20241227_C_test1_new_anchor_kd_2.json

[
    {
        "frame": 1,
        "object_rotation_in_cam": [
            [
                0.9991219897473398,
                0.037266485662583206,
                0.019143109718043658
            ],
            [
                -0.03237529220150697,
                0.9767793812335651,
                -0.21178734818643113
            ],
            [
                -0.026591165039983086,
                0.21098163295257255,
                0.9771282722849044
            ]
        ],
        "object_translation_in_cam": [
            -0.011977655846548979,
            0.009892834723980882,
            1.0505311290107906
        ],
        "raw_rvec": [
            0.2130549948237592,
            0.02304784907726244,
            -0.03509606731879092
        ],
        "refined_raw_rvec": [
            0.2130549948237592,
            0.02304784907726244,
            -0.03509606731879092
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.839169442653656,
            1.7424615621566772,
            0.7540313601493835,
            1.4233143329620361,
            2.1905620098114014,
            4.417963981628418,
            0.8087493777275085,
            1.923450231552124,
            2.200310707092285,
            1.9918688535690308
        ],
        "mean_reprojection_error": 1.829188346862793,
        "std_reprojection_error": 1.01759934425354,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                289
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                639,
                361
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999535858631134,
            0.9985848665237427,
            0.9972413778305054,
            0.8464261293411255,
            0.6240946650505066,
            0.21149875223636627,
            0.830966591835022,
            0.7225296497344971,
            0.7640184760093689,
            0.7158790826797485,
            0.339671790599823
        ],
        "kf_translation_vector": [
            -0.011989762890100423,
            0.009902834425290132,
            1.0515930084214222
        ],
        "kf_rotation_matrix": [
            [
                0.9991202143715792,
                0.037308254360391147,
                0.01915440917047749
            ],
            [
                -0.0324079825758189,
                0.9767324295194418,
                -0.2119987825210659
            ],
            [
                -0.026618037107479123,
                0.2111915132803142,
                0.9770821996223837
            ]
        ],
        "kf_euler_angles": [
            0.21287039242629383,
            0.026621181344901153,
            -0.0324251511474061
        ]
    },
    {
        "frame": 2,
        "object_rotation_in_cam": [
            [
                0.9991804549129688,
                0.035962936697718405,
                0.018576482551562686
            ],
            [
                -0.03125027387012235,
                0.9770601434319173,
                -0.21065824574377215
            ],
            [
                -0.025726229862826033,
                0.20990508164615038,
                0.9773832502126113
            ]
        ],
        "object_translation_in_cam": [
            -0.011943142156664113,
            0.010059239096374602,
            1.04932322710906
        ],
        "raw_rvec": [
            0.21192223287619516,
            0.022324175994129152,
            -0.03386879628976419
        ],
        "refined_raw_rvec": [
            0.21192223287619516,
            0.022324175994129152,
            -0.03386879628976419
        ],
        "num_inliers": 11,
        "total_matches": 13,
        "inlier_ratio": 0.8461538461538461,
        "reprojection_errors": [
            1.1019235849380493,
            1.9923335313796997,
            0.7707485556602478,
            1.4494036436080933,
            2.096010684967041,
            4.273437023162842,
            0.8805379867553711,
            1.5116044282913208,
            2.1734769344329834,
            2.1998162269592285,
            1.98087739944458
        ],
        "mean_reprojection_error": 1.8572880029678345,
        "std_reprojection_error": 0.911374032497406,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            12
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                639,
                361
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ],
            [
                868,
                259
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9991981983184814,
            0.9992741346359253,
            0.9941773414611816,
            0.7892252802848816,
            0.6276710033416748,
            0.2559281587600708,
            0.8847185373306274,
            0.8812634348869324,
            0.8173854351043701,
            0.798262357711792,
            0.3112928867340088,
            0.12997664511203766,
            0.5438426733016968
        ],
        "kf_translation_vector": [
            -0.011929090368993298,
            0.010136646251753928,
            1.0489215880037854
        ],
        "kf_rotation_matrix": [
            [
                0.9992062466921735,
                0.03537390523467395,
                0.018318389661413047
            ],
            [
                -0.030741073367408348,
                0.9771808131641322,
                -0.2101728926196357
            ],
            [
                -0.025335014891621332,
                0.20944294023034915,
                0.9774926044774495
            ]
        ],
        "kf_euler_angles": [
            0.21107400493006973,
            0.02533772594277412,
            -0.030755792415334725
        ]
    },
    {
        "frame": 3,
        "object_rotation_in_cam": [
            [
                0.9990256672337933,
                0.03978024622265678,
                0.019111468246553912
            ],
            [
                -0.03494585625082796,
                0.9775169304570672,
                -0.20794094786907594
            ],
            [
                -0.026953725882903564,
                0.20707047756804467,
                0.9779546584483205
            ]
        ],
        "object_translation_in_cam": [
            -0.01192822147388527,
            0.010174795846678826,
            1.0497785511702822
        ],
        "raw_rvec": [
            0.20909385502002736,
            0.02320887674990904,
            -0.03764900886847963
        ],
        "refined_raw_rvec": [
            0.20909385502002736,
            0.02320887674990904,
            -0.03764900886847963
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            0.5155363082885742,
            1.429526686668396,
            0.18967288732528687,
            1.409878134727478,
            2.1981453895568848,
            4.336209297180176,
            1.0690399408340454,
            1.6220874786376953,
            2.1303820610046387,
            2.1761693954467773
        ],
        "mean_reprojection_error": 1.7076648473739624,
        "std_reprojection_error": 1.088791847229004,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                639,
                361
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9992742538452148,
            0.9992196559906006,
            0.9957534074783325,
            0.8468561172485352,
            0.6282134056091309,
            0.25974422693252563,
            0.8931401968002319,
            0.9281705617904663,
            0.8098000288009644,
            0.7558460831642151,
            0.3773996829986572,
            0.14948679506778717
        ],
        "kf_translation_vector": [
            -0.01191439491128815,
            0.010250891733576382,
            1.0494462378449585
        ],
        "kf_rotation_matrix": [
            [
                0.9990309972327273,
                0.039718968676632146,
                0.0189596966074673
            ],
            [
                -0.03493689659770789,
                0.9776688920105008,
                -0.20722681016480624
            ],
            [
                -0.026767140756972143,
                0.20636361385240443,
                0.9781091856502893
            ]
        ],
        "kf_euler_angles": [
            0.20793270895180752,
            0.026770338140684646,
            -0.03495653792887655
        ]
    },
    {
        "frame": 4,
        "object_rotation_in_cam": [
            [
                0.9989744760863049,
                0.04026839915992126,
                0.02069908590228179
            ],
            [
                -0.035095348431431146,
                0.9775167977648378,
                -0.2079163933076311
            ],
            [
                -0.02860616448546066,
                0.20697672844229217,
                0.9779275644119847
            ]
        ],
        "object_translation_in_cam": [
            -0.011768053429438232,
            0.010182462339798862,
            1.0504723421857654
        ],
        "raw_rvec": [
            0.2090370118348594,
            0.024841631901132213,
            -0.037970773125201376
        ],
        "refined_raw_rvec": [
            0.2090370118348594,
            0.024841631901132213,
            -0.037970773125201376
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            0.46575984358787537,
            1.3996144533157349,
            0.22354312241077423,
            1.4348281621932983,
            2.16990065574646,
            4.381805896759033,
            0.9873721599578857,
            1.4512052536010742,
            1.4309699535369873,
            2.1984522342681885
        ],
        "mean_reprojection_error": 1.6143451929092407,
        "std_reprojection_error": 1.099723219871521,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                640,
                361
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9994825124740601,
            0.9951789379119873,
            0.9958146810531616,
            0.7320765256881714,
            0.5882903933525085,
            0.22270798683166504,
            0.8872438669204712,
            0.8817004561424255,
            0.6207490563392639,
            0.7674669027328491,
            0.4679122567176819,
            0.13380517065525055
        ],
        "kf_translation_vector": [
            -0.011759604947873144,
            0.010254588217281093,
            1.0503391305919545
        ],
        "kf_rotation_matrix": [
            [
                0.9989417689664816,
                0.04107386930898182,
                0.020694914208695802
            ],
            [
                -0.0359151683035021,
                0.9777091996472878,
                -0.20686909293268368
            ],
            [
                -0.028730522094937917,
                0.2059069163118347,
                0.9781497323595726
            ]
        ],
        "kf_euler_angles": [
            0.20747729040034105,
            0.028734476131416865,
            -0.035937735669715996
        ]
    },
    {
        "frame": 5,
        "object_rotation_in_cam": [
            [
                0.9989744760863049,
                0.04026839915992126,
                0.02069908590228179
            ],
            [
                -0.035095348431431146,
                0.9775167977648378,
                -0.2079163933076311
            ],
            [
                -0.02860616448546066,
                0.20697672844229217,
                0.9779275644119847
            ]
        ],
        "object_translation_in_cam": [
            -0.011768053429438232,
            0.010182462339798862,
            1.0504723421857654
        ],
        "raw_rvec": [
            0.2090370118348594,
            0.024841631901132213,
            -0.037970773125201376
        ],
        "refined_raw_rvec": [
            0.2090370118348594,
            0.024841631901132213,
            -0.037970773125201376
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.46575984358787537,
            1.3996144533157349,
            0.22354312241077423,
            1.4348281621932983,
            2.16990065574646,
            4.381805896759033,
            0.9873721599578857,
            1.4512052536010742,
            1.4309699535369873,
            2.1984522342681885
        ],
        "mean_reprojection_error": 1.6143451929092407,
        "std_reprojection_error": 1.099723219871521,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                640,
                361
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993780851364136,
            0.9962732195854187,
            0.9960053563117981,
            0.8588442206382751,
            0.7318689823150635,
            0.2394830584526062,
            0.9524944424629211,
            0.9317228198051453,
            0.7927835583686829,
            0.8008431196212769,
            0.6739125847816467
        ],
        "kf_translation_vector": [
            -0.011720067595389277,
            0.01022010828664323,
            1.0506750776760199
        ],
        "kf_rotation_matrix": [
            [
                0.9989275865782393,
                0.04115763078708465,
                0.02120674894858148
            ],
            [
                -0.03588054690980544,
                0.9776315025546704,
                -0.20724196381561083
            ],
            [
                -0.02926197406921465,
                0.2062588050016089,
                0.9780598357119471
            ]
        ],
        "kf_euler_angles": [
            0.20784030582018245,
            0.029266151670688658,
            -0.03590363159979262
        ]
    },
    {
        "frame": 6,
        "object_rotation_in_cam": [
            [
                0.9990342684968592,
                0.03789400407622881,
                0.022239038288925702
            ],
            [
                -0.032104562504487594,
                0.9751220476560761,
                -0.21933145976219773
            ],
            [
                -0.029997123784473046,
                0.218405669867089,
                0.9753969119976581
            ]
        ],
        "object_translation_in_cam": [
            -0.011532191754971765,
            0.00909626178759424,
            1.0511255968570605
        ],
        "raw_rvec": [
            0.2207275363378563,
            0.026339916314548937,
            -0.035296551520835884
        ],
        "refined_raw_rvec": [
            0.2207275363378563,
            0.026339916314548937,
            -0.035296551520835884
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.10191302746534348,
            0.9329781532287598,
            0.49582451581954956,
            1.5735222101211548,
            2.0855205059051514,
            0.25848188996315,
            1.1115734577178955,
            2.289966344833374,
            1.446393609046936
        ],
        "mean_reprojection_error": 1.144019365310669,
        "std_reprojection_error": 0.731165885925293,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                361
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994673132896423,
            0.9980568885803223,
            0.9968452453613281,
            0.9224406480789185,
            0.8710693717002869,
            0.9299752712249756,
            0.7126724123954773,
            0.7323218584060669,
            0.7659206390380859,
            0.57070392370224
        ],
        "kf_translation_vector": [
            -0.011501654056671775,
            0.009139225377254015,
            1.0513671505444395
        ],
        "kf_rotation_matrix": [
            [
                0.9990015663460303,
                0.03850388929330605,
                0.022656587286409537
            ],
            [
                -0.03262749936560981,
                0.9752403106618956,
                -0.21872764513256282
            ],
            [
                -0.030517482257306123,
                0.21777003230329472,
                0.9755228835385139
            ]
        ],
        "kf_euler_angles": [
            0.21963305696593124,
            0.030522221150539618,
            -0.0326485030862118
        ]
    },
    {
        "frame": 7,
        "object_rotation_in_cam": [
            [
                0.9990004935785791,
                0.038671928515631074,
                0.022416417524599684
            ],
            [
                -0.032857191732458005,
                0.97532858679305,
                -0.21829922751977013
            ],
            [
                -0.030305424946892805,
                0.21734449551151228,
                0.9756243905774571
            ]
        ],
        "object_translation_in_cam": [
            -0.011503754079659041,
            0.009177152919668401,
            1.0511242961082954
        ],
        "raw_rvec": [
            0.21965711571121677,
            0.02658302470580435,
            -0.03606589378524756
        ],
        "refined_raw_rvec": [
            0.21965711571121677,
            0.02658302470580435,
            -0.03606589378524756
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.1159420758485794,
            0.8464758992195129,
            0.6092134714126587,
            1.5793287754058838,
            2.083364963531494,
            0.17990270256996155,
            1.0190004110336304,
            1.5358468294143677,
            1.5017180442810059
        ],
        "mean_reprojection_error": 1.0523104667663574,
        "std_reprojection_error": 0.6372065544128418,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9996685981750488,
            0.9979727864265442,
            0.9975114464759827,
            0.9496077299118042,
            0.8770710229873657,
            0.9794519543647766,
            0.9624146223068237,
            0.8949998617172241,
            0.902188777923584,
            0.5617460012435913
        ],
        "kf_translation_vector": [
            -0.011417437066072256,
            0.00882920147575043,
            1.051534461718971
        ],
        "kf_rotation_matrix": [
            [
                0.9990074550151345,
                0.03804955441893741,
                0.02315893418756727
            ],
            [
                -0.03197279758319149,
                0.9745381068297003,
                -0.22193066158484714
            ],
            [
                -0.031013626664548856,
                0.22096992950468172,
                0.9747873846207735
            ]
        ],
        "kf_euler_angles": [
            0.22291791481978884,
            0.031018600534848895,
            -0.03199364292259092
        ]
    },
    {
        "frame": 8,
        "object_rotation_in_cam": [
            [
                0.9991622815141098,
                0.034305830947426036,
                0.02231244411814467
            ],
            [
                -0.02842196279450125,
                0.9739937081848068,
                -0.224785338595108
            ],
            [
                -0.0294436280106017,
                0.2239628683050295,
                0.9741528147011419
            ]
        ],
        "object_translation_in_cam": [
            -0.011612318633730941,
            0.008764824270200238,
            1.053778545898784
        ],
        "raw_rvec": [
            0.2263655287705293,
            0.026107715762118924,
            -0.0316422661543023
        ],
        "refined_raw_rvec": [
            0.2263655287705293,
            0.026107715762118924,
            -0.0316422661543023
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            1.0502958297729492,
            1.6441518068313599,
            0.6566983461380005,
            1.7023088932037354,
            2.0139658451080322,
            0.5919168591499329,
            0.8256596326828003,
            1.6074280738830566,
            1.2190669775009155,
            2.0649735927581787
        ],
        "mean_reprojection_error": 1.3376466035842896,
        "std_reprojection_error": 0.5162057876586914,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ],
            [
                868,
                259
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.998880922794342,
            0.9989421963691711,
            0.9958527088165283,
            0.8819510340690613,
            0.46077802777290344,
            0.8616438508033752,
            0.6820752620697021,
            0.5377125144004822,
            0.8115232586860657,
            0.40831810235977173,
            0.7995085716247559
        ],
        "kf_translation_vector": [
            -0.011511634639469671,
            0.008424483685713892,
            1.0538603581480384
        ],
        "kf_rotation_matrix": [
            [
                0.9991553385746824,
                0.03402662235697219,
                0.023039061801379546
            ],
            [
                -0.027883822597782895,
                0.9732343161944301,
                -0.22811720281227274
            ],
            [
                -0.030184463471248875,
                0.22728210389851686,
                0.9733610550111488
            ]
        ],
        "kf_euler_angles": [
            0.22939222695300318,
            0.030189048871502484,
            -0.027900153310592285
        ]
    },
    {
        "frame": 9,
        "object_rotation_in_cam": [
            [
                0.9989368551764506,
                0.039326056013338655,
                0.02405453571821206
            ],
            [
                -0.0331470488677146,
                0.9753695388220154,
                -0.2180723180265905
            ],
            [
                -0.032037985603722494,
                0.21704313869957936,
                0.9756361224462176
            ]
        ],
        "object_translation_in_cam": [
            -0.01132493119435303,
            0.009200469675395201,
            1.0518168469383797
        ],
        "raw_rvec": [
            0.21939116239794368,
            0.028282616175585088,
            -0.036541930369641276
        ],
        "refined_raw_rvec": [
            0.21939116239794368,
            0.028282616175585088,
            -0.036541930369641276
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.1836327165365219,
            0.8126779794692993,
            0.6059457659721375,
            1.6184499263763428,
            2.0472168922424316,
            0.08303825557231903,
            0.8029409646987915,
            1.6517747640609741,
            1.31179678440094
        ],
        "mean_reprojection_error": 1.0130527019500732,
        "std_reprojection_error": 0.6443008780479431,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9995203018188477,
            0.997547447681427,
            0.9969818592071533,
            0.9179620742797852,
            0.8416706919670105,
            0.954251229763031,
            0.9293020963668823,
            0.7006523013114929,
            0.8735242486000061,
            0.5154370665550232
        ],
        "kf_translation_vector": [
            -0.011329481321675211,
            0.008707258353254761,
            1.0530209782188562
        ],
        "kf_rotation_matrix": [
            [
                0.9990295219916718,
                0.0367699758106052,
                0.024248362171067236
            ],
            [
                -0.030412005046160248,
                0.9740860880576071,
                -0.22412363329577736
            ],
            [
                -0.03186101282388963,
                0.22316868492580957,
                0.9742590076208281
            ]
        ],
        "kf_euler_angles": [
            0.22518022748447442,
            0.031866405768312296,
            -0.03043214985307452
        ]
    },
    {
        "frame": 10,
        "object_rotation_in_cam": [
            [
                0.9905509836670493,
                0.04307943657135707,
                0.13020334443068438
            ],
            [
                -0.03069432489734425,
                0.994939324937837,
                -0.09567443812919685
            ],
            [
                -0.13366602850140075,
                0.09077390504399194,
                0.9868604212287202
            ]
        ],
        "object_translation_in_cam": [
            -0.010647429968801329,
            0.010558310081818822,
            1.0581852679646406
        ],
        "raw_rvec": [
            0.0936561580735716,
            0.13254605153099208,
            -0.0370578088719011
        ],
        "refined_raw_rvec": [
            0.0936561580735716,
            0.13254605153099208,
            -0.0370578088719011
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.635512113571167,
            0.9922540187835693,
            1.0369164943695068,
            0.5523324012756348,
