664394310683,
            -0.03397866182659829
        ],
        "refined_raw_rvec": [
            0.09219356606189148,
            0.13212664394310683,
            -0.03397866182659829
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6813688278198242,
            1.8353612422943115,
            0.49758395552635193,
            1.2035391330718994,
            0.5373539924621582,
            2.0420196056365967,
            0.2949672341346741,
            2.622523069381714
        ],
        "mean_reprojection_error": 1.3393396139144897,
        "std_reprojection_error": 0.7877364158630371,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.31276267766952515,
            0.19409392774105072,
            0.4344526529312134,
            0.9938479065895081,
            0.25241026282310486,
            0.9272816181182861,
            0.21254447102546692,
            0.4021185636520386
        ],
        "kf_translation_vector": [
            -0.010676414834828599,
            0.00999562762244491,
            1.0572788593810083
        ],
        "kf_rotation_matrix": [
            [
                0.9903662359348366,
                0.039605014335273206,
                0.1326882118342334
            ],
            [
                -0.02715837945771819,
                0.9951701134508877,
                -0.09433381005439206
            ],
            [
                -0.1357834347241746,
                0.08982142357839991,
                0.9866584873809455
            ]
        ],
        "kf_euler_angles": [
            0.09078573603754445,
            0.13620417800298626,
            -0.027415691155532003
        ]
    },
    {
        "frame": 131,
        "object_rotation_in_cam": [
            [
                0.990460414199262,
                0.03840515976997279,
                0.13233749131394817
            ],
            [
                -0.02632785172893194,
                0.9954264059992887,
                -0.09183199041008956
            ],
            [
                -0.13525905562129958,
                0.08747178940882751,
                0.9869415757429879
            ]
        ],
        "object_translation_in_cam": [
            -0.010753326862972883,
            0.009870541500348875,
            1.0565655900562358
        ],
        "raw_rvec": [
            0.09006010676432709,
            0.13440750446584332,
            -0.032513881930740576
        ],
        "refined_raw_rvec": [
            0.09006010676432709,
            0.13440750446584332,
            -0.032513881930740576
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.779126524925232,
            1.8672682046890259,
            0.646101713180542,
            1.5579681396484375,
            0.4173261821269989,
            2.0989255905151367,
            1.2248408794403076,
            0.2732621729373932,
            2.6080322265625
        ],
        "mean_reprojection_error": 1.3858723640441895,
        "std_reprojection_error": 0.757723331451416,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4141615033149719,
            0.2695803940296173,
            0.45642146468162537,
            0.9943037033081055,
            0.3262975215911865,
            0.928450345993042,
            0.28702691197395325,
            0.13272474706172943,
            0.4313758313655853
        ],
        "kf_translation_vector": [
            -0.010709599844589046,
            0.00990827953571988,
            1.0570080227439491
        ],
        "kf_rotation_matrix": [
            [
                0.9904032833474298,
                0.0390309578640371,
                0.13258175086657478
            ],
            [
                -0.026612796981785803,
                0.9951996734164363,
                -0.09417732778447625
            ],
            [
                -0.13562114647589807,
                0.08974516343533054,
                0.9866877470955687
            ]
        ],
        "kf_euler_angles": [
            0.09070640426687543,
            0.13604037451653686,
            -0.02686420279378563
        ]
    },
    {
        "frame": 132,
        "object_rotation_in_cam": [
            [
                0.990667474347668,
                0.03971058475750397,
                0.1303879776966792
            ],
            [
                -0.027641691514779756,
                0.9952729722853478,
                -0.09310020154914286
            ],
            [
                -0.13346869355700747,
                0.0886271972732206,
                0.9870822294741605
            ]
        ],
        "object_translation_in_cam": [
            -0.010781225699626086,
            0.010048175209090175,
            1.057355165901026
        ],
        "raw_rvec": [
            0.0912744597528612,
            0.13252473362263764,
            -0.03382837519116919
        ],
        "refined_raw_rvec": [
            0.0912744597528612,
            0.13252473362263764,
            -0.03382837519116919
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6078351736068726,
            1.9763898849487305,
            0.3761838674545288,
            1.2039031982421875,
            1.0473017692565918,
            2.0451576709747314,
            1.3732326030731201,
            0.24846431612968445,
            2.6531982421875
        ],
        "mean_reprojection_error": 1.3924074172973633,
        "std_reprojection_error": 0.7378223538398743,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4490070044994354,
            0.31523317098617554,
            0.5480121374130249,
            0.9967927932739258,
            0.4382111430168152,
            0.9490345120429993,
            0.34707707166671753,
            0.1436770260334015,
            0.4626277685165405
        ],
        "kf_translation_vector": [
            -0.010743083153150387,
            0.009934893284412724,
            1.0571856685977468
        ],
        "kf_rotation_matrix": [
            [
                0.9905212392600914,
                0.0392531546526088,
                0.13163154798326815
            ],
            [
                -0.0268687355546309,
                0.9951551752189038,
                -0.0945740359968217
            ],
            [
                -0.1347061454587294,
                0.09014081808399116,
                0.9867770200459679
            ]
        ],
        "kf_euler_angles": [
            0.09109589584335963,
            0.13511689899651022,
            -0.027119204803554096
        ]
    },
    {
        "frame": 133,
        "object_rotation_in_cam": [
            [
                0.9863297586653286,
                0.12408211729341476,
                0.10843078593821115
            ],
            [
                -0.042898723699155726,
                0.8286820018368082,
                -0.5580733279209139
            ],
            [
                -0.15910156088542438,