            0.465433806180954,
            1.188977837562561,
            1.5565073490142822,
            0.17530293762683868
        ],
        "mean_reprojection_error": 0.8254046440124512,
        "std_reprojection_error": 0.41864535212516785,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.998934268951416,
            0.9980686902999878,
            0.9968155026435852,
            0.8949554562568665,
            0.8855684995651245,
            0.7672836780548096,
            0.6690878868103027,
            0.8588631749153137,
            0.4249226748943329,
            0.11772096157073975
        ],
        "kf_translation_vector": [
            -0.010726318006394822,
            0.009979242410684307,
            1.057580817041964
        ],
        "kf_rotation_matrix": [
            [
                0.9930792259861005,
                0.04351777525055825,
                0.10908645265150618
            ],
            [
                -0.029822022200146823,
                0.9918120713526822,
                -0.12417512678067197
            ],
            [
                -0.1135970858197575,
                0.12006256017736713,
                0.9862457522022159
            ]
        ],
        "kf_euler_angles": [
            0.12114087591050038,
            0.11384283064160002,
            -0.03002083000716919
        ]
    },
    {
        "frame": 11,
        "object_rotation_in_cam": [
            [
                0.9990970856445773,
                0.03491853993127894,
                0.024201426106323774
            ],
            [
                -0.028623633094757267,
                0.9741855410321816,
                -0.22392681677792078
            ],
            [
                -0.0313958768784834,
                0.22303189729925058,
                0.9743054303975359
            ]
        ],
        "object_translation_in_cam": [
            -0.01138892799724072,
            0.008824003534885945,
            1.0536229030987765
        ],
        "raw_rvec": [
            0.2254522174726377,
            0.02804405608089046,
            -0.032051559485372125
        ],
        "refined_raw_rvec": [
            0.2254522174726377,
            0.02804405608089046,
            -0.032051559485372125
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.7488698959350586,
            1.563915729522705,
            0.42408719658851624,
            1.693032145500183,
            1.9870330095291138,
            0.5495453476905823,
            0.6327894926071167,
            1.7362297773361206,
            1.1197692155838013,
            2.1115732192993164
        ],
        "mean_reprojection_error": 1.2566845417022705,
        "std_reprojection_error": 0.6031690239906311,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ],
            [
                868,
                259
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9990827441215515,
            0.9987274408340454,
            0.9974768161773682,
            0.8845235109329224,
            0.6627346873283386,
            0.8575177192687988,
            0.7392579317092896,
            0.5362673997879028,
            0.7850197553634644,
            0.41245678067207336,
            0.7065494656562805
        ],
        "kf_translation_vector": [
            -0.011038855289409047,
            0.00926912412763614,
            1.056038027223056
        ],
        "kf_rotation_matrix": [
            [
                0.9970077521531937,
                0.040341046552211435,
                0.06594044365568083
            ],
            [
                -0.02811453356853888,
                0.9838435427095771,
                -0.17680909612034104
            ],
            [
                -0.0720077436714914,
                0.1744261546664972,
                0.9820338086947923
            ]
        ],
        "kf_euler_angles": [
            0.17578402143596208,
            0.07207011739184413,
            -0.02819144087484589
        ]
    },
    {
        "frame": 12,
        "object_rotation_in_cam": [
            [
                0.9990066277678681,
                0.03901640461811874,
                0.021528535634069992
            ],
            [
                -0.03360590699489879,
                0.9769053146328606,
                -0.21101338644058104
            ],
            [
                -0.029264324542391057,
                0.21008028563562792,
                0.977246065684754
            ]
        ],
        "object_translation_in_cam": [
            -0.01163229502830901,
            0.009910539116195525,
            1.0500243189324914
        ],
        "raw_rvec": [
            0.21220613030069285,
            0.02559657629573754,
            -0.036597319653144715
        ],
        "refined_raw_rvec": [
            0.21220613030069285,
            0.02559657629573754,
            -0.036597319653144715
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            0.3735632300376892,
            1.3247807025909424,
            0.4147998094558716,
            1.4649659395217896,
            2.112729072570801,
            4.605967044830322,
            0.6639533638954163,
            1.779431700706482,
            1.6853716373443604,
            1.9805688858032227
        ],
        "mean_reprojection_error": 1.6406131982803345,
        "std_reprojection_error": 1.1552300453186035,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                361
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9983620047569275,
            0.9982997179031372,
            0.9959316849708557,
            0.8304436802864075,
            0.5155332684516907,
            0.3243539035320282,
            0.850617527961731,
            0.7341554164886475,
            0.6694106459617615,
            0.7492754459381104,
            0.3885478675365448,
            0.14612199366092682
        ],
        "kf_translation_vector": [
            -0.011394171397056422,
            0.009709913257262332,
            1.0524864689544495
        ],
        "kf_rotation_matrix": [
            [
                0.998364433730964,
                0.03975536478498736,
                0.041084892988351704
            ],
            [
                -0.031005944757270924,
                0.9802890036833196,
                -0.19512073351459563
            ],
            [
                -0.048032164751974145,
                0.19352772470211435,
                0.9799183286993166
            ]
        ],
        "kf_euler_angles": [
            0.19498452635416172,
            0.048050653031389105,
            -0.031046760927826086
        ]
    },
    {
        "frame": 13,
        "object_rotation_in_cam": [
            [
                0.9989887659338099,
                0.03804350324613765,
                0.02396116438749622
            ],
            [
                -0.03180054476142569,
                0.9746208008457377,
                -0.2215920122921615
            ],
            [
                -0.03178318566349296,
                0.22060595281989562,
                0.9748450352181652
            ]
        ],
        "object_translation_in_cam": [
            -0.011362867080043823,
            0.008890445378910728,
            1.0521412782433202
        ],
        "raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "refined_raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.1563265174627304,
            0.8368683457374573,
            0.5290385484695435,
            1.6291029453277588,
            2.0586791038513184,
            0.39028170704841614,
            0.8158354759216309,
            1.7675049304962158,
            1.0800738334655762
        ],
        "mean_reprojection_error": 1.0293012857437134,
        "std_reprojection_error": 0.6209486126899719,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9992486238479614,
            0.9991646409034729,
            0.9960983395576477,
            0.9101507067680359,
            0.6965509653091431,
            0.8907455801963806,
            0.7010956406593323,
            0.45147889852523804,
            0.7616146206855774,
            0.40098142623901367,
            0.15263183414936066
        ],
        "kf_translation_vector": [
            -0.011398266284463561,
            0.009231097003978847,
            1.0520810866279557
        ],
        "kf_rotation_matrix": [
            [
                0.9988259041445141,
                0.03842518745073857,
                0.02950115555820565
            ],
            [
                -0.03130729247091409,
                0.9767237899871418,
                -0.2122038913669927
            ],
            [
                -0.03696845476936371,
                0.21103114235233003,
                0.9767800112151335
            ]
        ],
        "kf_euler_angles": [
            0.21277742000151093,
            0.03697688054460511,
            -0.0313338347964957
        ]
    },
    {
        "frame": 14,
        "object_rotation_in_cam": [
            [
                0.9990066277678681,
                0.03901640461811874,
                0.021528535634069992
            ],
            [
                -0.03360590699489879,
                0.9769053146328606,
                -0.21101338644058104
            ],
            [
                -0.029264324542391057,
                0.21008028563562792,
                0.977246065684754
            ]
        ],
        "object_translation_in_cam": [
            -0.01163229502830901,
            0.009910539116195525,
            1.0500243189324914
        ],
        "raw_rvec": [
            0.21220613030069285,
            0.02559657629573754,
            -0.036597319653144715
        ],
        "refined_raw_rvec": [
            0.21220613030069285,
            0.02559657629573754,
            -0.036597319653144715
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.3735632300376892,
            1.3247807025909424,
            0.4147998094558716,
            1.4649659395217896,
            2.112729072570801,
            4.605967044830322,
            0.6639533638954163,
            1.779431700706482,
            1.6853716373443604,
            1.9805688858032227
        ],
        "mean_reprojection_error": 1.6406131982803345,
        "std_reprojection_error": 1.1552300453186035,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                361
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988484382629395,
            0.9980224967002869,
            0.9949323534965515,
            0.8437966108322144,
            0.5475499033927917,
            0.36864519119262695,
            0.8950950503349304,
            0.7837860584259033,
            0.7388260364532471,
            0.7746616005897522,
            0.4874911606311798
        ],
        "kf_translation_vector": [
            -0.011583170396811109,
            0.009663546685556142,
            1.0504567629316461
        ],
        "kf_rotation_matrix": [
            [
                0.999030886590783,
                0.038237131353118924,
                0.02179929869327082
            ],
            [
                -0.032696007371215134,
                0.976278929729129,
                -0.21403369470466074
            ],
            [
                -0.029466230495527504,
                0.2131135217503357,
                0.9765830062557681
            ]
        ],
        "kf_euler_angles": [
            0.21485534431603118,
            0.029470496214449464,
            -0.03271604681995957
        ]
    },
    {
        "frame": 15,
        "object_rotation_in_cam": [
            [
                0.9985114755408432,
                0.04031472778331344,
                0.03673630271278483
            ],
            [
                -0.031502453991752194,
                0.9761175450449676,
                -0.21494681585890776
            ],
            [
                -0.044524471987274175,
                0.2134695785800473,
                0.97593458306134
            ]
        ],
        "object_translation_in_cam": [
            -0.011466112118351619,
            0.008912166320121337,
            1.0548337864459483
        ],
        "raw_rvec": [
            0.21599078154854143,
            0.04096850275697515,
            -0.03620741274507965
        ],
        "refined_raw_rvec": [
            0.21599078154854143,
            0.04096850275697515,
            -0.03620741274507965
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.736620306968689,
            1.0119390487670898,
            0.8800669312477112,
            0.18735942244529724,
            0.4607429802417755,
            0.7963455319404602,
            1.564713716506958,
            1.0948517322540283
        ],
        "mean_reprojection_error": 0.8415799736976624,
        "std_reprojection_error": 0.38789117336273193,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                373
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9993188977241516,
            0.9992095828056335,
            0.9967190623283386,
            0.8679816126823425,
            0.948310136795044,
            0.8840729594230652,
            0.7272427082061768,
            0.8598287105560303
        ],
        "kf_translation_vector": [
            -0.01157553627135946,
            0.009257132039148882,
            1.0526946707307363
        ],
        "kf_rotation_matrix": [
            [
                0.9988566905923056,
                0.039014727217432627,
                0.027625399890974536
            ],
            [
                -0.03209574041375861,
                0.975578101973377,
                -0.21729526087173567
            ],
            [
                -0.03542845052044411,
                0.21616016749200664,
                0.9757149209085346
            ]
        ],
        "kf_euler_angles": [
            0.21801901174928334,
            0.035435866194652395,
            -0.03212142573750266
        ]
    },
    {
        "frame": 16,
        "object_rotation_in_cam": [
            [
                0.9976260170475986,
                0.0457715687202816,
                0.05145185717376185
            ],
            [
                -0.03353538520091692,
                0.9754736199163313,
                -0.21754676459730427
            ],
            [
                -0.06014738605434796,
                0.2153048544371755,
                0.9746928293604175
            ]
        ],
        "object_translation_in_cam": [
            -0.011776821420453394,
            0.009544194659277748,
            1.0517400384451165
        ],
        "raw_rvec": [
            0.2183288715663574,
            0.056290275397379984,
            -0.0400021554628888
        ],
        "refined_raw_rvec": [
            0.2183288715663574,
            0.056290275397379984,
            -0.0400021554628888
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.40420371294021606,
            6.004889488220215,
            0.7948178052902222,
            0.7937453389167786,
            2.882716655731201,
            0.7930556535720825,
            1.4307124614715576,
            0.7258808016777039,
            1.9482263326644897
        ],
        "mean_reprojection_error": 1.753138780593872,
        "std_reprojection_error": 1.6710213422775269,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                579,
                357
            ],
            [
                557,
                358
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993199706077576,
            0.316951721906662,
            0.9957753419876099,
            0.9969117045402527,
            0.7870197296142578,
            0.9105237722396851,
            0.8753769397735596,
            0.4664692282676697,
            0.8160340785980225,
            0.17230087518692017
        ],
        "kf_translation_vector": [
            -0.01176220171275427,
            0.009430259500275736,
            1.0520041101439643
        ],
        "kf_rotation_matrix": [
            [
                0.9982744387621175,
                0.04289153882680235,
                0.04010562069396375
            ],
            [
                -0.03303024217638868,
                0.9748488097673564,
                -0.22040599174463868
            ],
            [
                -0.04855046875106667,
                0.21870096934453107,
                0.9745833663631932
            ]
        ],
        "kf_euler_angles": [
            0.22074763918467527,
            0.04856956245119481,
            -0.03307526996527787
        ]
    },
    {
        "frame": 17,
        "object_rotation_in_cam": [
            [
                0.9989887659338099,
                0.03804350324613765,
                0.02396116438749622
            ],
            [
                -0.03180054476142569,
                0.9746208008457377,
                -0.2215920122921615
            ],
            [
                -0.03178318566349296,
                0.22060595281989562,
                0.9748450352181652
            ]
        ],
        "object_translation_in_cam": [
            -0.011362867080043823,
            0.008890445378910728,
            1.0521412782433202
        ],
        "raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "refined_raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.1563265174627304,
            0.8368683457374573,
            0.5290385484695435,
            1.6291029453277588,
            2.0586791038513184,
            0.39028170704841614,
            0.8158354759216309,
            1.7675049304962158,
            1.0800738334655762
        ],
        "mean_reprojection_error": 1.0293012857437134,
        "std_reprojection_error": 0.6209486126899719,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                405
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.999305784702301,
            0.9994742274284363,
            0.997430682182312,
            0.9022062420845032,
            0.7455319166183472,
            0.9044439196586609,
            0.7786306142807007,
            0.6460203528404236,
            0.7334902882575989,
            0.2880525588989258,
            0.17995914816856384
        ],
        "kf_translation_vector": [
            -0.011612071628142418,
            0.009135761210882061,
            1.0518583395768437
        ],
        "kf_rotation_matrix": [
            [
                0.998723649947472,
                0.040322246788902276,
                0.030416894146087774
            ],
            [
                -0.03249282747436464,
                0.9739833522252959,
                -0.22427805454546038
            ],
            [
                -0.03866894358940549,
                0.22300346634496554,
                0.9740503923308121
            ]
        ],
        "kf_euler_angles": [
            0.22506567440255557,
            0.03867858694234802,
            -0.03252288095011816
        ]
    },
    {
        "frame": 18,
        "object_rotation_in_cam": [
            [
                0.9990231352395842,
                0.03854904793344163,
                0.021604308817843004
            ],
            [
                -0.03306843940831719,
                0.9764560871253101,
                -0.2131665739064815
            ],
            [
                -0.029313027328646296,
                0.21224391821523228,
                0.9767769784395391
            ]
        ],
        "object_translation_in_cam": [
            -0.011640169996142482,
            0.009712738105112875,
            1.0503088563080631
        ],
        "raw_rvec": [
            0.21441413445266194,
            0.02566320474145987,
            -0.03609643354932642
        ],
        "refined_raw_rvec": [
            0.21441413445266194,
            0.02566320474145987,
            -0.03609643354932642
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            0.3340986371040344,
            1.2743010520935059,
            0.41532450914382935,
            1.478864312171936,
            2.119694709777832,
            4.732483863830566,
            0.4970928430557251,
            1.6169289350509644,
            1.2114768028259277,
            1.8234742879867554
        ],
        "mean_reprojection_error": 1.550373911857605,
        "std_reprojection_error": 1.2083959579467773,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                361
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                405
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9990956783294678,
            0.9996097683906555,
            0.9974744319915771,
            0.9112758040428162,
            0.6974933743476868,
            0.22569119930267334,
            0.9243212938308716,
            0.7530823349952698,
            0.633089542388916,
            0.7926743626594543,
            0.3507457375526428,
            0.1444924771785736
        ],
        "kf_translation_vector": [
            -0.011686596075652192,
            0.009457556753739518,
            1.0507039661455126
        ],
        "kf_rotation_matrix": [
            [
                0.99895857309713,
                0.039085920443796274,
                0.02353848038441038
            ],
            [
                -0.03292369933849141,
                0.9746736029998797,
                -0.2211953833991604
            ],
            [
                -0.03158796064348985,
                0.22019005072503653,
                0.9749454047812581
            ]
        ],
        "kf_euler_angles": [
            0.22212200118224576,
            0.031593216077519276,
            -0.03294609713654549
        ]
    },
    {
        "frame": 19,
        "object_rotation_in_cam": [
            [
                0.9989887659338099,
                0.03804350324613765,
                0.02396116438749622
            ],
            [
                -0.03180054476142569,
                0.9746208008457377,
                -0.2215920122921615
            ],
            [
                -0.03178318566349296,
                0.22060595281989562,
                0.9748450352181652
            ]
        ],
        "object_translation_in_cam": [
            -0.011362867080043823,
            0.008890445378910728,
            1.0521412782433202
        ],
        "raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "refined_raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.1563265174627304,
            0.8368683457374573,
            0.5290385484695435,
            1.6291029453277588,
            2.0586791038513184,
            0.39028170704841614,
            0.8158354759216309,
            1.7675049304962158,
            1.0800738334655762
        ],
        "mean_reprojection_error": 1.0293012857437134,
        "std_reprojection_error": 0.6209486126899719,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9991714954376221,
            0.999590277671814,
            0.9976140856742859,
            0.8959510922431946,
            0.5557144284248352,
            0.8512484431266785,
            0.8407837152481079,
            0.570752739906311,
            0.7729372978210449,
            0.5414769053459167,
            0.260390043258667
        ],
        "kf_translation_vector": [
            -0.011566934829290484,
            0.009172154641557725,
            1.0511143491761559
        ],
        "kf_rotation_matrix": [
            [
                0.9990511330903044,
                0.038111982183363285,
                0.021078668957831587
            ],
            [
                -0.032432660704551544,
                0.9740536355200303,
                -0.22398133326202713
            ],
            [
                -0.029068126712987405,
                0.2230851674680924,
                0.9743654612439476
            ]
        ],
        "kf_euler_angles": [
            0.22507500487210227,
            0.029072221818228192,
            -0.032452067256464774
        ]
    },
    {
        "frame": 20,
        "object_rotation_in_cam": [
            [
                0.9989887659338099,
                0.03804350324613765,
                0.02396116438749622
            ],
            [
                -0.03180054476142569,
                0.9746208008457377,
                -0.2215920122921615
            ],
            [
                -0.03178318566349296,
                0.22060595281989562,
                0.9748450352181652
            ]
        ],
        "object_translation_in_cam": [
            -0.011362867080043823,
            0.008890445378910728,
            1.0521412782433202
        ],
        "raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "refined_raw_rvec": [
            0.22301822199413485,
            0.02811411814488988,
            -0.03522516300945108
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.1563265174627304,
            0.8368683457374573,
            0.5290385484695435,
            1.6291029453277588,
            2.0586791038513184,
            0.39028170704841614,
            0.8158354759216309,
            1.7675049304962158,
            1.0800738334655762
        ],
        "mean_reprojection_error": 1.0293012857437134,
        "std_reprojection_error": 0.6209486126899719,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                388,
                405
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9991784691810608,
            0.9996018409729004,
            0.9970099925994873,
            0.8766123652458191,
            0.5626728534698486,
            0.8981122970581055,
            0.7238056659698486,
            0.6112878322601318,
            0.7203635573387146,
            0.4889003336429596,
            0.13723818957805634
        ],
        "kf_translation_vector": [
            -0.011495503213800246,
            0.009009665814533397,
            1.0513728775365139
        ],
        "kf_rotation_matrix": [
            [
                0.9990969485926007,
                0.03757076564614421,
                0.019842501901640504
            ],
            [
                -0.0321422131227853,
                0.9737495959595945,
                -0.22534108037394318
            ],
            [
                -0.02778786513072829,
                0.22449980386915483,
                0.9740778575730933
            ]
        ],
        "kf_euler_angles": [
            0.22651870565640017,
            0.02779144251214009,
            -0.03216017333386166
        ]
    },
    {
        "frame": 21,
        "object_rotation_in_cam": [
            [
                0.9990320528424523,
                0.03829240968984249,
                0.021648296781521678
            ],
            [
                -0.032753994661556166,
                0.9760705484806745,
                -0.21497316163266977
            ],
            [
                -0.029362105290771205,
                0.21405601077470465,
                0.9763799931502658
            ]
        ],
        "object_translation_in_cam": [
            -0.011643866986152796,
            0.009539468897082539,
            1.0505404250206178
        ],
        "raw_rvec": [
            0.21626621010558061,
            0.025713464355429958,
            -0.03581326771904501
        ],
        "refined_raw_rvec": [
            0.21626621010558061,
            0.025713464355429958,
            -0.03581326771904501
        ],
        "num_inliers": 10,
        "total_matches": 12,
        "inlier_ratio": 0.8333333333333334,
        "reprojection_errors": [
            0.26036950945854187,
            1.1966936588287354,
            0.4401206374168396,
            1.4935442209243774,
            2.1254756450653076,
            3.968391180038452,
            0.37599945068359375,
            1.4891927242279053,
            1.2633317708969116,
            1.681054949760437
        ],
        "mean_reprojection_error": 1.429417371749878,
        "std_reprojection_error": 1.0265820026397705,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9994152784347534,
            0.9981924891471863,
            0.9968671798706055,
            0.918721079826355,
            0.5674096345901489,
            0.25333571434020996,
            0.8637745380401611,
            0.7352522611618042,
            0.6939882040023804,
            0.7736239433288574,
            0.5500938892364502,
            0.11747143417596817
        ],
        "kf_translation_vector": [
            -0.011608155637201464,
            0.009278261106614276,
            1.050654864514461
        ],
        "kf_rotation_matrix": [
            [
                0.9991363529333264,
                0.037434545559705885,
                0.018033386976097878
            ],
            [
                -0.03249858127546923,
                0.974451528659232,
                -0.22223424693050262
            ],
            [
                -0.02589189954740889,
                0.22145625548271194,
                0.9748265160762722
            ]
        ],
        "kf_euler_angles": [
            0.22338371254059128,
            0.025894793367573186,
            -0.03251520921253222
        ]
    },
    {
        "frame": 22,
        "object_rotation_in_cam": [
            [
                0.9782723720014047,
                0.08298909958921546,
                0.18998940898933447
            ],
            [
                -0.026828082665931157,
                0.9593573643808658,
                -0.2809158261626933
            ],
            [
                -0.2055806901418888,
                0.269715140022895,
                0.9407392428740362
            ]
        ],
        "object_translation_in_cam": [
            -0.010017969913532019,
            0.008606690929418912,
            1.0622228545828754
        ],
        "raw_rvec": [
            0.28103603883996714,
            0.20189466370458875,
            -0.05604949193349763
        ],
        "refined_raw_rvec": [
            0.28103603883996714,
            0.20189466370458875,
            -0.05604949193349763
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.850484848022461,
            0.8699564933776855,
            1.293302059173584,
            0.9880974888801575,
            3.024200439453125,
            0.37935882806777954,
            0.9728962182998657,
            0.4931183159351349,
            2.6207268238067627
        ],
        "mean_reprojection_error": 1.388015627861023,
        "std_reprojection_error": 0.871677815914154,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999355673789978,
            0.39424461126327515,
            0.9977045059204102,
            0.9962719678878784,
            0.8946349024772644,
            0.29839256405830383,
            0.8860669136047363,
            0.7013043165206909,
            0.5369031429290771,
            0.7797460556030273,
            0.3454349637031555
        ],
        "kf_translation_vector": [
            -0.010791721384522437,
            0.008934144279291095,
            1.056583873532517
        ],
        "kf_rotation_matrix": [
            [
                0.992208405760649,
                0.05944021264401584,
                0.10949584767810093
            ],
            [
                -0.02959509516495613,
                0.9661451189148041,
                -0.25629619493717826
            ],
            [
                -0.12102317910255411,
                0.2510586989489371,
                0.9603764469217152
            ]
        ],
        "kf_euler_angles": [
            0.25569484613554305,
            0.12132057330207177,
            -0.029818658012668375
        ]
    },
    {
        "frame": 23,
        "object_rotation_in_cam": [
            [
                0.9990320528424523,
                0.03829240968984249,
                0.021648296781521678
            ],
            [
                -0.032753994661556166,
                0.9760705484806745,
                -0.21497316163266977
            ],
            [
                -0.029362105290771205,
                0.21405601077470465,
                0.9763799931502658
            ]
        ],
        "object_translation_in_cam": [
            -0.011643866986152796,
            0.009539468897082539,
            1.0505404250206178
        ],
        "raw_rvec": [
            0.21626621010558061,
            0.025713464355429958,
            -0.03581326771904501
        ],
        "refined_raw_rvec": [
            0.21626621010558061,
            0.025713464355429958,
            -0.03581326771904501
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.26036950945854187,
            1.1966936588287354,
            0.4401206374168396,
            1.4935442209243774,
            2.1254756450653076,
            3.968391180038452,
            0.37599945068359375,
            1.4891927242279053,
            1.2633317708969116,
            1.681054949760437
        ],
        "mean_reprojection_error": 1.429417371749878,
        "std_reprojection_error": 1.0265820026397705,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9995331764221191,
            0.9986714720726013,
            0.9975782036781311,
            0.9278406500816345,
            0.4720577895641327,
            0.5853676795959473,
            0.9215481877326965,
            0.7988796234130859,
            0.7687643766403198,
            0.7844284772872925,
            0.3766094148159027
        ],
        "kf_translation_vector": [
            -0.011179389655748747,
            0.00923173890936974,
            1.0538422322750887
        ],
        "kf_rotation_matrix": [
            [
                0.996111010255041,
                0.04983948393861708,
                0.07265590884032731
            ],
            [
                -0.03098398722482365,
                0.9701114316751402,
                -0.24067364348607356
            ],
            [
                -0.08247937793372102,
                0.23748649640335767,
                0.9678829041995342
            ]
        ],
        "kf_euler_angles": [
            0.240613434217878,
            0.08257318115203058,
            -0.031094928355564364
        ]
    },
    {
        "frame": 24,
        "object_rotation_in_cam": [
            [
                0.9934470272056806,
                0.032366353529407955,
                0.10961488628560008
            ],
            [
                -0.06202060175798458,
                0.9582414392312302,
                0.27915370156535296
            ],
            [
                -0.096002339001574,
                -0.28412279616262764,
                0.953969489872164
            ]
        ],
        "object_translation_in_cam": [
            -0.010988875165393432,
            0.015478893280243312,
            1.0336822214770838
        ],
        "raw_rvec": [
            -0.2861519188789655,
            0.10445627291005412,
            -0.04794982301156434
        ],
        "refined_raw_rvec": [
            -0.2861519188789655,
            0.10445627291005412,
            -0.04794982301156434
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.7835438251495361,
            0.9047946929931641,
            1.9437572956085205,
            4.591159343719482,
            2.6926774978637695,
            4.249988079071045,
            1.050680160522461,
            1.1146670579910278,
            2.6474316120147705
        ],
        "mean_reprojection_error": 2.3309667110443115,
        "std_reprojection_error": 1.274719476699829,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9985328912734985,
            0.9975387454032898,
            0.996541440486908,
            0.8330804109573364,
            0.45742708444595337,
            0.8713275790214539,
            0.6865024566650391,
            0.6223997473716736,
            0.624264657497406,
            0.3261125683784485
        ],
        "kf_translation_vector": [
            -0.011071804144773269,
            0.012537065432107966,
            1.0433023139369515
        ],
        "kf_rotation_matrix": [
            [
                0.9944794653484997,
                0.04414752305858814,
                0.09519237998891268
            ],
            [
                -0.04720946944202,
                0.9984296989214027,
                0.03015629796112778
            ],
            [
                -0.0937115734323413,
                -0.034483800827472134,
                0.9950020143121953
            ]
        ],
        "kf_euler_angles": [
            -0.034643150473748524,
            0.09384927862188247,
            -0.04743592607126022
        ]
    },
    {
        "frame": 25,
        "object_rotation_in_cam": [
            [
                0.9990255402645195,
                0.0381818622533786,
                0.022138547695113645
            ],
            [
                -0.03246101959452521,
                0.9755010139590269,
                -0.2175868883269262
            ],
            [
                -0.02990404832240361,
                0.21665621883475772,
                0.9757898496777658
            ]
        ],
        "object_translation_in_cam": [
            -0.01166566392611168,
            0.00932328949625763,
            1.0523888190740045
        ],
        "raw_rvec": [
            0.21893750769537987,
            0.02623893408590206,
            -0.0356168612307773
        ],
        "refined_raw_rvec": [
            0.21893750769537987,
            0.02623893408590206,
            -0.0356168612307773
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.6755200624465942,
            1.2685463428497314,
            0.7606464624404907,
            1.5531078577041626,
            2.138845443725586,
            4.062600612640381,
            0.24613626301288605,
            1.2858227491378784,
            1.3051388263702393,
            2.476961374282837
        ],
        "mean_reprojection_error": 1.577332615852356,
        "std_reprojection_error": 1.0396400690078735,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986497163772583,
            0.9968180060386658,
            0.9972140789031982,
            0.8394020199775696,
            0.6430420875549316,
            0.5279137492179871,
            0.8871873021125793,
            0.7929806113243103,
            0.696768581867218,
            0.5484980344772339,
            0.3339589834213257
        ],
        "kf_translation_vector": [
            -0.011362062601872227,
            0.011305552091095608,
            1.0467381339421231
        ],
        "kf_rotation_matrix": [
            [
                0.9969760597088819,
                0.04582596026551601,
                0.06275920436951891
            ],
            [
                -0.041545026049008414,
                0.9968269751581672,
                -0.06789692487591499
            ],
            [
                -0.06567150963651519,
                0.065084275848793,
                0.9957164706176649
            ]
        ],
        "kf_euler_angles": [
            0.06527141417923202,
            0.06571880558607138,
            -0.04164694163337054
        ]
    },
    {
        "frame": 26,
        "object_rotation_in_cam": [
            [
                0.99850838453192,
                0.039930921981393655,
                0.037236104645508215
            ],
            [
                -0.0309067745153377,
                0.975590590584457,
                -0.2174115241934715
            ],
            [
                -0.0450086359326014,
                0.21593638191093742,
                0.9753695205708964
            ]
        ],
        "object_translation_in_cam": [
            -0.011457832470756081,
            0.008680010375432071,
            1.055365178327216
        ],
        "raw_rvec": [
            0.2185174072272246,
            0.041472237931788114,
            -0.03572019053135861
        ],
        "refined_raw_rvec": [
            0.2185174072272246,
            0.041472237931788114,
            -0.03572019053135861
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.7084413766860962,
            0.9766870737075806,
            0.9148802161216736,
            0.18671900033950806,
            0.6808735728263855,
            0.704981803894043,
            1.7091482877731323,
            1.8459641933441162
        ],
        "mean_reprojection_error": 0.9659619331359863,
        "std_reprojection_error": 0.5186975002288818,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9992220401763916,
            0.9979572892189026,
            0.9980747103691101,
            0.8437774777412415,
            0.849676787853241,
            0.7733089327812195,
            0.739573061466217,
            0.7548258304595947,
            0.2555290758609772
        ],
        "kf_translation_vector": [
            -0.011432405843882153,
            0.010205289715687255,
            1.0504166459571274
        ],
        "kf_rotation_matrix": [
            [
                0.9977314349453764,
                0.04404696044313129,
                0.050910205239828886
            ],
            [
                -0.037167158213963124,
                0.9909524690146859,
                -0.1289643613716449
            ],
            [
                -0.05613008170436337,
                0.12677960967529128,
                0.9903415292203201
            ]
        ],
        "kf_euler_angles": [
            0.12732353207505057,
            0.05615959734535445,
            -0.03723444916159862
        ]
    },
    {
        "frame": 27,
        "object_rotation_in_cam": [
            [
                0.9921577971962068,
                0.028591526878600667,
                0.12167756594179918
            ],
            [
                -0.06464634527223634,
                0.950550458031843,
                0.30376747156072575
            ],
            [
                -0.10697549021020394,
                -0.30925127538330993,
                0.9449443862831731
            ]
        ],
        "object_translation_in_cam": [
            -0.01131777706366778,
            0.015721633093290915,
            1.0325788222948276
        ],
        "raw_rvec": [
            -0.3123807686652508,
            0.11651653035815272,
            -0.0475119534539289
        ],
        "refined_raw_rvec": [
            -0.3123807686652508,
            0.11651653035815272,
            -0.0475119534539289
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.865789771080017,
            0.8841370344161987,
            1.9790453910827637,
            4.8901872634887695,
            3.006751298904419,
            4.630098342895508,
            0.6939257979393005,
            0.6362055540084839,
            2.925200939178467
        ],
        "mean_reprojection_error": 2.3901491165161133,
        "std_reprojection_error": 1.512891411781311,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988763332366943,
            0.9973822832107544,
            0.9955121874809265,
            0.7480199933052063,
            0.4500361382961273,
            0.8353123068809509,
            0.7175133228302002,
            0.6396248936653137,
            0.7159489989280701,
            0.4930095076560974
        ],
        "kf_translation_vector": [
            -0.011403753547508446,
            0.013097749349353309,
            1.0411219257354993
        ],
        "kf_rotation_matrix": [
            [
                0.9953207878152639,
                0.0429473989721531,
                0.08655663038917966
            ],
            [
                -0.05160705976941173,
                0.9936048698204856,
                0.10042944812639489
            ],
            [
                -0.08168990589270331,
                -0.10442645062694882,
                0.9911719707925051
            ]
        ],
        "kf_euler_angles": [
            -0.10496929780837802,
            0.08178103588618969,
            -0.051803286177177145
        ]
    },
    {
        "frame": 28,
        "object_rotation_in_cam": [
            [
                0.9984412428598042,
                0.040478117996128014,
                0.03842663815715727
            ],
            [
                -0.031198746526303674,
                0.9756508356506408,
                -0.2170992517476595
            ],
            [
                -0.04627875075838815,
                0.21556198379514355,
                0.9753928994874554
            ]
        ],
        "object_translation_in_cam": [
            -0.01128179508210792,
            0.00870394212641859,
            1.0559643862965882
        ],
        "raw_rvec": [
            0.21817054438302413,
            0.04271291091908344,
            -0.03614324387741492
        ],
        "refined_raw_rvec": [
            0.21817054438302413,
            0.04271291091908344,
            -0.03614324387741492
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.7749490737915039,
            0.9188065528869629,
            0.8884679079055786,
            0.08704522997140884,
            0.6648873090744019,
            0.4990342855453491,
            1.7969245910644531,
            1.8155056238174438
        ],
        "mean_reprojection_error": 0.9307025671005249,
        "std_reprojection_error": 0.5621559619903564,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9989052414894104,
            0.31410717964172363,
            0.9971284866333008,
            0.9948808550834656,
            0.7658339738845825,
            0.8959143161773682,
            0.7419788837432861,
            0.7246211171150208,
            0.7169682383537292,
            0.38864994049072266
        ],
        "kf_translation_vector": [
            -0.011367800345929867,
            0.01131197077693034,
            1.0472733254050215
        ],
        "kf_rotation_matrix": [
            [
                0.9968360614944216,
                0.04510984806532132,
                0.06544438946016067
            ],
            [
                -0.043454203031093666,
                0.9987037465508397,
                -0.02650582698669907
            ],
            [
                -0.06655523077281042,
                0.023578130393225868,
                0.9975041218079943
            ]
        ],
        "kf_euler_angles": [
            0.023632725126324406,
            0.06660446446900072,
            -0.04356454495690621
        ]
    },
    {
        "frame": 29,
        "object_rotation_in_cam": [
            [
                0.9992604590679334,
                0.03769522818092033,
                0.0075897770541255485
            ],
            [
                -0.035429198246710314,
                0.9793082990147566,
                -0.199248657191007
            ],
            [
                -0.014943455254333904,
                0.198832404937456,
                0.9799195721546995
            ]
        ],
        "object_translation_in_cam": [
            -0.014466210142439042,
            0.010679489917902255,
            1.0327147163602957
        ],
        "raw_rvec": [
            0.20042915085690854,
            0.011345218467560621,
            -0.036817291979237214
        ],
        "refined_raw_rvec": [
            0.20042915085690854,
            0.011345218467560621,
            -0.036817291979237214
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            1.1911628246307373,
            5.446413993835449,
            0.9171074032783508,
            0.9658604264259338,
            2.2143502235412598,
            2.8004860877990723,
            1.4783087968826294,
            4.737794399261475
        ],
        "mean_reprojection_error": 2.468935489654541,
        "std_reprojection_error": 1.638188362121582,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9986848831176758,
            0.30182892084121704,
            0.9961717128753662,
            0.9951976537704468,
            0.8272765278816223,
            0.47910159826278687,
            0.8681846857070923,
            0.7213759422302246,
            0.6382142901420593,
            0.7572757601737976
        ],
        "kf_translation_vector": [
            -0.012929489161182691,
            0.011180957919452861,
            1.0395326291940985
        ],
        "kf_rotation_matrix": [
            [
                0.9983181161956601,
                0.044263419973445586,
                0.03743913097018769
            ],
            [
                -0.0404520660155577,
                0.9944557597126785,
                -0.09706375394220111
            ],
            [
                -0.041527933136883306,
                0.09538601378888614,
                0.9945737474631254
            ]
        ],
        "kf_euler_angles": [
            0.09561398803989136,
            0.04153987870892518,
            -0.04049806158101873
        ]
    },
    {
        "frame": 30,
        "object_rotation_in_cam": [
            [
                0.9990586604759482,
                0.037850032726457455,
                0.021193582769563794
            ],
            [
                -0.0323352077581848,
                0.9754548338860561,
                -0.21781253725982297
            ],
            [
                -0.02891759442345226,
                0.21692220280767216,
                0.9757604883688558
            ]
        ],
        "object_translation_in_cam": [
            -0.011796291658882662,
            0.00930840988965664,
            1.05208183822087
        ],
        "raw_rvec": [
            0.2191869479801523,
            0.025265328432056106,
            -0.03538637987084573
        ],