                0.5457927885193462,
                0.8226766833477767
            ]
        ],
        "object_translation_in_cam": [
            -0.010269737226972882,
            0.00261522611550951,
            1.063545747368229
        ],
        "raw_rvec": [
            0.5878807026449654,
            0.142478423504946,
            -0.08892818854474924
        ],
        "refined_raw_rvec": [
            0.5878807026449654,
            0.142478423504946,
            -0.08892818854474924
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.911123514175415,
            0.8800472021102905,
            0.8437116146087646,
            1.5019034147262573,
            0.370370090007782,
            0.5686390399932861,
            1.9326258897781372,
            1.4004276990890503
        ],
        "mean_reprojection_error": 1.1761059761047363,
        "std_reprojection_error": 0.557382345199585,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5577589869499207,
            0.3372304439544678,
            0.5462726354598999,
            0.9892574548721313,
            0.3454558849334717,
            0.5328204035758972,
            0.2779451608657837,
            0.45502814650535583
        ],
        "kf_translation_vector": [
            -0.01074819373310929,
            0.009894561200235399,
            1.0572280349192076
        ],
        "kf_rotation_matrix": [
            [
                0.9905329452137798,
                0.03917623301248877,
                0.1315663604918307
            ],
            [
                -0.026650029846684707,
                0.995057805818665,
                -0.0956542680099258
            ],
            [
                -0.13466350788274448,
                0.09124245638021307,
                0.9866815868345871
            ]
        ],
        "kf_euler_angles": [
            0.09221181258670128,
            0.13507386935547053,
            -0.026898249498855067
        ]
    },
    {
        "frame": 134,
        "object_rotation_in_cam": [
            [
                0.990667474347668,
                0.03971058475750397,
                0.1303879776966792
            ],
            [
                -0.027641691514779756,
                0.9952729722853478,
                -0.09310020154914286
            ],
            [
                -0.13346869355700747,
                0.0886271972732206,
                0.9870822294741605
            ]
        ],
        "object_translation_in_cam": [
            -0.010781225699626086,
            0.010048175209090175,
            1.057355165901026
        ],
        "raw_rvec": [
            0.0912744597528612,
            0.13252473362263764,
            -0.03382837519116919
        ],
        "refined_raw_rvec": [
            0.0912744597528612,
            0.13252473362263764,
            -0.03382837519116919
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6078351736068726,
            1.9763898849487305,
            0.3761838674545288,
            1.2039031982421875,
            1.0473017692565918,
            2.0451576709747314,
            1.3732326030731201,
            0.24846431612968445,
            2.6531982421875
        ],
        "mean_reprojection_error": 1.3924074172973633,
        "std_reprojection_error": 0.7378223538398743,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.46154290437698364,
            0.3322872817516327,
            0.41110730171203613,
            0.9853694438934326,
            0.24545696377754211,
            0.8518962264060974,
            0.3486178517341614,
            0.12195780128240585,
            0.469041109085083
        ],
        "kf_translation_vector": [
            -0.010770408405392637,
            0.009949848885921993,
            1.0573286177905235
        ],
        "kf_rotation_matrix": [
            [
                0.9906177485452098,
                0.03941282092955241,
                0.13085528576864794
            ],
            [
                -0.027037910467812298,
                0.9951067521174456,
                -0.09503422166673935
            ],
            [
                -0.13396054517937006,
                0.09060453320139904,
                0.9868360506682975
            ]
        ],
        "kf_euler_angles": [
            0.09155646953731965,
            0.13436447891339265,
            -0.0272872149082863
        ]
    },
    {
        "frame": 135,
        "object_rotation_in_cam": [
            [
                0.9863297586653286,
                0.12408211729341476,
                0.10843078593821115
            ],
            [
                -0.042898723699155726,
                0.8286820018368082,
                -0.5580733279209139
            ],
            [
                -0.15910156088542438,
                0.5457927885193462,
                0.8226766833477767
            ]
        ],
        "object_translation_in_cam": [
            -0.010269737226972882,
            0.00261522611550951,
            1.063545747368229
        ],
        "raw_rvec": [
            0.5878807026449654,
            0.142478423504946,
            -0.08892818854474924
        ],
        "refined_raw_rvec": [
            0.5878807026449654,
            0.142478423504946,
            -0.08892818854474924
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.911123514175415,
            0.8800472021102905,
            0.8437116146087646,
            1.5019034147262573,
            0.370370090007782,
            0.5686390399932861,
            1.9326258897781372,
            1.4004276990890503
        ],
        "mean_reprojection_error": 1.1761059761047363,
        "std_reprojection_error": 0.557382345199585,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3538677990436554,
            0.27385619282722473,
            0.4574113190174103,
            0.993740439414978,
            0.3643101751804352,
            0.8296433091163635,
            0.3637123107910156,
            0.33798933029174805
        ],
        "kf_translation_vector": [
            -0.010777612849997354,
            0.009916682966501597,
            1.0573751540654575
        ],
        "kf_rotation_matrix": [
            [
                0.9906396642979591,
                0.03935779609978916,
                0.1307058506945815
            ],
            [
                -0.026866621144497442,
                0.9950195173989935,
                -0.09599137806778327
            ],
            [
                -0.13383288156467696,
                0.09158124197258671,
                0.9867632116829516
            ]
        ],
        "kf_euler_angles": [
            0.09254463685777778,
            0.13423565527948947,
            -0.02711383163419965
        ]
    },
    {
        "frame": 136,
        "object_rotation_in_cam": [
            [
                0.9894094618532949,
                0.11095726190122072,
                0.09358099607589895
            ],
            [
                -0.04268367043163833,
                0.838616314647933,
                -0.5430476784636894
            ],
            [
                -0.13873363353439852,
                0.5333021309142719,
                0.8344709797761933
            ]
        ],
        "object_translation_in_cam": [
            -0.010517016740932635,
            0.0029082567232790704,
            1.064082954139474
        ],
        "raw_rvec": [
            0.5706507468068907,
            0.1231667583588805,
            -0.08145615116197387
        ],
        "refined_raw_rvec": [
            0.5706507468068907,
            0.1231667583588805,
            -0.08145615116197387
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.913706660270691,
            0.8753042817115784,
            0.8329786658287048,
            1.952113389968872,
            0.3787909746170044,
            0.46564769744873047,
            1.9292691946029663,
            1.7208970785140991
        ],
        "mean_reprojection_error": 1.2585885524749756,
        "std_reprojection_error": 0.6427040100097656,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.36907222867012024,
            0.2792734205722809,
            0.5415980219841003,
            0.9914970993995667,
            0.3875475823879242,
            0.791237473487854,
            0.3361581265926361,
            0.4520604610443115
        ],
        "kf_translation_vector": [
            -0.010785108288192083,
            0.009882767227694288,
            1.0574211327557874
        ],
        "kf_rotation_matrix": [
            [
                0.9906634460079029,
                0.039299625763113695,
                0.13054300501607177
            ],
            [
                -0.02669160090413804,
                0.9949299117893785,
                -0.0969640607026846
            ],
            [
                -0.133691791763448,
                0.09257434872392512,
                0.9866896648761555
            ]
        ],
        "kf_euler_angles": [
            0.09354930971552959,
            0.13409328606860943,
            -0.02693664033503521
        ]
    },
    {
        "frame": 137,
        "object_rotation_in_cam": [
            [
                0.9894094618532949,
                0.11095726190122072,
                0.09358099607589895
            ],
            [
                -0.04268367043163833,
                0.838616314647933,
                -0.5430476784636894
            ],
            [
                -0.13873363353439852,
                0.5333021309142719,
                0.8344709797761933
            ]
        ],
        "object_translation_in_cam": [
            -0.010517016740932635,
            0.0029082567232790704,
            1.064082954139474
        ],
        "raw_rvec": [
            0.5706507468068907,
            0.1231667583588805,
            -0.08145615116197387
        ],
        "refined_raw_rvec": [
            0.5706507468068907,
            0.1231667583588805,
            -0.08145615116197387
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.913706660270691,
            0.8753042817115784,
            0.8329786658287048,
            1.952113389968872,
            0.3787909746170044,
            0.46564769744873047,
            1.9292691946029663,
            1.7208970785140991
        ],
        "mean_reprojection_error": 1.2585885524749756,
        "std_reprojection_error": 0.6427040100097656,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                373
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.40178602933883667,
            0.26134443283081055,
            0.4357061982154846,
            0.9930530190467834,
            0.3834977447986603,
            0.8119410276412964,
            0.364618182182312,
            0.42592427134513855
        ],
        "kf_translation_vector": [
            -0.010792894719976824,
            0.009848101669500064,
            1.0574665538615136
        ],
        "kf_rotation_matrix": [
            [
                0.9906890859676607,
                0.039238262943629636,
                0.13036676595562072
            ],
            [
                -0.026512848373520803,
                0.9948378868222414,
                -0.09795227314452608
            ],
            [
                -0.13353727500471058,
                0.09358385365127754,
                0.9866153548977903
            ]
        ],
        "kf_euler_angles": [
            0.09457048811057508,
            0.13393737128075248,
            -0.026755641010792985
        ]
    },
    {
        "frame": 138,
        "object_rotation_in_cam": [
            [
                0.9902328723984778,
                0.04002170743047946,
                0.13355568634771414
            ],
            [
                -0.027883826251553428,
                0.9954103434127265,
                -0.0915463842023875
            ],
            [
                -0.1366065542169667,
                0.08692819543339819,
                0.9868040019090214
            ]
        ],
        "object_translation_in_cam": [
            -0.010716312286997156,
            0.010250356495489712,
            1.0561468714161202
        ],
        "raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "refined_raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4483399391174316,
            2.098471164703369,
            0.1919967085123062,
            1.5742348432540894,
            0.8647984862327576,
            2.1309452056884766,
            0.9372336268424988,
            0.2782991826534271,
            2.6772689819335938
        ],
        "mean_reprojection_error": 1.3557319641113281,
        "std_reprojection_error": 0.8087503910064697,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2833234965801239,
            0.21810194849967957,
            0.42766273021698,
            0.9917598962783813,
            0.32371506094932556,
            0.8612689971923828,
            0.31387555599212646,
            0.14382311701774597,
            0.44617268443107605
        ],
        "kf_translation_vector": [
            -0.010742060654334067,
            0.01011963133679797,
            1.0565302139422652
        ],
        "kf_rotation_matrix": [
            [
                0.9903746764652509,
                0.039775853986222826,
                0.1325740610225715
            ],
            [
                -0.02739918609911467,
                0.9952038842999058,
                -0.09390693944265117
            ],
            [
                -0.13567344919863986,
                0.08937063339848474,
                0.9867145509560998
            ]
        ],
        "kf_euler_angles": [
            0.09032748230674846,
            0.13609316517326694,
            -0.02765842030182917
        ]
    },
    {
        "frame": 139,