        "refined_raw_rvec": [
            0.2191869479801523,
            0.025265328432056106,
            -0.03538637987084573
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.5995493531227112,
            1.3173960447311401,
            0.8345954418182373,
            1.5210449695587158,
            2.1808531284332275,
            4.5640869140625,
            0.3817570209503174,
            1.3945987224578857,
            1.2156473398208618,
            2.494685649871826
        ],
        "mean_reprojection_error": 1.6504215002059937,
        "std_reprojection_error": 1.150874376296997,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                390
            ],
            [
                595,
                386
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993327260017395,
            0.9964158535003662,
            0.9963701963424683,
            0.8757426142692566,
            0.6045375466346741,
            0.4425421953201294,
            0.8598858714103699,
            0.6911740303039551,
            0.6345605254173279,
            0.6730899214744568,
            0.28209513425827026
        ],
        "kf_translation_vector": [
            -0.012561550217753065,
            0.010411505582389463,
            1.0444160179570223
        ],
        "kf_rotation_matrix": [
            [
                0.9987674682024843,
                0.04154398027778906,
                0.027159568536305703
            ],
            [
                -0.03700373524953796,
                0.9879337378845624,
                -0.15039166574986457
            ],
            [
                -0.033079722459260656,
                0.14920129775613736,
                0.9882533605861924
            ]
        ],
        "kf_euler_angles": [
            0.1498431055285908,
            0.03308575844580959,
            -0.03703246170882402
        ]
    },
    {
        "frame": 31,
        "object_rotation_in_cam": [
            [
                0.9778925241655249,
                0.0841682470841473,
                0.191420786133482
            ],
            [
                -0.02660568874156292,
                0.9580563604333481,
                -0.2853421587494454
            ],
            [
                -0.2074086509954814,
                0.2739410820158024,
                0.9391155067808464
            ]
        ],
        "object_translation_in_cam": [
            -0.010006024567285733,
            0.008371930023096798,
            1.0637461007068638
        ],
        "raw_rvec": [
            0.28561398958192513,
            0.20367366371510792,
            -0.05656987988694828
        ],
        "refined_raw_rvec": [
            0.28561398958192513,
            0.20367366371510792,
            -0.05656987988694828
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.4934797286987305,
            0.9141616821289062,
            1.4160252809524536,
            0.6534603238105774,
            3.1815977096557617,
            0.4252612590789795,
            0.9261056780815125,
            0.6459437012672424,
            3.2452566623687744
        ],
        "mean_reprojection_error": 1.4334769248962402,
        "std_reprojection_error": 1.0063477754592896,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9997268915176392,
            0.3562121093273163,
            0.9995386600494385,
            0.9979017376899719,
            0.8482092618942261,
            0.3474941551685333,
            0.8224148750305176,
            0.6525787711143494,
            0.5850103497505188,
            0.6821933388710022,
            0.42160090804100037
        ],
        "kf_translation_vector": [
            -0.011448143179620812,
            0.00947304136793413,
            1.0531963653372192
        ],
        "kf_rotation_matrix": [
            [
                0.9927492984219717,
                0.05633591580686574,
                0.10618425058776242
            ],
            [
                -0.03212859662591024,
                0.9755938098915257,
                -0.2172198687509662
            ],
            [
                -0.1158299778189245,
                0.21223332135067566,
                0.9703300642291406
            ]
        ],
        "kf_euler_angles": [
            0.21533175424301398,
            0.11609056126787898,
            -0.03235196113399896
        ]
    },
    {
        "frame": 32,
        "object_rotation_in_cam": [
            [
                0.9930465043147231,
                0.032127128134661745,
                0.11325408560457227
            ],
            [
                -0.06478950894750374,
                0.9523872135953748,
                0.29792770081074926
            ],
            [
                -0.09829018159841853,
                -0.3031937384212561,
                0.9478462940706647
            ]
        ],
        "object_translation_in_cam": [
            -0.011128869011665014,
            0.015684184646322825,
            1.0337002921390406
        ],
        "raw_rvec": [
            -0.3060234696052897,
            0.10769456286116927,
            -0.049339057978456224
        ],
        "refined_raw_rvec": [
            -0.3060234696052897,
            0.10769456286116927,
            -0.049339057978456224
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.558118224143982,
            0.920525312423706,
            1.3733279705047607,
            5.014188766479492,
            2.9472122192382812,
            4.565262794494629,
            0.8777477741241455,
            1.258088231086731,
            2.867976188659668
        ],
        "mean_reprojection_error": 2.3758277893066406,
        "std_reprojection_error": 1.476046085357666,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999789834022522,
            0.9991180896759033,
            0.998424768447876,
            0.753257691860199,
            0.35678908228874207,
            0.833899199962616,
            0.7705075740814209,
            0.6365277171134949,
            0.7203019857406616,
            0.4319094121456146
        ],
        "kf_translation_vector": [
            -0.011303597235411076,
            0.012445928831752674,
            1.0440232295646814
        ],
        "kf_rotation_matrix": [
            [
                0.9924438807376407,
                0.04416904487337666,
                0.1144737483503768
            ],
            [
                -0.04757874678553909,
                0.9984963872354577,
                0.02722549415633159
            ],
            [
                -0.1130991000880613,
                -0.032466292561863785,
                0.9930531372522612
            ]
        ],
        "kf_euler_angles": [
            -0.03268176843780009,
            0.11334161473743552,
            -0.04790431700533144
        ]
    },
    {
        "frame": 33,
        "object_rotation_in_cam": [
            [
                0.9772958222766225,
                0.08457148534933262,
                0.1942692451894225
            ],
            [
                -0.02688106820899094,
                0.9589671898804522,
                -0.282239857044912
            ],
            [
                -0.2101672760745686,
                0.27060966833909755,
                0.9394680002367296
            ]
        ],
        "object_translation_in_cam": [
            -0.010074778931841478,
            0.008582897856558781,
            1.0632643294559487
        ],
        "raw_rvec": [
            0.2822961226217427,
            0.20651344815779224,
            -0.056909922648396775
        ],
        "refined_raw_rvec": [
            0.2822961226217427,
            0.20651344815779224,
            -0.056909922648396775
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.4572389125823975,
            0.6590723991394043,
            1.5021982192993164,
            0.653214693069458,
            3.1057043075561523,
            0.34221404790878296,
            0.9848286509513855,
            0.6258249282836914,
            2.7315444946289062
        ],
        "mean_reprojection_error": 1.3402044773101807,
        "std_reprojection_error": 0.9226331114768982,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9997588992118835,
            0.39489883184432983,
            0.998976469039917,
            0.9982766509056091,
            0.8499761819839478,
            0.4220438301563263,
            0.8299702405929565,
            0.7383095622062683,
            0.6467405557632446,
            0.8103821277618408,
            0.4777630567550659
        ],
        "kf_translation_vector": [
            -0.010706877394165966,
            0.010846170067250995,
            1.0526376834389741
        ],
        "kf_rotation_matrix": [
            [
                0.9855254062883878,
                0.055476149940307716,
                0.16019385240360723
            ],
            [
                -0.03874910590917075,
                0.9936410345857187,
                -0.10571660786585335
            ],
            [
                -0.165039935625739,
                0.09797903436563986,
                0.9814081355243744
            ]
        ],
        "kf_euler_angles": [
            0.09950543800395951,
            0.16579850205421048,
            -0.039297978984226704
        ]
    },
    {
        "frame": 34,
        "object_rotation_in_cam": [
            [
                0.9984783904640431,
                0.04100027916442684,
                0.03687656281126247
            ],
            [
                -0.032317900147794155,
                0.9769251568315317,
                -0.21112269247933652
            ],
            [
                -0.04468173123739865,
                0.2096096731024748,
                0.9767637011250482
            ]
        ],
        "object_translation_in_cam": [
            -0.011808562286722581,
            0.009368149737200198,
            1.055318540473644
        ],
        "raw_rvec": [
            0.21205945829677808,
            0.04110738576446733,
            -0.036954165308283986
        ],
        "refined_raw_rvec": [
            0.21205945829677808,
            0.04110738576446733,
            -0.036954165308283986
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.2770729959011078,
            1.5685755014419556,
            0.376396507024765,
            0.5689297318458557,
            4.364764213562012,
            0.40878307819366455,
            1.3050408363342285,
            1.0180673599243164,
            2.3627753257751465
        ],
        "mean_reprojection_error": 1.3611562252044678,
        "std_reprojection_error": 1.2413437366485596,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.9998494982719421,
            0.9991303086280823,
            0.9983706474304199,
            0.7980656623840332,
            0.46524399518966675,
            0.9024614095687866,
            0.7575029730796814,
            0.7771663665771484,
            0.7029496431350708,
            0.5217673182487488,
            0.11137333512306213
        ],
        "kf_translation_vector": [
            -0.01117260872249054,
            0.010220557714286503,
            1.0541688249376597
        ],
        "kf_rotation_matrix": [
            [
                0.9924505384201482,
                0.053238051302531335,
                0.11048818345446201
            ],
            [
                -0.035985461666399154,
                0.9876257022622121,
                -0.15264507453477946
            ],
            [
                -0.11724749608505049,
                0.14751671811893494,
                0.9820854558220505
            ]
        ],
        "kf_euler_angles": [
            0.1490929919339865,
            0.1175178046859925,
            -0.03624332127357805
        ]
    },
    {
        "frame": 35,
        "object_rotation_in_cam": [
            [
                0.9930465043147231,
                0.032127128134661745,
                0.11325408560457227
            ],
            [
                -0.06478950894750374,
                0.9523872135953748,
                0.29792770081074926
            ],
            [
                -0.09829018159841853,
                -0.3031937384212561,
                0.9478462940706647
            ]
        ],
        "object_translation_in_cam": [
            -0.011128869011665014,
            0.015684184646322825,
            1.0337002921390406
        ],
        "raw_rvec": [
            -0.3060234696052897,
            0.10769456286116927,
            -0.049339057978456224
        ],
        "refined_raw_rvec": [
            -0.3060234696052897,
            0.10769456286116927,
            -0.049339057978456224
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.558118224143982,
            0.920525312423706,
            1.3733279705047607,
            5.014188766479492,
            2.9472122192382812,
            4.565262794494629,
            0.8777477741241455,
            1.258088231086731,
            2.867976188659668
        ],
        "mean_reprojection_error": 2.3758277893066406,
        "std_reprojection_error": 1.476046085357666,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999528169631958,
            0.9991264343261719,
            0.9981557130813599,
            0.8478403091430664,
            0.44970205426216125,
            0.8475392460823059,
            0.7390549778938293,
            0.6881590485572815,
            0.7327647805213928,
            0.47939345240592957
        ],
        "kf_translation_vector": [
            -0.01114091251893434,
            0.012838994107433931,
            1.0447913300840928
        ],
        "kf_rotation_matrix": [
            [
                0.9924239732819218,
                0.04217463068731207,
                0.11539479096437663
            ],
            [
                -0.04962734466821235,
                0.9968108609130616,
                0.06249187328719973
            ],
            [
                -0.1123912092492371,
                -0.0677451702496186,
                0.9913520101312876
            ]
        ],
        "kf_euler_angles": [
            -0.06823006487868993,
            0.11262918136367601,
            -0.04996457319819693
        ]
    },
    {
        "frame": 36,
        "object_rotation_in_cam": [
            [
                0.9930465043147231,
                0.032127128134661745,
                0.11325408560457227
            ],
            [
                -0.06478950894750374,
                0.9523872135953748,
                0.29792770081074926
            ],
            [
                -0.09829018159841853,
                -0.3031937384212561,
                0.9478462940706647
            ]
        ],
        "object_translation_in_cam": [
            -0.011128869011665014,
            0.015684184646322825,
            1.0337002921390406
        ],
        "raw_rvec": [
            -0.3060234696052897,
            0.10769456286116927,
            -0.049339057978456224
        ],
        "refined_raw_rvec": [
            -0.3060234696052897,
            0.10769456286116927,
            -0.049339057978456224
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.558118224143982,
            0.920525312423706,
            1.3733279705047607,
            5.014188766479492,
            2.9472122192382812,
            4.565262794494629,
            0.8777477741241455,
            1.258088231086731,
            2.867976188659668
        ],
        "mean_reprojection_error": 2.3758277893066406,
        "std_reprojection_error": 1.476046085357666,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9997063875198364,
            0.9986450672149658,
            0.9982122182846069,
            0.764912486076355,
            0.4859454929828644,
            0.8555166721343994,
            0.7851725816726685,
            0.6589803099632263,
            0.6365563869476318,
            0.3971098065376282
        ],
        "kf_translation_vector": [
            -0.011123098999387003,
            0.014452513684658497,
            1.0389803733450567
        ],
        "kf_rotation_matrix": [
            [
                0.9923434638930411,
                0.03534142548067821,
                0.11834455337595506
            ],
            [
                -0.05804315396079214,
                0.979228325454972,
                0.194275265808428
            ],
            [
                -0.10902037399974551,
                -0.19965688135309845,
                0.9737821562245379
            ]
        ],
        "kf_euler_angles": [
            -0.20222967893643837,
            0.10923749650588918,
            -0.05842442589118749
        ]
    },
    {
        "frame": 37,
        "object_rotation_in_cam": [
            [
                0.9920862336099214,
                0.028554970735799316,
                0.12226822452280076
            ],
            [
                -0.06495118021803131,
                0.9500943438569559,
                0.3051263377017874
            ],
            [
                -0.10745347490874918,
                -0.31065310463167434,
                0.9444301982215185
            ]
        ],
        "object_translation_in_cam": [
            -0.011501023822898752,
            0.01572423125594148,
            1.0332973052077017
        ],
        "raw_rvec": [
            -0.31384352547189454,
            0.11708196648102812,
            -0.04765716107288544
        ],
        "refined_raw_rvec": [
            -0.31384352547189454,
            0.11708196648102812,
            -0.04765716107288544
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5758332014083862,
            0.9636154770851135,
            1.338891625404358,
            4.790610313415527,
            3.063835382461548,
            4.6916399002075195,
            1.3510161638259888,
            0.8148472905158997,
            2.890033006668091
        ],
        "mean_reprojection_error": 2.386702537536621,
        "std_reprojection_error": 1.4578267335891724,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994295835494995,
            0.9976308941841125,
            0.9963393807411194,
            0.8677409291267395,
            0.4397108256816864,
            0.8338106870651245,
            0.8108972311019897,
            0.7021141052246094,
            0.6981427073478699,
            0.4644119441509247
        ],
        "kf_translation_vector": [
            -0.011289394325149716,
            0.015448833705098102,
            1.0352398583614901
        ],
        "kf_rotation_matrix": [
            [
                0.9918133091092994,
                0.029628955420326383,
                0.1242114522673395
            ],
            [
                -0.06322418496812476,
                0.9590565360830495,
                0.2760674972384445
            ],
            [
                -0.11094621358468072,
                -0.2816605858068937,
                0.9530783032333388
            ]
        ],
        "kf_euler_angles": [
            -0.287348296199564,
            0.11117509094391946,
            -0.06365991882867642
        ]
    },
    {
        "frame": 38,
        "object_rotation_in_cam": [
            [
                0.9926648356678277,
                0.030742704406465666,
                0.1169248055561403
            ],
            [
                -0.06481267312441097,
                0.951732208477653,
                0.3000085344598006
            ],
            [
                -0.10205802972345093,
                -0.30538613176112916,
                0.9467436131799049
            ]
        ],
        "object_translation_in_cam": [
            -0.011302437477218921,
            0.01570092723729636,
            1.0335459141307497
        ],
        "raw_rvec": [
            -0.30831166597874776,
            0.11152222927111466,
            -0.04866385398417349
        ],
        "refined_raw_rvec": [
            -0.30831166597874776,
            0.11152222927111466,
            -0.04866385398417349
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5577037334442139,
            0.9381178021430969,
            1.3713574409484863,
            4.900313377380371,
            2.998554229736328,
            4.623614311218262,
            1.5782313346862793,
            1.4955989122390747,
            2.881870746612549
        ],
        "mean_reprojection_error": 2.4828178882598877,
        "std_reprojection_error": 1.3793185949325562,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                639,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9992621541023254,
            0.9980879426002502,
            0.9977368116378784,
            0.8486246466636658,
            0.47283676266670227,
            0.8344103693962097,
            0.7597736120223999,
            0.7152537703514099,
            0.6472781300544739,
            0.39472541213035583
        ],
        "kf_translation_vector": [
            -0.011300795726742653,
            0.0160255266478087,
            1.0331179571603368
        ],
        "kf_rotation_matrix": [
            [
                0.9917956181905624,
                0.027047821782641073,
                0.12493945363580959
            ],
            [
                -0.06622064658300185,
                0.9447082587983807,
                0.3211559305450561
            ],
            [
                -0.10934476532568577,
                -0.3267946160739895,
                0.9387486357917781
            ]
        ],
        "kf_euler_angles": [
            -0.33499657430231605,
            0.10956383880112922,
            -0.066669486458848
        ]
    },
    {
        "frame": 39,
        "object_rotation_in_cam": [
            [
                0.9920862336099214,
                0.028554970735799316,
                0.12226822452280076
            ],
            [
                -0.06495118021803131,
                0.9500943438569559,
                0.3051263377017874
            ],
            [
                -0.10745347490874918,
                -0.31065310463167434,
                0.9444301982215185
            ]
        ],
        "object_translation_in_cam": [
            -0.011501023822898752,
            0.01572423125594148,
            1.0332973052077017
        ],
        "raw_rvec": [
            -0.31384352547189454,
            0.11708196648102812,
            -0.04765716107288544
        ],
        "refined_raw_rvec": [
            -0.31384352547189454,
            0.11708196648102812,
            -0.04765716107288544
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5758332014083862,
            0.9636154770851135,
            1.338891625404358,
            4.790610313415527,
            3.063835382461548,
            4.6916399002075195,
            1.3510161638259888,
            0.8148472905158997,
            2.890033006668091
        ],
        "mean_reprojection_error": 2.386702537536621,
        "std_reprojection_error": 1.4578267335891724,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                390
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9992583990097046,
            0.9984878897666931,
            0.9972978830337524,
            0.8037458062171936,
            0.4927738606929779,
            0.818293035030365,
            0.7240827679634094,
            0.7044191360473633,
            0.7007623314857483,
            0.4043383300304413
        ],
        "kf_translation_vector": [
            -0.011401176700562786,
            0.016360432477487964,
            1.0317820004201175
        ],
        "kf_rotation_matrix": [
            [
                0.9915355282539806,
                0.02455714846978943,
                0.1274921278712232
            ],
            [
                -0.06797328311600888,
                0.9348096614567344,
                0.3485836049351385
            ],
            [
                -0.1106206535531702,
                -0.35429908736289256,
                0.9285662214948868
            ]
        ],
        "kf_euler_angles": [
            -0.36450510106476597,
            0.11084751453751163,
            -0.06844646334242975
        ]
    },
    {
        "frame": 40,
        "object_rotation_in_cam": [
            [
                0.9928123659470471,
                0.03208436997558231,
                0.11530047365859572
            ],
            [
                -0.0638023337774874,
                0.9569699525987739,
                0.2830861565453994
            ],
            [
                -0.10125644783011434,
                -0.2884078761517623,
                0.9521386604620449
            ]
        ],
        "object_translation_in_cam": [
            -0.011326131143361378,
            0.015789620106849988,