        "object_rotation_in_cam": [
            [
                0.9902328723984778,
                0.04002170743047946,
                0.13355568634771414
            ],
            [
                -0.027883826251553428,
                0.9954103434127265,
                -0.0915463842023875
            ],
            [
                -0.1366065542169667,
                0.08692819543339819,
                0.9868040019090214
            ]
        ],
        "object_translation_in_cam": [
            -0.010716312286997156,
            0.010250356495489712,
            1.0561468714161202
        ],
        "raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "refined_raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4483399391174316,
            2.098471164703369,
            0.1919967085123062,
            1.5742348432540894,
            0.8647984862327576,
            2.1309452056884766,
            0.9372336268424988,
            0.2782991826534271,
            2.6772689819335938
        ],
        "mean_reprojection_error": 1.3557319641113281,
        "std_reprojection_error": 0.8087503910064697,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.22266541421413422,
            0.3345491290092468,
            0.3870694637298584,
            0.9866130352020264,
            0.1860322803258896,
            0.8390273451805115,
            0.23713475465774536,
            0.11512590944766998,
            0.4469406306743622
        ],
        "kf_translation_vector": [
            -0.010730485027415831,
            0.010183585493474116,
            1.056292035589649
        ],
        "kf_rotation_matrix": [
            [
                0.9902979672929473,
                0.039900362172745195,
                0.13310859128523775
            ],
            [
                -0.027593648094712056,
                0.9952787920582156,
                -0.09305222546486792
            ],
            [
                -0.13619297544397033,
                0.08847647810363601,
                0.986723561217677
            ]
        ],
        "kf_euler_angles": [
            0.08942777620785558,
            0.13661755884529223,
            -0.027856777534713776
        ]
    },
    {
        "frame": 140,
        "object_rotation_in_cam": [
            [
                0.9902328723984778,
                0.04002170743047946,
                0.13355568634771414
            ],
            [
                -0.027883826251553428,
                0.9954103434127265,
                -0.0915463842023875
            ],
            [
                -0.1366065542169667,
                0.08692819543339819,
                0.9868040019090214
            ]
        ],
        "object_translation_in_cam": [
            -0.010716312286997156,
            0.010250356495489712,
            1.0561468714161202
        ],
        "raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "refined_raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4483399391174316,
            2.098471164703369,
            0.1919967085123062,
            1.5742348432540894,
            0.8647984862327576,
            2.1309452056884766,
            0.9372336268424988,
            0.2782991826534271,
            2.6772689819335938
        ],
        "mean_reprojection_error": 1.3557319641113281,
        "std_reprojection_error": 0.8087503910064697,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.35488051176071167,
            0.3236771821975708,
            0.5273373126983643,
            0.9932032823562622,
            0.2909788489341736,
            0.880695104598999,
            0.33083125948905945,
            0.10551226139068604,
            0.49467533826828003
        ],
        "kf_translation_vector": [
            -0.010725156060800649,
            0.01021399609879147,
            1.0561733700341425
        ],
        "kf_rotation_matrix": [
            [
                0.9902617490515754,
                0.039958444705593905,
                0.1333603804059686
            ],
            [
                -0.027682588931450428,
                0.9953122532472568,
                -0.09266710746495155
            ],
            [
                -0.1364380542054415,
                0.08807293132727294,
                0.9867258059522181
            ]
        ],
        "kf_euler_angles": [
            0.08902184550032782,
            0.13686494685737427,
            -0.027947541426833266
        ]
    },
    {
        "frame": 141,
        "object_rotation_in_cam": [
            [
                0.9902328723984778,
                0.04002170743047946,
                0.13355568634771414
            ],
            [
                -0.027883826251553428,
                0.9954103434127265,
                -0.0915463842023875
            ],
            [
                -0.1366065542169667,
                0.08692819543339819,
                0.9868040019090214
            ]
        ],
        "object_translation_in_cam": [
            -0.010716312286997156,
            0.010250356495489712,
            1.0561468714161202
        ],
        "raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "refined_raw_rvec": [
            0.08964935066914004,
            0.13570486895875758,
            -0.034109546658458875
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4483399391174316,
            2.098471164703369,
            0.1919967085123062,
            1.5742348432540894,
            0.8647984862327576,
            2.1309452056884766,
            0.9372336268424988,
            0.2782991826534271,
            2.6772689819335938
        ],
        "mean_reprojection_error": 1.3557319641113281,
        "std_reprojection_error": 0.8087503910064697,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.30934104323387146,
            0.252673864364624,
            0.3227425217628479,
            0.9924512505531311,
            0.23863723874092102,
            0.8547421097755432,
            0.28195273876190186,
            0.12872125208377838,
            0.5668655037879944
        ],
        "kf_translation_vector": [
            -0.010722118731084342,
            0.010231693937679958,
            1.0561043400023782
        ],
        "kf_rotation_matrix": [
            [
                0.990241781760918,
                0.03999099248793297,
                0.1334988171288134
            ],
            [
                -0.027735386458589018,
                0.9953326182577971,
                -0.09243228532320903
            ],
            [
                -0.13657218601514362,
                0.08782766962585593,
                0.986729110979876
            ]
        ],
        "kf_euler_angles": [
            0.08877494775765603,
            0.1370003460899324,
            -0.028001380768307035
        ]
    },
    {
        "frame": 142,
        "object_rotation_in_cam": [
            [
                0.9903468005555122,
                0.039087638821807616,
                0.1329863568972267
            ],
            [
                -0.026984377866212463,
                0.9954277921809034,
                -0.09162616386723607
            ],
            [
                -0.1359597660362583,
                0.08715312412752657,
                0.9868734847862607
            ]
        ],
        "object_translation_in_cam": [
            -0.010743636720184847,
            0.010051744010653153,
            1.0562928965172251
        ],
        "raw_rvec": [
            0.0897993827403579,
            0.13508945080118498,
            -0.03318743676375221
        ],
        "refined_raw_rvec": [
            0.0897993827403579,
            0.13508945080118498,
            -0.03318743676375221
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6171449422836304,
            1.9805090427398682,
            0.4260634481906891,
            1.566850185394287,
            0.32417014241218567,
            2.129664182662964,
            0.8908047080039978,
            0.2739851176738739,
            2.628220319747925
        ],
        "mean_reprojection_error": 1.3152680397033691,
        "std_reprojection_error": 0.817954957485199,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4437231123447418,
            0.3280653655529022,
            0.4753562808036804,
            0.9977434277534485,
            0.37523120641708374,
            0.9658221006393433,
            0.28568795323371887,
            0.18208466470241547,
            0.5866625905036926
        ],
        "kf_translation_vector": [
            -0.01073253015294977,
            0.010153384725652942,
            1.056129083791122
        ],
        "kf_rotation_matrix": [
            [
                0.9902819965093457,
                0.039589729688538876,
                0.13331999359680644
            ],
            [
                -0.02736638136504396,
                0.9953551287285836,
                -0.09229977727322901
            ],
            [
                -0.1363548626212027,
                0.08775432192714573,
                0.9867656917539542
            ]
        ],
        "kf_euler_angles": [
            0.08869792632727627,
            0.13678097045758372,
            -0.027627906168712486
        ]
    },
    {
        "frame": 143,
        "object_rotation_in_cam": [
            [
                0.9911739971377945,
                0.024071988515435034,
                0.13036351777548835
            ],
            [
                -0.03847552467162134,
                0.9932833662375801,
                0.10912281318305954
            ],
            [
                -0.1268611106648951,
                -0.1131754996660241,
                0.9854428267922066
            ]
        ],
        "object_translation_in_cam": [
            -0.010807422441301208,
            0.012300942095722436,
            1.0440144060470076
        ],
        "raw_rvec": [
            -0.11171012966532402,
            0.1292614245601481,
            -0.03143159621329728
        ],
        "refined_raw_rvec": [
            -0.11171012966532402,
            0.1292614245601481,
            -0.03143159621329728
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.9756041765213013,
            1.3537392616271973,
            0.604381263256073,
            1.1620054244995117,
            0.6292680501937866,
            2.093270778656006,
            0.9503471851348877,
            1.9843153953552246
        ],
        "mean_reprojection_error": 1.344116449356079,
        "std_reprojection_error": 0.571881890296936,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                614,
                374
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33521413803100586,
            0.23041005432605743,
            0.39115479588508606,
            0.9939523935317993,
            0.19616293907165527,
            0.9228399991989136,
            0.2308388501405716,
            0.5157669186592102
        ],
        "kf_translation_vector": [
            -0.010767526801854338,
            0.011111610502246612,
            1.05065048534276
        ],
        "kf_rotation_matrix": [
            [
                0.9907053271813236,
                0.032304057681847145,
                0.132134032526955
            ],
            [
                -0.03228143279641418,
                0.9994761402232638,
                -0.0023139189738000275
            ],
            [
                -0.1321395617941769,
                -0.0019730640371284744,
                0.9912291577769231
            ]
        ],
        "kf_euler_angles": [
            -0.001990519967836017,
            0.13252716024502537,
            -0.032572768506875946
        ]
    },
    {
        "frame": 144,
        "object_rotation_in_cam": [
            [
                0.9905731744557881,
                0.041023544253962645,
                0.13069757023535686
            ],
            [
                -0.0288233853766549,
                0.9951636130600974,
                -0.09390737828627514
            ],
            [
                -0.13391787970249422,
                0.08925498337917,
                0.9869648167173805
            ]
        ],
        "object_translation_in_cam": [
            -0.01057715199481251,
            0.010267687755598252,
            1.0578765794831255
        ],
        "raw_rvec": [
            0.09200013899166085,
            0.1329129956190992,
            -0.035083229849890415
        ],
        "refined_raw_rvec": [
            0.09200013899166085,
            0.1329129956190992,
            -0.035083229849890415
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.4815189838409424,
            1.9918506145477295,
            0.3512059152126312,
            1.2086690664291382,
            0.893867015838623,
            2.0497326850891113,
            0.29888254404067993,
            2.6815648078918457
        ],
        "mean_reprojection_error": 1.3696614503860474,
        "std_reprojection_error": 0.7920966148376465,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                829,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2830394506454468,
            0.29594793915748596,
            0.36885467171669006,
            0.9935060739517212,
            0.23403285443782806,
            0.8650982975959778,
            0.13127808272838593,
            0.5601220726966858
        ],
        "kf_translation_vector": [
            -0.0106864454660985,
            0.010804328409061283,
            1.053412778647617
        ],
        "kf_rotation_matrix": [
            [
                0.990677483820843,
                0.035629315678806124,
                0.13148640581696466
            ],
            [
                -0.03105805666709036,
                0.9988452316038742,