            1.033947733908628
        ],
        "raw_rvec": [
            -0.2905115742767496,
            0.11008390041326861,
            -0.04874276136890789
        ],
        "refined_raw_rvec": [
            -0.2905115742767496,
            0.11008390041326861,
            -0.04874276136890789
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5371915102005005,
            0.958535373210907,
            1.312880277633667,
            4.670536041259766,
            3.138145685195923,
            4.742085933685303,
            0.5462255477905273,
            0.525377094745636,
            2.9894778728485107
        ],
        "mean_reprojection_error": 2.268939256668091,
        "std_reprojection_error": 1.5752683877944946,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999431312084198,
            0.9969502091407776,
            0.9971002340316772,
            0.91362464427948,
            0.3404478132724762,
            0.7758896350860596,
            0.776727020740509,
            0.6715203523635864,
            0.7705039978027344,
            0.5347788333892822
        ],
        "kf_translation_vector": [
            -0.011382354375753157,
            0.016563986818312545,
            1.0313580738776602
        ],
        "kf_rotation_matrix": [
            [
                0.9917648466173464,
                0.02516130938190962,
                0.12557626178645082
            ],
            [
                -0.06835368275306627,
                0.9331760531987865,
                0.3528600682854732
            ],
            [
                -0.10830633900268523,
                -0.3585378114599958,
                0.927211073426818
            ]
        ],
        "kf_euler_angles": [
            -0.3689747420280269,
            0.10851920822502917,
            -0.06881244132776068
        ]
    },
    {
        "frame": 41,
        "object_rotation_in_cam": [
            [
                0.993140795775555,
                0.03236603153754672,
                0.11235568418557162
            ],
            [
                -0.06137738345602464,
                0.9621956963788915,
                0.26535308302341676
            ],
            [
                -0.09951972953334173,
                -0.2704290699470948,
                0.9575823419221763
            ]
        ],
        "object_translation_in_cam": [
            -0.011364666329599501,
            0.015580559760210206,
            1.0347852388840117
        ],
        "raw_rvec": [
            -0.2718481246488969,
            0.1075025242243667,
            -0.04756405457497247
        ],
        "refined_raw_rvec": [
            -0.2718481246488969,
            0.1075025242243667,
            -0.04756405457497247
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4481204748153687,
            1.0121620893478394,
            1.2650090456008911,
            4.640505790710449,
            2.9290592670440674,
            4.484685897827148,
            0.5534740686416626,
            0.47285014390945435,
            2.7413742542266846
        ],
        "mean_reprojection_error": 2.1719157695770264,
        "std_reprojection_error": 1.5106275081634521,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                373
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990633130073547,
            0.9965881109237671,
            0.9980188012123108,
            0.902987539768219,
            0.42492642998695374,
            0.8545364737510681,
            0.8086832761764526,
            0.6742098927497864,
            0.7192436456680298,
            0.4034717082977295
        ],
        "kf_translation_vector": [
            -0.0113881872525504,
            0.016559040525541455,
            1.03158682726445
        ],
        "kf_rotation_matrix": [
            [
                0.9921024176091203,
                0.026109498507681825,
                0.12268287191705302
            ],
            [
                -0.06729307273274002,
                0.9362112486332309,
                0.34493497980748916
            ],
            [
                -0.10585100536284403,
                -0.3504665348079388,
                0.9305744315439743
            ]
        ],
        "kf_euler_angles": [
            -0.36018415694912764,
            0.10604967548677662,
            -0.06772502129807187
        ]
    },
    {
        "frame": 42,
        "object_rotation_in_cam": [
            [
                0.9920862336099214,
                0.028554970735799316,
                0.12226822452280076
            ],
            [
                -0.06495118021803131,
                0.9500943438569559,
                0.3051263377017874
            ],
            [
                -0.10745347490874918,
                -0.31065310463167434,
                0.9444301982215185
            ]
        ],
        "object_translation_in_cam": [
            -0.011501023822898752,
            0.01572423125594148,
            1.0332973052077017
        ],
        "raw_rvec": [
            -0.31384352547189454,
            0.11708196648102812,
            -0.04765716107288544
        ],
        "refined_raw_rvec": [
            -0.31384352547189454,
            0.11708196648102812,
            -0.04765716107288544
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5758332014083862,
            0.9636154770851135,
            1.338891625404358,
            4.790610313415527,
            3.063835382461548,
            4.6916399002075195,
            1.3510161638259888,
            0.8148472905158997,
            2.890033006668091
        ],
        "mean_reprojection_error": 2.386702537536621,
        "std_reprojection_error": 1.4578267335891724,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                639,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9997332692146301,
            0.9985623955726624,
            0.9979026913642883,
            0.8781821131706238,
            0.5746632814407349,
            0.8927781581878662,
            0.8167182207107544,
            0.7792393565177917,
            0.6968934535980225,
            0.565657913684845
        ],
        "kf_translation_vector": [
            -0.011454629910340403,
            0.016589109220340965,
            1.0311400649395923
        ],
        "kf_rotation_matrix": [
            [
                0.9918349725979818,
                0.024767392900565816,
                0.12509981367080336
            ],
            [
                -0.0681186259941227,
                0.9321857518665623,
                0.35551311763371685
            ],
            [
                -0.10781113079934533,
                -0.3611319707058365,
                0.9262615504326439
            ]
        ],
        "kf_euler_angles": [
            -0.37175295919091034,
            0.1080210832513496,
            -0.06857171603619253
        ]
    },
    {
        "frame": 43,
        "object_rotation_in_cam": [
            [
                0.9928357371631862,
                0.03148401123414713,
                0.11526472161177889
            ],
            [
                -0.06292955727319777,
                0.9578112289549499,
                0.280423823005835
            ],
            [
                -0.10157297786828992,
                -0.28566835093236465,
                0.9529304924508142
            ]
        ],
        "object_translation_in_cam": [
            -0.011350031372482335,
            0.015433233626611762,
            1.0342700630446326
        ],
        "raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "refined_raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.6644266843795776,
            1.701065182685852,
            1.3137255907058716,
            4.9258222579956055,
            2.7619693279266357,
            4.351464748382568,
            0.7654471397399902,
            0.6388731598854065,
            2.5757505893707275
        ],
        "mean_reprojection_error": 2.299838066101074,
        "std_reprojection_error": 1.4237085580825806,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999643862247467,
            0.9995934963226318,
            0.9983425140380859,
            0.8841996192932129,
            0.428628534078598,
            0.8686489462852478,
            0.8161859512329102,
            0.7558769583702087,
            0.7035553455352783,
            0.32568594813346863
        ],
        "kf_translation_vector": [
            -0.01142608306792298,
            0.016442645701253308,
            1.0314014672453184
        ],
        "kf_rotation_matrix": [
            [
                0.9920504457168141,
                0.025738849378755136,
                0.12318045618412102
            ],
            [
                -0.06755639384928613,
                0.9347776186121594,
                0.3487505374789557
            ],
            [
                -0.10616989593642136,
                -0.35429975356248566,
                0.9290853770361535
            ]
        ],
        "kf_euler_angles": [
            -0.36431960288169135,
            0.1063703731882955,
            -0.06799276918130943
        ]
    },
    {
        "frame": 44,
        "object_rotation_in_cam": [
            [
                0.9928357371631862,
                0.03148401123414713,
                0.11526472161177889
            ],
            [
                -0.06292955727319777,
                0.9578112289549499,
                0.280423823005835
            ],
            [
                -0.10157297786828992,
                -0.28566835093236465,
                0.9529304924508142
            ]
        ],
        "object_translation_in_cam": [
            -0.011350031372482335,
            0.015433233626611762,
            1.0342700630446326
        ],
        "raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "refined_raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.6644266843795776,
            1.701065182685852,
            1.3137255907058716,
            4.9258222579956055,
            2.7619693279266357,
            4.351464748382568,
            0.7654471397399902,
            0.6388731598854065,
            2.5757505893707275
        ],
        "mean_reprojection_error": 2.299838066101074,
        "std_reprojection_error": 1.4237085580825806,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9995200634002686,
            0.9996487498283386,
            0.9975225925445557,
            0.872252881526947,
            0.31254732608795166,
            0.7809745073318481,
            0.8080943822860718,
            0.6042434573173523,
            0.6910907030105591,
            0.25264543294906616
        ],
        "kf_translation_vector": [
            -0.011407589630734532,
            0.0163222526073535,
            1.0316520351878973
        ],
        "kf_rotation_matrix": [
            [
                0.9922086606588024,
                0.02653018708790263,
                0.1217297124236575
            ],
            [
                -0.06706460841283146,
                0.9371614226308874,
                0.3423898453968584
            ],
            [
                -0.10499672381602698,
                -0.34788592542029045,
                0.9316389165778601
            ]
        ],
        "kf_euler_angles": [
            -0.35737845417326974,
            0.10519060664630558,
            -0.06748858401724586
        ]
    },
    {
        "frame": 45,
        "object_rotation_in_cam": [
            [
                0.9985710455294412,
                0.04010907135660019,
                0.035314719666873245
            ],
            [
                -0.03216564547478887,
                0.9788202526958681,
                -0.20217884202751507
            ],
            [
                -0.04267596842988902,
                0.20075401691450123,
                0.9787116972894844
            ]
        ],
        "object_translation_in_cam": [
            -0.011966384658876048,
            0.009485793042638689,
            1.0542107906487614
        ],
        "raw_rvec": [
            0.20295345502602116,
            0.039283169038771465,
            -0.03640408858804086
        ],
        "refined_raw_rvec": [
            0.20295345502602116,
            0.039283169038771465,
            -0.03640408858804086
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.26553457975387573,
            1.615638017654419,
            0.43982288241386414,
            0.6596903800964355,
            4.319129943847656,
            0.5925039649009705,
            1.4746801853179932,
            1.743007779121399,
            2.3580546379089355
        ],
        "mean_reprojection_error": 1.496451497077942,
        "std_reprojection_error": 1.1988074779510498,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                639,
                360
            ],
            [
                641,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9991558194160461,
            0.9972193837165833,
            0.9969226717948914,
            0.7662632465362549,
            0.3134700655937195,
            0.666172444820404,
            0.7196916937828064,
            0.5716879963874817,
            0.7190442681312561
        ],
        "kf_translation_vector": [
            -0.011678182413325711,
            0.013493444780692124,
            1.0410331411595795
        ],
        "kf_rotation_matrix": [
            [
                0.995629789927962,
                0.04277262888881347,
                0.08301700805221823
            ],
            [
                -0.05260079326020698,
                0.991371687667588,
                0.12006387233266794
            ],
            [
                -0.07716526392360225,
                -0.12390592846614748,
                0.9892890593423859
            ]
        ],
        "kf_euler_angles": [
            -0.12459862668634919,
            0.07724204966111048,
            -0.05278260659819742
        ]
    },
    {
        "frame": 46,
        "object_rotation_in_cam": [
            [
                0.9985092686355191,
                0.040515045605474795,
                0.036575559169299374
            ],
            [
                -0.03231537684800198,
                0.9788394894704797,
                -0.20206179815180886
            ],
            [
                -0.0439881446316191,
                0.20057862531375825,
                0.9786895617094885
            ]
        ],
        "object_translation_in_cam": [
            -0.011808639795492392,
            0.009494331659540441,
            1.0548266080057125
        ],
        "raw_rvec": [
            0.202808366818653,
            0.04057961456550886,
            -0.03668439175920281
        ],
        "refined_raw_rvec": [
            0.202808366818653,
            0.04057961456550886,
            -0.03668439175920281
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.2864418923854828,
            1.5713484287261963,
            0.40353822708129883,
            0.5808355808258057,
            4.383944511413574,
            0.4155063331127167,
            1.3184471130371094,
            1.0296953916549683,
            2.359377384185791
        ],
        "mean_reprojection_error": 1.3721261024475098,
        "std_reprojection_error": 1.2411320209503174,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9993370175361633,
            0.9971338510513306,
            0.9974092245101929,
            0.7464034557342529,
            0.2707163989543915,
            0.7502650618553162,
            0.7052114605903625,
            0.3995067775249481,
            0.6696175336837769
        ],
        "kf_translation_vector": [
            -0.011774522778606284,
            0.011707591631792868,
            1.047244638808789
        ],
        "kf_rotation_matrix": [
            [
                0.997236858260621,
                0.04488639994932233,
                0.059193408637071745
            ],
            [
                -0.04346040627991599,
                0.9987382288773615,
                -0.02516233822393303
            ],
            [
                -0.06024816688058253,
                0.02252024152846589,
                0.9979293547686776
            ]
        ],
        "kf_euler_angles": [
            0.022563140007405974,
            0.06028467509618188,
            -0.043553266826362284
        ]
    },
    {
        "frame": 47,
        "object_rotation_in_cam": [
            [
                0.9924955986300202,
                0.028944940603061915,
                0.11880520659265355
            ],
            [
                -0.06217740606076521,
                0.9560605343528401,
                0.2864999560707063
            ],
            [
                -0.10529224508762548,
                -0.2917369449803146,
                0.9506855936943404
            ]
        ],
        "object_translation_in_cam": [
            -0.011354029041506088,
            0.015521140525928139,
            1.03340209506688
        ],
        "raw_rvec": [
            -0.2940736306079704,
            0.11396912079777329,
            -0.04634204296585581
        ],
        "refined_raw_rvec": [
            -0.2940736306079704,
            0.11396912079777329,
            -0.04634204296585581
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.7854338884353638,
            0.9370633959770203,
            1.9312365055084229,
            4.859781742095947,
            2.795962333679199,
            4.369906425476074,
            0.7090603113174438,
            0.7000275254249573,
            2.676816701889038
        ],
        "mean_reprojection_error": 2.3072543144226074,
        "std_reprojection_error": 1.4365798234939575,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993296265602112,
            0.997320294380188,
            0.99705570936203,
            0.8464441895484924,
            0.4978639781475067,
            0.8535016775131226,
            0.8714163899421692,
            0.7488122582435608,
            0.7658775448799133,
            0.24897843599319458
        ],
        "kf_translation_vector": [
            -0.011625235461382834,
            0.013336894350457996,
            1.0413604744327105
        ],
        "kf_rotation_matrix": [
            [
                0.9956493701233822,
                0.04242843357034304,
                0.08295878372830359
            ],
            [
                -0.05137387366112619,
                0.9927293081683378,
                0.10885424111473095
            ],
            [
                -0.07773710103909913,
                -0.11264257067547921,
                0.9905900233667088
            ]
        ],
        "kf_euler_angles": [
            -0.11322624897578563,
            0.07781560967536258,
            -0.05155264037089404
        ]
    },
    {
        "frame": 48,
        "object_rotation_in_cam": [
            [
                0.9925150360767309,
                0.0301842034547226,
                0.11833349915983023
            ],
            [
                -0.06264106635253193,
                0.9576230750946937,
                0.2811301172987346
            ],
            [
                -0.10483320069435693,
                -0.28643840508560736,
                0.9523460716169255
            ]
        ],
        "object_translation_in_cam": [
            -0.011338761500217875,
            0.015447556785618667,
            1.0333769413843252
        ],
        "raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "refined_raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.934969425201416,
            1.666811227798462,
            1.9522992372512817,
            4.919710159301758,
            2.767134428024292,
            4.353877067565918,
            0.7526761293411255,
            0.6782192587852478,
            2.6276516914367676
        ],
        "mean_reprojection_error": 2.4059274196624756,
        "std_reprojection_error": 1.3737754821777344,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991587996482849,
            0.9992542266845703,
            0.9970791339874268,
            0.8248156309127808,
            0.31092706322669983,
            0.776167631149292,
            0.8237469792366028,
            0.49619027972221375,
            0.6422649025917053,
            0.26060551404953003
        ],
        "kf_translation_vector": [
            -0.011522563140492359,
            0.014326142578066513,
            1.0376502021652632
        ],
        "kf_rotation_matrix": [
            [
                0.9944615077676847,
                0.038451779511949814,
                0.09781497953170376
            ],
            [
                -0.05653784136918412,
                0.9802594189545171,
                0.18945961058828725
            ],
            [
                -0.08859899582803521,
                -0.193940537803,
                0.9770042403873931
            ]
        ],
        "kf_euler_angles": [
            -0.19595795375704572,
            0.08871532100697711,
            -0.056791584512172526
        ]
    },
    {
        "frame": 49,
        "object_rotation_in_cam": [
            [
                0.9925150360767309,
                0.0301842034547226,
                0.11833349915983023
            ],
            [
                -0.06264106635253193,
                0.9576230750946937,
                0.2811301172987346
            ],
            [
                -0.10483320069435693,
                -0.28643840508560736,
                0.9523460716169255
            ]
        ],
        "object_translation_in_cam": [
            -0.011338761500217875,
            0.015447556785618667,
            1.0333769413843252
        ],
        "raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "refined_raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.934969425201416,
            1.666811227798462,
            1.9522992372512817,
            4.919710159301758,
            2.767134428024292,
            4.353877067565918,
            0.7526761293411255,
            0.6782192587852478,
            2.6276516914367676
        ],
        "mean_reprojection_error": 2.4059274196624756,
        "std_reprojection_error": 1.3737754821777344,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990978240966797,
            0.9993271827697754,
            0.9974673986434937,
            0.8422146439552307,
            0.4164041578769684,
            0.8703147172927856,
            0.8387911915779114,
            0.7476224303245544,
            0.744660496711731,
            0.37904876470565796
        ],
        "kf_translation_vector": [
            -0.011456889331077483,
            0.014940075044682933,
            1.035342229847766
        ],
        "kf_rotation_matrix": [
            [
                0.9936413322347704,
                0.03486525266061403,
                0.10705754075086084
            ],
            [
                -0.05974056140979823,
                0.9692220846866418,
                0.2388296796424648
            ],
            [
                -0.0954356757043864,
                -0.2437067186447509,
                0.9651419932270358
            ]
        ],
        "kf_euler_angles": [
            -0.24733836468293596,
            0.09558114355897772,
            -0.06005057622109752
        ]
    },
    {
        "frame": 50,
        "object_rotation_in_cam": [
            [
                0.9928357371631862,
                0.03148401123414713,
                0.11526472161177889
            ],
            [
                -0.06292955727319777,
                0.9578112289549499,
                0.280423823005835
            ],
            [
                -0.10157297786828992,
                -0.28566835093236465,
                0.9529304924508142
            ]
        ],
        "object_translation_in_cam": [
            -0.011350031372482335,
            0.015433233626611762,
            1.0342700630446326
        ],
        "raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "refined_raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.6644266843795776,
            1.701065182685852,
            1.3137255907058716,
            4.9258222579956055,
            2.7619693279266357,
            4.351464748382568,
            0.7654471397399902,
            0.6388731598854065,
            2.5757505893707275
        ],
        "mean_reprojection_error": 2.299838066101074,
        "std_reprojection_error": 1.4237085580825806,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9987093806266785,
            0.9988683462142944,
            0.9961932897567749,
            0.8789886832237244,
            0.4504415988922119,
            0.8586921691894531,
            0.8406710028648376,