                -0.03665515541184996
            ],
            [
                -0.13264056757443157,
                0.03222972488965814,
                0.9906400580771352
            ]
        ],
        "kf_euler_angles": [
            0.03252277188792483,
            0.13303261519952111,
            -0.03134005577986853
        ]
    },
    {
        "frame": 145,
        "object_rotation_in_cam": [
            [
                0.9894224665603337,
                0.03986543437209536,
                0.1394773451424618
            ],
            [
                -0.02781332521174716,
                0.9957923394690059,
                -0.08731572364419621
            ],
            [
                -0.14237135107292775,
                0.08251280989742268,
                0.9863681029902077
            ]
        ],
        "object_translation_in_cam": [
            -0.010639130603690478,
            0.01027983532140241,
            1.055908384498482
        ],
        "raw_rvec": [
            0.08531873588206618,
            0.14159560805023658,
            -0.03400056570790944
        ],
        "refined_raw_rvec": [
            0.08531873588206618,
            0.14159560805023658,
            -0.03400056570790944
        ],
        "num_inliers": 10,
        "total_matches": 10,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.468508005142212,
            2.0966129302978516,
            0.2629178762435913,
            1.4439020156860352,
            1.3121081590652466,
            0.9064711332321167,
            2.121826648712158,
            0.9150303602218628,
            0.6226314902305603,
            2.7976186275482178
        ],
        "mean_reprojection_error": 1.3947627544403076,
        "std_reprojection_error": 0.7314189672470093,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                795,
                220
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                846,
                373
            ],
            [
                579,
                357
            ],
            [
                830,
                307
            ],
            [
                614,
                374
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.07000000029802322
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.20045943558216095,
            0.25205910205841064,
            0.3899563252925873,
            0.9964831471443176,
            0.13479815423488617,
            0.24379637837409973,
            0.9161367416381836,
            0.1951930969953537,
            0.13520747423171997,
            0.4141744077205658
        ],
        "kf_translation_vector": [
            -0.010662889303237253,
            0.010612253449990443,
            1.0542996099900122
        ],
        "kf_rotation_matrix": [
            [
                0.9901566317434134,
                0.03711574306762614,
                0.134952829651981
            ],
            [
                -0.029817361834332087,
                0.9980018704294118,
                -0.05570629724399515
            ],
            [
                -0.1367507570281757,
                0.05113402229371153,
                0.9892848640388102
            ]
        ],
        "kf_euler_angles": [
            0.051641908061949064,
            0.1371806083583715,
            -0.030104685045079058
        ]
    },
    {
        "frame": 146,
        "object_rotation_in_cam": [
            [
                0.9908679070258388,
                0.022873581022750434,
                0.1328818652692279
            ],
            [
                -0.04214221191573299,
                0.9886712573476403,
                0.14405963650337864
            ],
            [
                -0.1280813210467593,
                -0.14834400623493962,
                0.9806065628033932
            ]
        ],
        "object_translation_in_cam": [
            -0.010623759302657642,
            0.012704718577927102,
            1.0424892840035027
        ],
        "raw_rvec": [
            -0.14718075666572789,
            0.13135526925791277,
            -0.03272556220673339
        ],
        "refined_raw_rvec": [
            -0.14718075666572789,
            0.13135526925791277,
            -0.03272556220673339
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0703659057617188,
            1.147816777229309,
            0.8825656771659851,
            1.0796202421188354,
            0.29373112320899963,
            2.059354543685913,
            1.8977837562561035
        ],
        "mean_reprojection_error": 1.3473197221755981,
        "std_reprojection_error": 0.6290934681892395,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4462580382823944,
            0.46182218194007874,
            0.4802674651145935,
            0.9959332942962646,
            0.38485264778137207,
            0.9216495752334595,
            0.46172666549682617
        ],
        "kf_translation_vector": [
            -0.010641337131336456,
            0.011573301571642271,
            1.0488707496810838
        ],
        "kf_rotation_matrix": [
            [
                0.9904882248597491,
                0.03033011391461901,
                0.13421311636389857
            ],
            [
                -0.03543076150415736,
                0.9987314300737435,
                0.03577976693734431
            ],
            [
                -0.132957653233722,
                -0.04019471075628472,
                0.9903063403178836
            ]
        ],
        "kf_euler_angles": [
            -0.04056589226508878,
            0.13335253439262731,
            -0.03575576187555515
        ]
    },
    {
        "frame": 147,
        "object_rotation_in_cam": [
            [
                0.9906253483413799,
                0.044327284488006505,
                0.12921498006593105
            ],
            [
                -0.03267036071498844,
                0.9953169380373186,
                -0.09097714211146102
            ],
            [
                -0.13264262796805618,
                0.08590276308673528,
                0.9874343768270335
            ]
        ],
        "object_translation_in_cam": [
            -0.0105142140446643,
            0.011132412814141117,
            1.0542467564806985
        ],
        "raw_rvec": [
            0.08883448191230234,
            0.13151287546444934,
            -0.03867056527654153
        ],
        "refined_raw_rvec": [
            0.08883448191230234,
            0.13151287546444934,
            -0.03867056527654153
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.939500629901886,
            2.599902868270874,
            1.0257426500320435,
            1.3196271657943726,
            1.3263704776763916,
            1.9832085371017456,
            0.6141839623451233,
            3.6287407875061035,
            3.054810047149658
        ],
        "mean_reprojection_error": 1.8324540853500366,
        "std_reprojection_error": 0.9879242181777954,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                830,
                307
            ],
            [
                867,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.29905471205711365,
            0.3617101311683655,
            0.42030131816864014,
            0.9928167462348938,
            0.2625589370727539,
            0.9429048299789429,
            0.20944419503211975,
            0.11969345808029175,
            0.46088162064552307
        ],
        "kf_translation_vector": [
            -0.010579027463540601,
            0.011473446683914654,
            1.0507222173373905
        ],
        "kf_rotation_matrix": [
            [
                0.9905612583118383,
                0.03602632254012578,
                0.1322516450404396
            ],
            [
                -0.034724499525258655,
                0.9993232168072221,
                -0.012137441360772081
            ],
            [
                -0.13259940672713405,
                0.007430507001591121,
                0.9911418591207372
            ]
        ],
        "kf_euler_angles": [
            0.007496775290507143,
            0.13299108753663796,
            -0.03504102915084506
        ]
    },
    {
        "frame": 148,
        "object_rotation_in_cam": [
            [
                0.9914429348904031,
                0.023015475698385586,
                0.1284958938421027
            ],
            [
                -0.04474241507145824,
                0.9846237979794842,
                0.1688611641142787
            ],
            [
                -0.12263369500050647,
                -0.17316542475573188,
                0.9772280759984794
            ]
        ],
        "object_translation_in_cam": [
            -0.010643896429906409,
            0.012949107609575196,
            1.0397696752124488
        ],
        "raw_rvec": [
            -0.1723570564284704,
            0.12655143817328923,
            -0.034145154157388086
        ],
        "refined_raw_rvec": [
            -0.1723570564284704,
            0.12655143817328923,
            -0.034145154157388086
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            2.1461007595062256,
            1.0393130779266357,
            1.1397444009780884,
            1.0050652027130127,
            0.16624410450458527,
            2.065955877304077,
            0.20768344402313232,
            0.3470820188522339,
            1.853300929069519
        ],
        "mean_reprojection_error": 1.1078323125839233,
        "std_reprojection_error": 0.7336058020591736,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                469,
                339
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                357
            ],
            [
                829,
                307
            ],
            [
                615,
                373
            ],
            [
                866,
                379
            ],
            [
                515,
                350
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                -0.10000000149011612,
                -0.029999999329447746,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4946400225162506,
            0.48756012320518494,
            0.5102964043617249,
            0.9928734302520752,
            0.38943520188331604,
            0.6902419924736023,
            0.25505331158638,
            0.11646164953708649,
            0.1321953386068344,
            0.399765282869339
        ],
        "kf_translation_vector": [
            -0.010598183613120152,
            0.01221720256326194,
            1.0454463788522508
        ],
        "kf_rotation_matrix": [
            [
                0.9909934077148488,
                0.029768120541264754,
                0.1305600431416607
            ],
            [
                -0.03964585751690974,
                0.9964904853105706,
                0.07372190086570167
            ],
            [
                -0.12790727832090115,
                -0.07823408262991383,
                0.9886956844588709
            ]
        ],
        "kf_euler_angles": [
            -0.07896404461799278,
            0.1282586375748893,
            -0.03998485409521187
        ]
    },
    {
        "frame": 149,
        "object_rotation_in_cam": [
            [
                0.990310532226731,
                0.042408843331324775,
                0.1322366808722443
            ],
            [
                -0.03010896286192979,
                0.9951484449930325,
                -0.09366441577957163
            ],
            [
                -0.1355673268755697,
                0.08877534812800614,
                0.986782872494534
            ]
        ],
        "object_translation_in_cam": [
            -0.010669091231956493,
            0.010504848057391235,
            1.0557814566574748
        ],
        "raw_rvec": [
            0.09164425471748305,
            0.13452494223154424,
            -0.03642758661809281
        ],
        "refined_raw_rvec": [
            0.09164425471748305,
            0.13452494223154424,
            -0.03642758661809281
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.2485424280166626,
            2.237675666809082,
            0.2765257954597473,
            1.4584039449691772,
            0.650452733039856,
            1.9212243556976318,
            2.9090468883514404,
            1.5341465473175049,
            0.5601256489753723,
            2.9899539947509766
        ],
        "mean_reprojection_error": 1.5786097049713135,
        "std_reprojection_error": 0.8962860703468323,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9,
            10
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                575,
                312
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                837,
                365
            ],
            [
                579,
                356
            ],
            [
                829,
                307
            ],
            [
                523,
                380
            ],
            [
                615,
                373
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4980981945991516,
            0.5463419556617737,
            0.5477924942970276,
            0.997366189956665,
            0.267259418964386,
            0.5297437906265259,
            0.8967317342758179,
            0.1355445235967636,
            0.28051087260246277,
            0.20650562644004822,
            0.3923283517360687
        ],
        "kf_translation_vector": [
            -0.010622156495338986,
            0.011586294723910907,
            1.049314909161978
        ],
        "kf_rotation_matrix": [