            0.571182906627655,
            0.68025803565979,
            0.32909953594207764
        ],
        "kf_translation_vector": [
            -0.011420076342950313,
            0.015307965507752593,
            1.0343352341353689
        ],
        "kf_rotation_matrix": [
            [
                0.9932423208553952,
                0.03280676332617312,
                0.1113256859033375
            ],
            [
                -0.061827159640140815,
                0.96134409981567,
                0.26831869871559755
            ],
            [
                -0.09821962325635665,
                -0.2733884379955735,
                0.9568759938350004
            ]
        ],
        "kf_euler_angles": [
            -0.27829511488982356,
            0.09837823511984493,
            -0.062167597709760485
        ]
    },
    {
        "frame": 51,
        "object_rotation_in_cam": [
            [
                0.9924894659265039,
                0.029978449717204068,
                0.11859996870773697
            ],
            [
                -0.06492547508065806,
                0.9507785253596354,
                0.30299319860437135
            ],
            [
                -0.10367903698662508,
                -0.3084177171751167,
                0.9455840359386445
            ]
        ],
        "object_translation_in_cam": [
            -0.011326949855921815,
            0.015707553601093514,
            1.0334684520250461
        ],
        "raw_rvec": [
            -0.3114975107199132,
            0.11324520902741474,
            -0.048351011683189955
        ],
        "refined_raw_rvec": [
            -0.3114975107199132,
            0.11324520902741474,
            -0.048351011683189955
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.5763790607452393,
            0.9458705186843872,
            1.341519832611084,
            4.896245002746582,
            3.0019590854644775,
            4.628063201904297,
            0.7065182328224182,
            0.5949856042861938,
            2.8750011920928955
        ],
        "mean_reprojection_error": 2.2851712703704834,
        "std_reprojection_error": 1.5529183149337769,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993208646774292,
            0.9965357780456543,
            0.9976290464401245,
            0.8861310482025146,
            0.5796428322792053,
            0.8849092125892639,
            0.8626314401626587,
            0.7805803418159485,
            0.7548002600669861,
            0.5302581191062927
        ],
        "kf_translation_vector": [
            -0.011386120156829726,
            0.015650198316539753,
            1.0333836704226607
        ],
        "kf_rotation_matrix": [
            [
                0.9928401634831301,
                0.03081520035236688,
                0.1154072493478425
            ],
            [
                -0.06397944148997056,
                0.9530645177266901,
                0.2959301541192163
            ],
            [
                -0.10087140745237491,
                -0.30119503395247926,
                0.9482122708976835
            ]
        ],
        "kf_euler_angles": [
            -0.3075653792523694,
            0.10104325726333328,
            -0.06435184944054914
        ]
    },
    {
        "frame": 52,
        "object_rotation_in_cam": [
            [
                0.992502211794212,
                0.031180496289635876,
                0.11818263931191018
            ],
            [
                -0.06538887700199614,
                0.9523632870569021,
                0.29787323516991343
            ],
            [
                -0.10326497154415372,
                -0.30336767480617427,
                0.9472615264723255
            ]
        ],
        "object_translation_in_cam": [
            -0.011312085059149476,
            0.015636174050392013,
            1.033436748113475
        ],
        "raw_rvec": [
            -0.30614462689985034,
            0.11275845518577444,
            -0.049171961298333594
        ],
        "refined_raw_rvec": [
            -0.30614462689985034,
            0.11275845518577444,
            -0.049171961298333594
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.7648637294769287,
            1.647119402885437,
            1.3535730838775635,
            4.956837177276611,
            2.971834421157837,
            4.6106858253479,
            0.7499056458473206,
            0.5718841552734375,
            2.823028802871704
        ],
        "mean_reprojection_error": 2.383303642272949,
        "std_reprojection_error": 1.4928735494613647,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                406
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993132948875427,
            0.9992862939834595,
            0.9988122582435608,
            0.7098250985145569,
            0.4772239923477173,
            0.792645275592804,
            0.8104278445243835,
            0.5170405507087708,
            0.6806730628013611,
            0.30795928835868835
        ],
        "kf_translation_vector": [
            -0.011357882444026975,
            0.015818667836443305,
            1.0328182292050112
        ],
        "kf_rotation_matrix": [
            [
                0.9925978837939311,
                0.030088770145354493,
                0.11766098333325983
            ],
            [
                -0.06547100283623561,
                0.9485617338857942,
                0.3097485832012689
            ],
            [
                -0.10228875243851228,
                -0.315159170767274,
                0.9435103116584667
            ]
        ],
        "kf_euler_angles": [
            -0.3223759180913431,
            0.10246797190102952,
            -0.06586383515970222
        ]
    },
    {
        "frame": 53,
        "object_rotation_in_cam": [
            [
                0.9928357371631862,
                0.03148401123414713,
                0.11526472161177889
            ],
            [
                -0.06292955727319777,
                0.9578112289549499,
                0.280423823005835
            ],
            [
                -0.10157297786828992,
                -0.28566835093236465,
                0.9529304924508142
            ]
        ],
        "object_translation_in_cam": [
            -0.011350031372482335,
            0.015433233626611762,
            1.0342700630446326
        ],
        "raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "refined_raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.6644266843795776,
            1.701065182685852,
            1.3137255907058716,
            4.9258222579956055,
            2.7619693279266357,
            4.351464748382568,
            0.7654471397399902,
            0.6388731598854065,
            2.5757505893707275
        ],
        "mean_reprojection_error": 2.299838066101074,
        "std_reprojection_error": 1.4237085580825806,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994048476219177,
            0.9993098974227905,
            0.9973468780517578,
            0.8139376640319824,
            0.43138062953948975,
            0.8031179308891296,
            0.8312130570411682,
            0.6055858135223389,
            0.6671437621116638,
            0.20797307789325714
        ],
        "kf_translation_vector": [
            -0.011357280568423132,
            0.015817952125017798,
            1.0328878227317508
        ],
        "kf_rotation_matrix": [
            [
                0.9926083122265668,
                0.029873403156723072,
                0.11762788054947912
            ],
            [
                -0.06522134347353897,
                0.9486790767026702,
                0.30944173245067647
            ],
            [
                -0.10234703148715792,
                -0.3148262841797128,
                0.9436151206585032
            ]
        ],
        "kf_euler_angles": [
            -0.3220251322789156,
            0.10252655842627185,
            -0.06561271204627463
        ]
    },
    {
        "frame": 54,
        "object_rotation_in_cam": [
            [
                0.9928189763410092,
                0.030262989421268118,
                0.11573517913097407
            ],
            [
                -0.06246351789541986,
                0.9562546492292792,
                0.2857890039163803
            ],
            [
                -0.10202347352114123,
                -0.2909659727505546,
                0.9512780947504281
            ]
        ],
        "object_translation_in_cam": [
            -0.011364821619650247,
            0.015506949172526497,
            1.0342945699969561
        ],
        "raw_rvec": [
            -0.29326441029311495,
            0.11072442447796041,
            -0.04714893774115169
        ],
        "refined_raw_rvec": [
            -0.29326441029311495,
            0.11072442447796041,
            -0.04714893774115169
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.485753059387207,
            1.0005735158920288,
            1.290895938873291,
            4.865819454193115,
            2.790886640548706,
            4.367609024047852,
            0.7216184139251709,
            0.6602908372879028,
            2.6252291202545166
        ],
        "mean_reprojection_error": 2.2009639739990234,
        "std_reprojection_error": 1.4782360792160034,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999696671962738,
            0.9986020922660828,
            0.9979040026664734,
            0.8512508869171143,
            0.5728110074996948,
            0.8781741857528687,
            0.8693002462387085,
            0.6785531640052795,
            0.7109512090682983,
            0.24601085484027863
        ],
        "kf_translation_vector": [
            -0.011363661983406784,
            0.01583625978752381,
            1.032989856897373
        ],
        "kf_rotation_matrix": [
            [
                0.9926194704490628,
                0.029266020193320252,
                0.11768639236320474
            ],
            [
                -0.06477846241323583,
                0.9483517476811748,
                0.31053617096473346
            ],
            [
                -0.10251993802572745,
                -0.3158677931225426,
                0.9432482173718091
            ]
        ],
        "kf_euler_angles": [
            -0.32313507308381223,
            0.10270037928782044,
            -0.06516770759017643
        ]
    },
    {
        "frame": 55,
        "object_rotation_in_cam": [
            [
                0.9985092686355191,
                0.040515045605474795,
                0.036575559169299374
            ],
            [
                -0.03231537684800198,
                0.9788394894704797,
                -0.20206179815180886
            ],
            [
                -0.0439881446316191,
                0.20057862531375825,
                0.9786895617094885
            ]
        ],
        "object_translation_in_cam": [
            -0.011808639795492392,
            0.009494331659540441,
            1.0548266080057125
        ],
        "raw_rvec": [
            0.202808366818653,
            0.04057961456550886,
            -0.03668439175920281
        ],
        "refined_raw_rvec": [
            0.202808366818653,
            0.04057961456550886,
            -0.03668439175920281
        ],
        "num_inliers": 9,
        "total_matches": 9,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.2864418923854828,
            1.5713484287261963,
            0.40353822708129883,
            0.5808355808258057,
            4.383944511413574,
            0.4155063331127167,
            1.3184471130371094,
            1.0296953916549683,
            2.359377384185791
        ],
        "mean_reprojection_error": 1.3721261024475098,
        "std_reprojection_error": 1.2411320209503174,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                308
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9991055727005005,
            0.997939944267273,
            0.9952526092529297,
            0.8698179721832275,
            0.4645766019821167,
            0.8106723427772522,
            0.8262403011322021,
            0.6207100749015808,
            0.6600859761238098
        ],
        "kf_translation_vector": [
            -0.011567919070515577,
            0.013122090382712531,
            1.0423590654052455
        ],
        "kf_rotation_matrix": [
            [
                0.9957756457360926,
                0.043362972759968754,
                0.08093525778229307
            ],
            [
                -0.05089803218810694,
                0.9943186295201942,
                0.09348718258917228
            ],
            [
                -0.07642155244593278,
                -0.09721170496653689,
                0.9923253653612067
            ]
        ],
        "kf_euler_angles": [
            -0.0976519509133041,
            0.07649613550092266,
            -0.05106951123265391
        ]
    },
    {
        "frame": 56,
        "object_rotation_in_cam": [
            [
                0.9928357371631862,
                0.03148401123414713,
                0.11526472161177889
            ],
            [
                -0.06292955727319777,
                0.9578112289549499,
                0.280423823005835
            ],
            [
                -0.10157297786828992,
                -0.28566835093236465,
                0.9529304924508142
            ]
        ],
        "object_translation_in_cam": [
            -0.011350031372482335,
            0.015433233626611762,
            1.0342700630446326
        ],
        "raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "refined_raw_rvec": [
            -0.2876843285022753,
            0.11019549614143206,
            -0.04798035604093033
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.6644266843795776,
            1.701065182685852,
            1.3137255907058716,
            4.9258222579956055,
            2.7619693279266357,
            4.351464748382568,
            0.7654471397399902,
            0.6388731598854065,
            2.5757505893707275
        ],
        "mean_reprojection_error": 2.299838066101074,
        "std_reprojection_error": 1.4237085580825806,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991905689239502,
            0.9992937445640564,
            0.9969590306282043,
            0.8620967864990234,
            0.5901394486427307,
            0.8787533044815063,
            0.8622103929519653,
            0.6603190898895264,
            0.7381937503814697,
            0.2594379782676697
        ],
        "kf_translation_vector": [
            -0.01148944016138724,
            0.014082417971543769,
            1.0390154222964991
        ],
        "kf_rotation_matrix": [
            [
                0.994735096455847,
                0.04005227870659196,
                0.09432869578970206
            ],
            [
                -0.0558680699419319,
                0.9835963839620439,
                0.17151359193298693
            ],
            [
                -0.08591185389653792,
                -0.17588055158885882,
                0.9806554873822196
            ]
        ],
        "kf_euler_angles": [
            -0.17746325607320332,
            0.08601789016533508,
            -0.05610482452916674
        ]
    },
    {
        "frame": 57,
        "object_rotation_in_cam": [
            [
                0.9925150360767309,
                0.0301842034547226,
                0.11833349915983023
            ],
            [
                -0.06264106635253193,
                0.9576230750946937,
                0.2811301172987346
            ],
            [
                -0.10483320069435693,
                -0.28643840508560736,
                0.9523460716169255
            ]
        ],
        "object_translation_in_cam": [
            -0.011338761500217875,
            0.015447556785618667,
            1.0333769413843252
        ],
        "raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "refined_raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.934969425201416,
            1.666811227798462,
            1.9522992372512817,
            4.919710159301758,
            2.767134428024292,
            4.353877067565918,
            0.7526761293411255,
            0.6782192587852478,
            2.6276516914367676
        ],
        "mean_reprojection_error": 2.4059274196624756,
        "std_reprojection_error": 1.3737754821777344,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991015195846558,
            0.999005913734436,
            0.9967074394226074,
            0.8712118268013,
            0.5558256506919861,
            0.8545105457305908,
            0.8613850474357605,
            0.7121338248252869,
            0.7272581458091736,
            0.3936394155025482
        ],
        "kf_translation_vector": [
            -0.011434059956604266,
            0.01469358692420259,
            1.0365046083733902
        ],
        "kf_rotation_matrix": [
            [
                0.9938855703351829,
                0.03649873613799987,
                0.10420803874863402
            ],
            [
                -0.058864002797011296,
                0.973631082487322,
                0.2204031406066597
            ],
            [
                -0.09341574949772437,
                -0.22518960338988614,
                0.9698263454200882
            ]
        ],
        "kf_euler_angles": [
            -0.22815286260716525,
            0.09355215127734516,
            -0.05915703235700611
        ]
    },
    {
        "frame": 58,
        "object_rotation_in_cam": [
            [
                0.9925150360767309,
                0.0301842034547226,
                0.11833349915983023
            ],
            [
                -0.06264106635253193,
                0.9576230750946937,
                0.2811301172987346
            ],
            [
                -0.10483320069435693,
                -0.28643840508560736,
                0.9523460716169255
            ]
        ],
        "object_translation_in_cam": [
            -0.011338761500217875,
            0.015447556785618667,
            1.0333769413843252
        ],
        "raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "refined_raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.934969425201416,
            1.666811227798462,
            1.9522992372512817,
            4.919710159301758,
            2.767134428024292,
            4.353877067565918,
            0.7526761293411255,
            0.6782192587852478,
            2.6276516914367676
        ],
        "mean_reprojection_error": 2.4059274196624756,
        "std_reprojection_error": 1.3737754821777344,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994032382965088,
            0.9992323517799377,
            0.9965956807136536,
            0.8323177099227905,
            0.5698907971382141,
            0.8707441091537476,
            0.8461306691169739,
            0.7494347095489502,
            0.7029865980148315,
            0.35807105898857117
        ],
        "kf_translation_vector": [
            -0.011398685944612477,
            0.015074405753930495,
            1.0349353657707143
        ],
        "kf_rotation_matrix": [
            [
                0.9933164968955528,
                0.03381154626249036,
                0.11035903376926895
            ],
            [
                -0.060728052609784686,
                0.9661891602300888,
                0.25058054649173994
            ],
            [
                -0.0981551864211484,
                -0.2556076798400535,
                0.9617849413384545
            ]
        ],
        "kf_euler_angles": [
            -0.25975933446363864,
            0.09831348541029737,
            -0.06106066004561992
        ]
    },
    {
        "frame": 59,
        "object_rotation_in_cam": [
            [
                0.9925150360767309,
                0.0301842034547226,
                0.11833349915983023
            ],
            [
                -0.06264106635253193,
                0.9576230750946937,
                0.2811301172987346
            ],
            [
                -0.10483320069435693,
                -0.28643840508560736,
                0.9523460716169255
            ]
        ],
        "object_translation_in_cam": [
            -0.011338761500217875,
            0.015447556785618667,
            1.0333769413843252
        ],
        "raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "refined_raw_rvec": [
            -0.28848837820906403,
            0.11343299843469185,
            -0.047181988583538184
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.934969425201416,
            1.666811227798462,
            1.9522992372512817,
            4.919710159301758,
            2.767134428024292,
            4.353877067565918,
            0.7526761293411255,
            0.6782192587852478,
            2.6276516914367676
        ],
        "mean_reprojection_error": 2.4059274196624756,
        "std_reprojection_error": 1.3737754821777344,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.998704195022583,
            0.9985213875770569,
            0.9947189688682556,
            0.7869009971618652,
            0.5158327221870422,
            0.8440013527870178,
            0.8217893838882446,
            0.5412310361862183,
            0.6510238647460938,
            0.2860199511051178
        ],
        "kf_translation_vector": [
            -0.01137616930349751,
            0.015307849035819283,
            1.0339690168073243
        ],
        "kf_rotation_matrix": [
            [
                0.9929481994213853,
                0.03197172602836476,
                0.11415639272767905
            ],
            [
                -0.06187044875465566,
                0.9611603991628703,
                0.2689660473962637
            ],
            [
                -0.10112329522284388,
                -0.2741322597138812,
                0.956360592740748
            ]
        ],
        "kf_euler_angles": [
            -0.279156322271397,
            0.1012964396332841,
            -0.062229393015360644
        ]
    },
    {
        "frame": 60,
        "object_rotation_in_cam": [
            [
                0.9930829289007426,
                0.032273941642979455,
                0.11289237802769594
            ],
            [
                -0.06250804975491583,
                0.9592264126591206,
                0.2756400423976015
            ],
            [
                -0.09939336014925551,
                -0.28079010300924095,
                0.9546087565124783
            ]
        ],
        "object_translation_in_cam": [
            -0.011142979483046309,
            0.015421012856955147,
            1.0336406763567225
        ],
        "raw_rvec": [
            -0.2826131913522606,
            0.10782081172272323,
            -0.04814016870364964
        ],
        "refined_raw_rvec": [
            -0.2826131913522606,
            0.10782081172272323,
            -0.04814016870364964
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.915444016456604,
            1.6416376829147339,
            1.9899215698242188,
            5.035766124725342,
            2.706648588180542,
            4.286851406097412,
            0.9113840460777283,
            1.3099900484085083,
            2.62068247795105
        ],
        "mean_reprojection_error": 2.4909250736236572,
        "std_reprojection_error": 1.2891845703125,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986953139305115,
            0.9988064765930176,
            0.9946812987327576,
            0.8757137060165405,
            0.49048709869384766,
            0.8274165987968445,
            0.8028666973114014,
            0.5796785950660706,
            0.5953123569488525,
            0.36820197105407715
        ],
        "kf_translation_vector": [
            -0.011273950905724141,
            0.015435352577681536,
            1.0335062056743267
        ],
        "kf_rotation_matrix": [
            [
                0.9929710261526958,
                0.03172850279774704,
                0.11402562576664785
            ],
            [
                -0.062493706490313244,
                0.958706103742023,
                0.27744755053323517
            ],
            [
                -0.10051406802216717,
                -0.2826232629455736,
                0.9539502153527889
            ]
        ],
        "kf_euler_angles": [
            -0.28802783504480867,
            0.10068409240114103,