            [
                0.9907551811227969,
                0.0345885518447257,
                0.13117851637984976
            ],
            [
                -0.03616793661467,
                0.9992988829392155,
                0.009675893626592725
            ],
            [
                -0.13075186973566003,
                -0.014330898008172648,
                0.9913115423129645
            ]
        ],
        "kf_euler_angles": [
            -0.014455495756188505,
            0.13112732219029818,
            -0.036489219321915733
        ]
    },
    {
        "frame": 150,
        "object_rotation_in_cam": [
            [
                0.9683078536937502,
                0.005530322058018386,
                0.24969845016126446
            ],
            [
                -0.03107363675762599,
                0.9946546474434312,
                0.09847111971455673
            ],
            [
                -0.2478191469068885,
                -0.10310939752087607,
                0.9633037540512462
            ]
        ],
        "object_translation_in_cam": [
            -0.01016224874060432,
            0.012006152352047219,
            1.059849780924491
        ],
        "raw_rvec": [
            -0.10204742465330587,
            0.2518615895861089,
            -0.018530261656633955
        ],
        "refined_raw_rvec": [
            -0.10204742465330587,
            0.2518615895861089,
            -0.018530261656633955
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7900207042694092,
            3.2524545192718506,
            2.304238796234131,
            2.3894753456115723,
            3.435608148574829,
            1.6556336879730225,
            1.5056108236312866,
            1.2674561738967896,
            1.9711623191833496
        ],
        "mean_reprojection_error": 2.174628973007202,
        "std_reprojection_error": 0.7105522155761719,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                745,
                202
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                575,
                312
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                557,
                357
            ],
            [
                830,
                292
            ],
            [
                837,
                365
            ],
            [
                579,
                356
            ],
            [
                829,
                308
            ],
            [
                615,
                373
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                0.21699999272823334,
                -0.0,
                -0.027000000700354576
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.0,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.48940378427505493,
            0.36686837673187256,
            0.568265974521637,
            0.9967760443687439,
            0.1086544618010521,
            0.4531020522117615,
            0.9179394245147705,
            0.2846921682357788,
            0.4748964309692383
        ],
        "kf_translation_vector": [
            -0.010411004258140644,
            0.011852171063084454,
            1.0536190139469588
        ],
        "kf_rotation_matrix": [
            [
                0.9824872297680477,
                0.023765037866335704,
                0.1848081879082172
            ],
            [
                -0.03439355570715211,
                0.9979202004040425,
                0.05451932640242895
            ],
            [
                -0.18312817005727522,
                -0.05992075267190151,
                0.9812612173782812
            ]
        ],
        "kf_euler_angles": [
            -0.06098930390449835,
            0.18416749451322,
            -0.03499232930401293
        ]
    },
    {
        "frame": 151,
        "object_rotation_in_cam": [
            [
                0.9956677528781923,
                0.019692681450247745,
                -0.09087312130542205
            ],
            [
                -0.029900981172221737,
                0.9932152555964286,
                -0.11238054713988296
            ],
            [
                0.08804349608817977,
                0.11461088232720348,
                0.9895012321613099
            ]
        ],
        "object_translation_in_cam": [
            -0.011440062213378009,
            0.009704368878094852,
            1.020567459654761
        ],
        "raw_rvec": [
            0.1139063732991165,
            -0.08978199334704773,
            -0.024886553035098423
        ],
        "refined_raw_rvec": [
            0.1139063732991165,
            -0.08978199334704773,
            -0.024886553035098423
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            3.6829400062561035,
            2.4855873584747314,
            2.7242050170898438,
            1.0389450788497925,
            0.30686819553375244,
            0.7561903595924377,
            1.7801867723464966,
            2.0849671363830566
        ],
        "mean_reprojection_error": 1.8574862480163574,
        "std_reprojection_error": 1.0501782894134521,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                650,
                377
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                558,
                357
            ],
            [
                830,
                292
            ],
            [
                579,
                356
            ],
            [
                594,
                392
            ],
            [
                830,
                307
            ],
            [
                867,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.028999999165534973,
                -0.0,
                -0.12700000405311584
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2212052196264267,
            0.17331288754940033,
            0.3039984703063965,
            0.9942224621772766,
            0.17818352580070496,
            0.10865119099617004,
            0.9554845690727234,
            0.14224228262901306,
            0.48905083537101746
        ],
        "kf_translation_vector": [
            -0.010850167048658632,
            0.010984456084877957,
            1.0387820337321605
        ],
        "kf_rotation_matrix": [
            [
                0.9972704071221743,
                0.03371052692661261,
                0.06569121290327218
            ],
            [
                -0.033019966644715286,
                0.9993877203486584,
                -0.011570057004774125
            ],
            [
                -0.06604102422854143,
                0.009369353800660918,
                0.9977729192197007
            ]
        ],
        "kf_euler_angles": [
            0.009389990695526412,
            0.06608912409740048,
            -0.03309825279026575
        ]
    }
]