            -0.06285318392517907
        ]
    },
    {
        "frame": 61,
        "object_rotation_in_cam": [
            [
                0.9992568161726542,
                0.03847259193053803,
                0.0023822264033217123
            ],
            [
                -0.03733105131422625,
                0.9812997721398536,
                -0.1888310085924608
            ],
            [
                -0.009602496564174806,
                0.18860174142466898,
                0.9820067083229713
            ]
        ],
        "object_translation_in_cam": [
            -0.014805814428743028,
            0.010941712598727489,
            1.0306914296952914
        ],
        "raw_rvec": [
            0.18990274906159582,
            0.006030032736072697,
            -0.03814009314351198
        ],
        "refined_raw_rvec": [
            0.18990274906159582,
            0.006030032736072697,
            -0.03814009314351198
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.9634225964546204,
            5.417417526245117,
            1.6917659044265747,
            1.2643800973892212,
            2.230337381362915,
            2.7157533168792725,
            1.7799509763717651,
            4.3986029624938965
        ],
        "mean_reprojection_error": 2.557703971862793,
        "std_reprojection_error": 1.4691914319992065,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                844,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9993400573730469,
            0.252634733915329,
            0.9994255304336548,
            0.9979676008224487,
            0.8436699509620667,
            0.5651137828826904,
            0.8304483890533447,
            0.7407768964767456,
            0.4900074303150177,
            0.620262861251831
        ],
        "kf_translation_vector": [
            -0.012854355864398636,
            0.013496349392501534,
            1.031920097572672
        ],
        "kf_rotation_matrix": [
            [
                0.9968721655481588,
                0.04682874738449864,
                0.06366281468583541
            ],
            [
                -0.05163348067553053,
                0.9957663076335249,
                0.07604895959331547
            ],
            [
                -0.05983200839562237,
                -0.07909822374930378,
                0.9950696466936629
            ]
        ],
        "kf_euler_angles": [
            -0.07932334580106061,
            0.05986776448754149,
            -0.051749244297215204
        ]
    },
    {
        "frame": 62,
        "object_rotation_in_cam": [
            [
                0.9779656110918451,
                0.08435737969978105,
                0.19096359865676216
            ],
            [
                -0.026920339681879426,
                0.9580458467572199,
                -0.28534794693961557
            ],
            [
                -0.20702308768146171,
                0.27391967435989045,
                0.9392068212941203
            ]
        ],
        "object_translation_in_cam": [
            -0.010220399600835914,
            0.008322114894397,
            1.0617190703434514
        ],
        "raw_rvec": [
            0.2855984678945783,
            0.20323791961445573,
            -0.05682565011069259
        ],
        "refined_raw_rvec": [
            0.2855984678945783,
            0.20323791961445573,
            -0.05682565011069259
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.7168262004852295,
            0.5657268762588501,
            2.003875732421875,
            1.3072881698608398,
            3.3248326778411865,
            0.1505364328622818,
            0.6426417827606201,
            0.8263688087463379,
            2.791879892349243
        ],
        "mean_reprojection_error": 1.481108546257019,
        "std_reprojection_error": 1.0119595527648926,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9989691972732544,
            0.33805906772613525,
            0.9995212554931641,
            0.9960814714431763,
            0.8962029218673706,
            0.5249098539352417,
            0.8792173266410828,
            0.8294298648834229,
            0.6180098652839661,
            0.638394296169281,
            0.23594540357589722
        ],
        "kf_translation_vector": [
            -0.011790162531467585,
            0.011094313528599997,
            1.044877088273286
        ],
        "kf_rotation_matrix": [
            [
                0.9915819535981893,
                0.051763964520555,
                0.11868328136478637
            ],
            [
                -0.0400081009172405,
                0.9942449204002985,
                -0.0993800287743963
            ],
            [
                -0.12314455391690785,
                0.09379515038272852,
                0.9879462984420191
            ]
        ],
        "kf_euler_angles": [
            0.09465580962958207,
            0.12345793646819027,
            -0.04032587692643373
        ]
    },
    {
        "frame": 63,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9992697834968567,
            0.9994167685508728,
            0.996442973613739,
            0.8665106892585754,
            0.883090078830719,
            0.8057100176811218,
            0.5594835877418518,
            0.6143410205841064
        ],
        "kf_translation_vector": [
            -0.011659033702294784,
            0.009789732020091165,
            1.0498773243629937
        ],
        "kf_rotation_matrix": [
            [
                0.9953362052377542,
                0.049845424345015,
                0.08259099354513495
            ],
            [
                -0.03503784627697842,
                0.9844900582130125,
                -0.17190600515400858
            ],
            [
                -0.08987873981747835,
                0.1682104602918754,
                0.9816450749518472
            ]
        ],
        "kf_euler_angles": [
            0.1697074635859579,
            0.09000019139409193,
            -0.03518749150701186
        ]
    },
    {
        "frame": 64,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9992871880531311,
            0.9992722272872925,
            0.9970366954803467,
            0.8971954584121704,
            0.8959499597549438,
            0.8453890681266785,
            0.674911618232727,
            0.7493003010749817
        ],
        "kf_translation_vector": [
            -0.011574823562056365,
            0.008983979783559594,
            1.0529890300542804
        ],
        "kf_rotation_matrix": [
            [
                0.9971211750546066,
                0.04598874647693363,
                0.06028596399827297
            ],
            [
                -0.031953231461482406,
                0.9758828029183543,
                -0.21594384910755282
            ],
            [
                -0.06876302245313007,
                0.21339585320642232,
                0.9745428962223334
            ]
        ],
        "kf_euler_angles": [
            0.21556783460890114,
            0.06881732739067999,
            -0.032034522246942386
        ]
    },
    {
        "frame": 65,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999504566192627,
            0.2981708347797394,
            0.9993366003036499,
            0.9967114925384521,
            0.9163147211074829,
            0.8909404277801514,
            0.8298707008361816,
            0.6791975498199463,
            0.671157956123352,
            0.31583458185195923
        ],
        "kf_translation_vector": [
            -0.011423055692265456,
            0.00851700890153691,
            1.0545637569343644
        ],
        "kf_rotation_matrix": [
            [
                0.9979742494589352,
                0.04274351767763231,
                0.04712100501280798
            ],
            [
                -0.03013503783708374,
                0.9699128570887118,
                -0.24158006777995936
            ],
            [
                -0.0560292504985804,
                0.23967069355796125,
                0.969236133116184
            ]
        ],
        "kf_euler_angles": [
            0.24241506774912497,
            0.05605860721107668,
            -0.030187035094686693
        ]
    },
    {
        "frame": 66,
        "object_rotation_in_cam": [
            [
                0.9927359132518817,
                0.03085027444032089,
                0.11629130279994847
            ],
            [
                -0.06249672721365945,
                0.9581601473831438,
                0.2793264954391073
            ],
            [
                -0.10280839278742691,
                -0.2845652693735992,
                0.953128030140126
            ]
        ],
        "object_translation_in_cam": [
            -0.011127450969652746,
            0.015446191535493117,
            1.0325884698318084
        ],
        "raw_rvec": [
            -0.2865442740335885,
            0.11133654919382859,
            -0.0474347215037556
        ],
        "refined_raw_rvec": [
            -0.2865442740335885,
            0.11133654919382859,
            -0.0474347215037556
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4655394554138184,
            1.6622767448425293,
            1.6367483139038086,
            5.053536891937256,
            2.716979742050171,
            4.301218509674072,
            0.9148779511451721,
            1.3329755067825317,
            2.596994638442993
        ],
        "mean_reprojection_error": 2.4090163707733154,
        "std_reprojection_error": 1.339094877243042,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                663,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9995644092559814,
            0.9992687106132507,
            0.9974682331085205,
            0.9059221744537354,
            0.580916702747345,
            0.8862188458442688,
            0.8334886431694031,
            0.694085955619812,
            0.6565759181976318,
            0.28660446405410767
        ],
        "kf_translation_vector": [
            -0.011286662431038343,
            0.011216851910600626,
            1.045934511034426
        ],
        "kf_rotation_matrix": [
            [
                0.9963553493451296,
                0.04542579507792203,
                0.07219774908460355
            ],
            [
                -0.04279180794548043,
                0.9983754412066437,
                -0.037620999032411166
            ],
            [
                -0.07378942338914064,
                0.034394411420726474,
                0.9966805633997886
            ]
        ],
        "kf_euler_angles": [
            0.0344952729664415,
            0.07385655040757061,
            -0.04292196189867983
        ]
    },
    {
        "frame": 67,
        "object_rotation_in_cam": [
            [
                0.9931278274303621,
                0.032161223075930306,
                0.1125289923251302
            ],
            [
                -0.0624790212558831,
                0.9587194807688248,
                0.2774046306341367
            ],
            [
                -0.09896206488526738,
                -0.2825289594441871,
                0.954140396791284
            ]
        ],
        "object_translation_in_cam": [
            -0.010959069785249229,
            0.015429556543288665,
            1.0326189750987589
        ],
        "raw_rvec": [
            -0.28443769341471076,
            0.10743421998017562,
            -0.04807579555671983
        ],
        "refined_raw_rvec": [
            -0.28443769341471076,
            0.10743421998017562,
            -0.04807579555671983
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.479882001876831,
            1.666448712348938,
            1.6172009706497192,
            4.668680191040039,
            2.670928955078125,
            4.246419429779053,
            1.0853254795074463,
            1.1109782457351685,
            2.57352352142334
        ],
        "mean_reprojection_error": 2.3465986251831055,
        "std_reprojection_error": 1.2481745481491089,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991512298583984,
            0.9990803003311157,
            0.9970771670341492,
            0.8931438326835632,
            0.3978475332260132,
            0.7961375117301941,
            0.7925980687141418,
            0.5161591172218323,
            0.6011142134666443,
            0.2429065704345703
        ],
        "kf_translation_vector": [
            -0.01112567795547269,
            0.01293185540961144,
            1.0404484499900677
        ],
        "kf_rotation_matrix": [
            [
                0.9952185130956058,
                0.042688804294610416,
                0.08785088035795674
            ],
            [
                -0.05082673383119723,
                0.9944066876339457,
                0.09258500265667802
            ],
            [
                -0.0834071598834549,
                -0.09660748199172202,
                0.9918216775728361
            ]
        ],
        "kf_euler_angles": [
            -0.09709778352036964,
            0.08350417107536748,
            -0.051026596423006394
        ]
    },
    {
        "frame": 68,
        "object_rotation_in_cam": [
            [
                0.9813843848254665,
                0.0795522382860496,
                0.17480311955002462
            ],
            [
                -0.0269508296413747,
                0.9582161973260939,
                -0.2847724915850582
            ],
            [
                -0.19015346960384974,
                0.2747601873736441,
                0.9425224121643038
            ]
        ],
        "object_translation_in_cam": [
            -0.010114927316390456,
            0.008365246612434056,
            1.062087376359634
        ],
        "raw_rvec": [
            0.2853956153772762,
            0.18615000385929076,
            -0.05432302661442679
        ],
        "refined_raw_rvec": [
            0.2853956153772762,
            0.18615000385929076,
            -0.05432302661442679
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.0388001203536987,
            0.5921481847763062,
            1.1339925527572632,
            0.7418103218078613,
            3.22045636177063,
            0.34090253710746765,
            0.7443841695785522,
            0.5536561012268066,
            3.0911314487457275
        ],
        "mean_reprojection_error": 1.273031234741211,
        "std_reprojection_error": 1.031922698020935,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9985488057136536,
            0.30167195200920105,
            0.9974561333656311,
            0.9971747994422913,
            0.8859375715255737,
            0.46528828144073486,
            0.8274649977684021,
            0.816540002822876,
            0.6579607725143433,
            0.6991840600967407,
            0.4392656981945038
        ],
        "kf_translation_vector": [
            -0.010647298465147488,
            0.010857243026726368,
            1.0501668693345207
        ],
        "kf_rotation_matrix": [
            [
                0.9906323523018594,
                0.050024964360090775,
                0.1270631556103355
            ],
            [
                -0.039974561545136615,
                0.9959565105032722,
                -0.08045286579991802
            ],
            [
                -0.13057402881951205,
                0.074619917762734,
                0.9886264668068139
            ]
        ],
        "kf_euler_angles": [
            0.07533552845369447,
            0.13094794343242958,
            -0.04033068914781797
        ]
    },
    {
        "frame": 69,
        "object_rotation_in_cam": [
            [
                0.9985959478794186,
                0.03801060585569965,
                0.036896161335404416
            ],
            [
                -0.02972983293746032,
                0.9786159858627026,
                -0.20353596548885725
            ],
            [
                -0.04384369866145236,
                0.20215327367236288,
                0.9783720069744588
            ]
        ],
        "object_translation_in_cam": [
            -0.01150886782163146,
            0.009452053058925486,
            1.05328342719997
        ],
        "raw_rvec": [
            0.20435967988095902,
            0.04067145575935289,
            -0.03412319837565255
        ],
        "refined_raw_rvec": [
            0.20435967988095902,
            0.04067145575935289,
            -0.03412319837565255
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.7339376211166382,
            1.6102352142333984,
            0.5115769505500793,
            0.4004976749420166,
            3.9881818294525146,
            0.19190770387649536,
            1.0170347690582275,
            1.2850995063781738,
            2.473302125930786,
            1.3785609006881714
        ],
        "mean_reprojection_error": 1.3590333461761475,
        "std_reprojection_error": 1.0830433368682861,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9995477199554443,
            0.9974793195724487,
            0.9978933930397034,
            0.9132913947105408,
            0.4736289083957672,
            0.9183043837547302,
            0.8595620393753052,
            0.7522220015525818,
            0.6815808415412903,
            0.41380104422569275,
            0.4758089482784271
        ],
        "kf_translation_vector": [
            -0.010972113964131586,
            0.010040309958662817,
            1.0523385382122623
        ],
        "kf_rotation_matrix": [
            [
                0.9949115805019201,
                0.04820376921996416,
                0.08847227597479232
            ],
            [
                -0.0344795678488872,
                0.9879981616407953,
                -0.15056823036538208
            ],
            [
                -0.0946684022476632,
                0.14675159020398115,
                0.9846328576624271
            ]
        ],
        "kf_euler_angles": [
            0.14795283709829912,
            0.09481038030174417,
            -0.03464204736627666
        ]
    },
    {
        "frame": 70,
        "object_rotation_in_cam": [
            [
                0.9985470719871294,
                0.03920513850814279,
                0.03696893480326106
            ],
            [
                -0.030687322868579083,
                0.977663642780844,
                -0.2079232786381787
            ],
            [
                -0.0442948444075607,
                0.20648670344370226,
                0.9774462686305895
            ]
        ],
        "object_translation_in_cam": [
            -0.01141115402385778,
            0.008827312406440168,
            1.0535615432250411
        ],
        "raw_rvec": [
            0.20882039090559065,
            0.040948661651486216,
            -0.03521867652106223
        ],
        "refined_raw_rvec": [
            0.20882039090559065,
            0.040948661651486216,
            -0.03521867652106223
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.10572560876607895,
            0.8259047269821167,
            0.7210914492607117,
            0.2510225772857666,
            0.6835307478904724,
            0.759209156036377,
            1.7517377138137817,
            1.8981318473815918
        ],
        "mean_reprojection_error": 0.8745442032814026,
        "std_reprojection_error": 0.5992457270622253,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9982106685638428,
            0.9974768161773682,
            0.9962170720100403,
            0.8862491846084595,
            0.8528901934623718,
            0.7986822724342346,
            0.7128851413726807,
            0.673743486404419,
            0.314598023891449
        ],
        "kf_translation_vector": [
            -0.011136600218019672,
            0.00925835258374114,
            1.0537816808820981
        ],
        "kf_rotation_matrix": [
            [
                0.9969064386613745,
                0.04487802380506257,
                0.06452530925805106
            ],
            [
                -0.03146425951650339,
                0.9801777471681328,
                -0.19560568583116966
            ],
            [
                -0.07202466888902037,
                0.1929703265679891,
                0.9785575609721028
            ]
        ],
        "kf_euler_angles": [
            0.1947006037397273,
            0.07208708667075062,
            -0.03155142427971662
        ]
    },
    {
        "frame": 71,
        "object_rotation_in_cam": [
            [
                0.9985082901788785,
                0.04028016744351752,
                0.03686058267003707
            ],
            [
                -0.03177050823019152,
                0.9776675478314522,
                -0.20774214960866866
            ],
            [
                -0.044405284041967114,
                0.20626117915874848,
                0.9774888729398381
            ]
        ],
        "object_translation_in_cam": [
            -0.011392331232892258,
            0.008793184411176267,
            1.0533143178024749
        ],
        "raw_rvec": [
            0.20861520746558188,
            0.0409496602224647,
            -0.03630614927289716
        ],
        "refined_raw_rvec": [
            0.20861520746558188,
            0.0409496602224647,
            -0.03630614927289716
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.41073912382125854,
            1.5205867290496826,
            0.9942620396614075,
            0.24844707548618317,
            0.6836209893226624,
            0.7738781571388245,
            1.807239294052124,
            1.8449623584747314
        ],
        "mean_reprojection_error": 1.0354669094085693,
        "std_reprojection_error": 0.5798559784889221,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994274377822876,
            0.9994691014289856,
            0.9972057938575745,
            0.9063000679016113,
            0.9196727275848389,
            0.8282312750816345,
            0.8584725260734558,
            0.7589278221130371,
            0.31186962127685547
        ],
        "kf_translation_vector": [
            -0.011233777966790578,
            0.008766233884254194,
            1.0545229053537617
        ],
        "kf_rotation_matrix": [
            [
                0.9978734932540807,
                0.04219108351068896,
                0.04968303466065932
            ],
            [
                -0.030121341536840873,
                0.9744593125804815,
                -0.22253483527123755
            ],
            [
                -0.05780308162130449,
                0.2205650937872308,
                0.9736579703148899
            ]
        ],
        "kf_euler_angles": [
            0.2227725397881356,
            0.05783531868773833,
            -0.03017636826868253
        ]
    },
    {
        "frame": 72,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9988158345222473,
            0.9993505477905273,
            0.9976949095726013,
            0.8550560474395752,
            0.880899965763092,
            0.784488320350647,
            0.7602537274360657,
            0.6908182501792908
        ],
        "kf_translation_vector": [
            -0.011217947288323973,
            0.008485703492340556,
            1.0551928833025908
        ],
        "kf_rotation_matrix": [
            [
                0.9983381112427496,
                0.040403720450601414,
                0.04109203102803324
            ],
            [
                -0.029498544404716304,
                0.9708401768504988,
                -0.23790583618502262
            ],
            [
                -0.049506075569188214,
                0.2362983080486221,
                0.970418599417332
            ]
        ],
        "kf_euler_angles": [
            0.23885306358687733,
            0.04952631991103487,
            -0.029539054820421552
        ]
    },
    {
        "frame": 73,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986918568611145,
            0.24925608932971954,
            0.9991906881332397,
            0.9970452785491943,
            0.35007306933403015,
            0.8518806099891663,
            0.6932123899459839,
            0.6275806427001953,
            0.7340338230133057,
            0.27839845418930054
        ],
        "kf_translation_vector": [
            -0.011208667515185424,
            0.008328992447512062,
            1.0555530087683251
        ],
        "kf_rotation_matrix": [
            [
                0.9985844507004645,
                0.039226363506161675,
                0.035921960210073274
            ],
            [
                -0.029202407713714774,
                0.9687977251210447,
                -0.2461263642603341
            ],
            [
                -0.0444557555663335,
                0.24472895252987775,
                0.9685718484400913
            ]
        ],
        "kf_euler_angles": [
            0.24748992772627953,
            0.04447041169456823,
            -0.029235471600395614
        ]
    },
    {
        "frame": 74,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986572265625,
            0.9995328187942505,
            0.9976191520690918,
            0.8919165134429932,
            0.8715859651565552,
            0.8033444881439209,
            0.7190517783164978,
            0.7497180104255676,
            0.2269069403409958
        ],
        "kf_translation_vector": [
            -0.011203548330498645,
            0.008250619453499619,
            1.0557177959744122
        ],
        "kf_rotation_matrix": [
            [
                0.9987150452948339,
                0.03853631692759535,
                0.032912164611187275
            ],
            [
                -0.02911119520724588,
                0.9678446781175403,
                -0.24985839460214324
            ],
            [
                -0.04148248564567442,
                0.24857922543368471,
                0.9677228797891708
            ]
        ],
        "kf_euler_angles": [
            0.2514342624405093,
            0.041494392021266036,
            -0.029140398784848635
        ]
    },
    {
        "frame": 75,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999205470085144,
            0.9995429515838623,
            0.9978360533714294,
            0.9224400520324707,
            0.8879149556159973,
            0.8085675835609436,
            0.7269363403320312,
            0.7340193390846252,
            0.26900434494018555
        ],
        "kf_translation_vector": [
            -0.011201051974318163,
            0.008221331813000029,
            1.0557608665650842
        ],
        "kf_rotation_matrix": [
            [
                0.9987812117300601,
                0.03818976764035981,
                0.031267119192663055
            ],
            [
                -0.02914613241844782,
                0.9675999382769179,
                -0.25080044340381685
            ],
            [
                -0.03983207325860878,
                0.24958345516896774,
                0.967533722846827
            ]
        ],
        "kf_euler_angles": [
            0.2524547868337009,
            0.03984261367432884,
            -0.02917341952563015
        ]
    },
    {
        "frame": 76,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988955855369568,
            0.9994173645973206,
            0.9975683689117432,
            0.8706343173980713,
            0.8859649896621704,
            0.7943738102912903,
            0.7439824342727661,
            0.724025309085846,
            0.2999228835105896
        ],
        "kf_translation_vector": [
            -0.011200190191072299,
            0.008222337076769977,
            1.055729485615159
        ],
        "kf_rotation_matrix": [
            [
                0.9988100909207765,
                0.03806931849841679,
                0.03048162173993037
            ],
            [
                -0.02925650974598012,
                0.9677939514982273,
                -0.2500378452973272
            ],
            [
                -0.0390186995210433,
                0.2488485371315509,
                0.9677561400761937
            ]
        ],
        "kf_euler_angles": [
            0.2516870236043963,
            0.039028607038055184,
            -0.029282990941797527
        ]
    },
    {
        "frame": 77,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991023540496826,
            0.9995136260986328,
            0.9974472522735596,
            0.8621841073036194,
            0.8804040551185608,
            0.7909390926361084,
            0.6314346790313721,
            0.7130048274993896,
            0.3359678089618683
        ],
        "kf_translation_vector": [
            -0.011200328872848872,
            0.008241584551568261,
            1.0556539320537404
        ],
        "kf_rotation_matrix": [
            [
                0.9988168342367599,
                0.03809041761835026,
                0.030233288456872932
            ],
            [
                -0.029409842852041186,
                0.9682458229359426,
                -0.24826414866129445
            ],
            [
                -0.03872974036415757,
                0.2470812547579414,
                0.968220460824169
            ]
        ],
        "kf_euler_angles": [
            0.24985841523930072,
            0.03873942929412194,
            -0.029436175807049898
        ]
    },
    {
        "frame": 78,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990069270133972,
            0.9994953274726868,
            0.9967085123062134,
            0.8515298962593079,
            0.8935434222221375,
            0.8159007430076599,
            0.648189902305603,
            0.6867524981498718,
            0.331303209066391
        ],
        "kf_translation_vector": [
            -0.011201062121282312,
            0.00827136810685171,
            1.0555535394576678
        ],
        "kf_rotation_matrix": [
            [
                0.9988103082236276,
                0.03819581597949613,
                0.03031580162031548
            ],
            [
                -0.029585441863221335,
                0.968838057037295,
                -0.24592177794159872
            ],
            [
                -0.03876428531496235,
                0.24473230043837596,
                0.9688154784612809
            ]
        ],
        "kf_euler_angles": [
            0.24743344885014118,
            0.03877400020586692,
            -0.029612022990298328
        ]
    },
    {
        "frame": 79,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999268114566803,
            0.9995346665382385,
            0.9964118599891663,
            0.7307229042053223,
            0.8621304631233215,
            0.7641164064407349,
            0.5100067257881165,
            0.680978536605835,
            0.25843170285224915
        ],
        "kf_translation_vector": [
            -0.011202131057968214,
            0.008306780716169297,
            1.055440590504803
        ],
        "kf_rotation_matrix": [
            [
                0.9987958968144761,
                0.03834815007366968,
                0.030596991559527997
            ],
            [
                -0.02977023222430979,
                0.9694961633222525,
                -0.2432918465069127
            ],
            [
                -0.038993458167713026,
                0.24208801847542935,
                0.9694704232367086
            ]
        ],
        "kf_euler_angles": [
            0.2447072171246222,
            0.0390033464607511,
            -0.029797299937677928
        ]
    },
    {
        "frame": 80,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988446235656738,
            0.9994024038314819,
            0.9964514970779419,
            0.832077145576477,
            0.9152969121932983,
            0.8914560079574585,
            0.6282532215118408,
            0.6446390151977539,
            0.3510724604129791
        ],
        "kf_translation_vector": [
            -0.0112170986241153,
            0.0082158369862037,
            1.0554617391406866
        ],
        "kf_rotation_matrix": [
            [
                0.9987949424482724,
                0.03805005169640644,
                0.030997685488645572
            ],
            [
                -0.02943729965881095,
                0.9698369883194253,
                -0.24197037313750636
            ],
            [
                -0.03926968714606165,
                0.24076629675560385,
                0.9697883697065268
            ]
        ],
        "kf_euler_angles": [
            0.24334679234238735,
            0.03927978717513643,
            -0.02946428672005496
        ]
    },
    {
        "frame": 81,
        "object_rotation_in_cam": [
            [
                0.997992697269398,
                0.043929745293766725,
                0.04561527896852718
            ],
            [
                -0.03298966836019422,
                0.9754671867836335,
                -0.21765902069500426
            ],
            [
                -0.05405791318980208,
                0.21571728022309355,
                0.9749583565643792
            ]
        ],
        "object_translation_in_cam": [
            -0.011341778788098191,
            0.008966984643107901,
            1.0540856873698061
        ],
        "raw_rvec": [
            0.21857044259503017,
            0.0502695086896842,
            -0.03879379248676025
        ],
        "refined_raw_rvec": [
            0.21857044259503017,
            0.0502695086896842,
            -0.03879379248676025
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.51352459192276,
            1.4890666007995605,
            1.019776463508606,
            1.9594295024871826,
            3.3353707790374756,
            0.32281577587127686,
            0.8888595104217529,
            1.506517767906189,
            2.1029415130615234
        ],
        "mean_reprojection_error": 1.4598113298416138,
        "std_reprojection_error": 0.8750764727592468,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                543,
                376
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                564,
                382
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.041999999433755875,
                -0.009999999776482582,
                -0.0689999982714653
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999110758304596,
            0.9995299577713013,
            0.9980499744415283,
            0.8067697882652283,
            0.1466100513935089,
            0.8850122094154358,
            0.7511372566223145,
            0.7163816690444946,
            0.6312928795814514,
            0.3095860779285431
        ],
        "kf_translation_vector": [
            -0.011268839329394435,
            0.008368986902069418,
            1.0553733826133074
        ],
        "kf_rotation_matrix": [
            [
                0.9985977260236478,
                0.03987152280611382,
                0.03482589912006607
            ],
            [
                -0.03022646994023311,
                0.9694944491251619,
                -0.24324241741614655
            ],
            [
                -0.04346196147611906,
                0.24184866091136464,
                0.9693401276745062
            ]
        ],
        "kf_euler_angles": [
            0.24450636764408043,
            0.04347565597473046,
            -0.030259676131150402
        ]
    },
    {
        "frame": 82,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986922740936279,
            0.9994458556175232,
            0.9978241920471191,
            0.7863259315490723,
            0.8956308364868164,
            0.7954167127609253,
            0.6160730719566345,
            0.6910912394523621,
            0.3223504424095154
        ],
        "kf_translation_vector": [
            -0.011246304898292024,
            0.0084127974391285,
            1.0551955183156345
        ],
        "kf_rotation_matrix": [
            [
                0.9986343721644021,
                0.03961670403203407,
                0.034057414661841826
            ],
            [
                -0.030371033411441463,
                0.9706540382669162,
                -0.23855468623703222
            ],
            [
                -0.04250871747455491,
                0.2371945504385925,
                0.9705316863353316
            ]
        ],
        "kf_euler_angles": [
            0.2396978702954392,
            0.04252153004119619,
            -0.030403194418904846
        ]
    },
    {
        "frame": 83,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990211129188538,
            0.2953525185585022,
            0.9995392560958862,
            0.9975665807723999,
            0.781020998954773,
            0.9344819188117981,
            0.9023861289024353,
            0.6801135540008545,
            0.7042258977890015,
            0.322426974773407
        ],
        "kf_translation_vector": [
            -0.011245990513266881,
            0.008324257343537178,
            1.0551838225122638
        ],
        "kf_rotation_matrix": [
            [
                0.9986675811086412,
                0.03904753536563392,
                0.03373947872278676
            ],
            [
                -0.029999012187245554,
                0.9712622420473191,
                -0.23611377859202562
            ],
            [
                -0.04198954286968727,
                0.2347870250995233,
                0.9711395013768673
            ]
        ],
        "kf_euler_angles": [
            0.23721268149636754,
            0.042001891448727076,
            -0.03003000647703759
        ]
    },
    {
        "frame": 84,
        "object_rotation_in_cam": [
            [
                0.9984344207291626,
                0.041046627697949534,
                0.03799844546619577
            ],
            [
                -0.03228331618569988,
                0.9776388610965379,
                -0.20779808654056073
            ],
            [
                -0.04567816764358723,
                0.20624604633420288,
                0.9774334112215697
            ]
        ],
        "object_translation_in_cam": [
            -0.01126071494544591,
            0.008798574066183874,
            1.0552250806563455
        ],
        "raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "refined_raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8877558708190918,
            1.5662788152694702,
            1.1455576419830322,
            0.09293053299188614,
            0.6614032983779907,
            0.5296317338943481,
            1.8641653060913086,
            1.7431837320327759
        ],
        "mean_reprojection_error": 1.0613633394241333,
        "std_reprojection_error": 0.5897145867347717,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988566637039185,
            0.28542715311050415,
            0.9995166063308716,
            0.997097909450531,
            0.8462758660316467,
            0.9069640040397644,
            0.7992576956748962,
            0.6728284955024719,
            0.6720055341720581,
            0.3527785539627075
        ],
        "kf_translation_vector": [
            -0.01125157873479343,
            0.00840078039037163,
            1.0555922104292574
        ],
        "kf_rotation_matrix": [
            [
                0.9986586467562075,
                0.039320293852448396,
                0.03368711549565258
            ],
            [
                -0.030432876036560738,
                0.9721215901988114,
                -0.23249398685875217
            ],
            [
                -0.04188970416705821,
                0.23115693448540842,
                0.9720142613789702
            ]
        ],
        "kf_euler_angles": [
            0.23347539247749877,
            0.04190196482530875,
            -0.030464324209795043
        ]
    },
    {
        "frame": 85,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986202716827393,
            0.9994888305664062,
            0.9967030882835388,
            0.8100199699401855,
            0.9032533764839172,
            0.7943683862686157,
            0.6388936638832092,
            0.7031136155128479,
            0.29724761843681335
        ],
        "kf_translation_vector": [
            -0.01123604027336178,
            0.008468933037709027,
            1.055225510475783
        ],
        "kf_rotation_matrix": [
            [
                0.9986494072538887,
                0.03944088639710541,
                0.0338197852102482
            ],
            [
                -0.03065879764065834,
                0.9728799384293993,
                -0.22926984871290274
            ],
            [
                -0.04194519661040892,
                0.22792332456731756,
                0.9727751839965364
            ]
        ],
        "kf_euler_angles": [
            0.23015053685118167,
            0.041957506085133794,
            -0.030690621580868577
        ]
    },
    {
        "frame": 86,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991258382797241,
            0.2950718104839325,
            0.9996061325073242,
            0.996842622756958,
            0.7309821844100952,
            0.8686389327049255,
            0.7799631953239441,
            0.5864412188529968,
            0.7034326195716858,
            0.39221832156181335
        ],
        "kf_translation_vector": [
            -0.011226434639676344,
            0.008522333884273443,
            1.0549612230880514
        ],
        "kf_rotation_matrix": [
            [
                0.9986366756129305,
                0.03956538495122484,
                0.03404952913648136
            ],
            [
                -0.030846407873679156,
                0.9735160152498669,
                -0.22652829221382423
            ],
            [
                -0.04211044100986508,
                0.22516915500503729,
                0.9734092471269584
            ]
        ],
        "kf_euler_angles": [
            0.22732183103743306,
            0.04212289661709139,
            -0.030878700979774108
        ]
    },
    {
        "frame": 87,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990807175636292,
            0.9996008276939392,
            0.9976196885108948,
            0.8135187029838562,
            0.909975528717041,
            0.8130848407745361,
            0.6496002078056335,
            0.7034708261489868,
            0.3951995074748993
        ],
        "kf_translation_vector": [
            -0.011220622712795099,
            0.008565484903029033,
            1.0547651590460672
        ],
        "kf_rotation_matrix": [
            [
                0.9986221464281911,
                0.039688168800138854,
                0.03433158779381068
            ],
            [
                -0.031006040955657906,
                0.9740614814168331,
                -0.22414918211829463
            ],
            [
                -0.04233714784215524,
                0.2227758507498872,
                0.9739499403127737
            ]
        ],
        "kf_euler_angles": [
            0.22486603831365248,
            0.042349805812501404,
            -0.031038850127704947
        ]
    },
    {
        "frame": 88,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9986570477485657,
            0.999553918838501,
            0.9977771043777466,
            0.7399492263793945,
            0.8948221206665039,
            0.8240930438041687,
            0.6444277167320251,
            0.7007977962493896,
            0.3837183713912964
        ],
        "kf_translation_vector": [
            -0.011217226873547105,
            0.00860133325592583,
            1.054615139252276
        ],
        "kf_rotation_matrix": [
            [
                0.9986068842437179,
                0.03980609366933952,
                0.034637633404167804
            ],
            [
                -0.031144556606051924,
                0.9745372976464388,
                -0.2220519580859144
            ],
            [
                -0.04259468669759388,
                0.22066384027013586,
                0.9744193975195536
            ]
        ],
        "kf_euler_angles": [
            0.2227005552460715,
            0.042607577200086504,
            -0.03117789890067235
        ]
    },
    {
        "frame": 89,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988214373588562,
            0.9993780255317688,
            0.9971141219139099,
            0.6789231300354004,
            0.8698432445526123,
            0.7960029244422913,
            0.611936092376709,
            0.7198539972305298,
            0.25999370217323303
        ],
        "kf_translation_vector": [
            -0.011215360518731041,
            0.008631821499643932,
            1.0544967357100663
        ],
        "kf_rotation_matrix": [
            [
                0.9985915565554827,
                0.039917491573594074,
                0.03494992192509503
            ],
            [
                -0.03126656530842484,
                0.9749576381400021,
                -0.2201817561159023
            ],
            [
                -0.0428637967276838,
                0.2187788785485032,
                0.974832548303116
            ]
        ],
        "kf_euler_angles": [
            0.22076911691153636,
            0.042876933236857304,
            -0.03130043873916486
        ]
    },
    {
        "frame": 90,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9977906346321106,
            0.998954713344574,
            0.9973911046981812,
            0.8110930323600769,
            0.8745682835578918,
            0.7547065019607544,
            0.5951271057128906,
            0.6724010109901428,
            0.34265589714050293
        ],
        "kf_translation_vector": [
            -0.011214453626846435,
            0.008658242450958909,
            1.054400524767736
        ],
        "kf_rotation_matrix": [
            [
                0.9985765771728281,
                0.04002158047245366,
                0.035257518606470147
            ],
            [
                -0.031375218620990006,
                0.9753323318702787,
                -0.2185004303541976
            ],
            [
                -0.04313253039509454,
                0.21708319949957292,
                0.9751997074018967
            ]
        ],
        "kf_euler_angles": [
            0.21903257563408068,
            0.043145915673141196,
            -0.031409609214692956
        ]
    },
    {
        "frame": 91,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9991350173950195,
            0.256756991147995,
            0.9991815686225891,
            0.9975551962852478,
            0.7909250259399414,
            0.8151922821998596,
            0.7595561742782593,
            0.5935845971107483,
            0.6926714181900024,
            0.3103051781654358
        ],
        "kf_translation_vector": [
            -0.011214140266089488,
            0.008681468081979959,
            1.0543203155941452
        ],
        "kf_rotation_matrix": [
            [
                0.9985621964433974,
                0.04011810907920685,
                0.035553862772513926
            ],
            [
                -0.03147271904217892,
                0.9756683979268357,
                -0.21698074855381452
            ],
            [
                -0.043393637669939124,
                0.21554979612792605,
                0.9755282044097852
            ]
        ],
        "kf_euler_angles": [
            0.21746295140611654,
            0.043407267648807514,
            -0.031507605470967606
        ]
    },
    {
        "frame": 92,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.998742401599884,
            0.2999422550201416,
            0.9993612766265869,
            0.9971466660499573,
            0.8761689066886902,
            0.8610622882843018,
            0.714545726776123,
            0.6190510988235474,
            0.6860982775688171,
            0.292503297328949
        ],
        "kf_translation_vector": [
            -0.011214186048646307,
            0.008702097179821717,
            1.0542520075705342
        ],
        "kf_rotation_matrix": [
            [
                0.998548558920152,
                0.04020714037251333,
                0.03583519696545021
            ],
            [
                -0.031560649037117486,
                0.9759710174501663,
                -0.21560264035870014
            ],
            [
                -0.04364287926848432,
                0.21415872375495726,
                0.9758234164687811
            ]
        ],
        "kf_euler_angles": [
            0.21603959205770157,
            0.04365674559546687,
            -0.03159600566700022
        ]
    },
    {
        "frame": 93,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9989991784095764,
            0.2791508436203003,
            0.9994345307350159,
            0.9976405501365662,
            0.7973061203956604,
            0.8324810266494751,
            0.7424575686454773,
            0.5856640338897705,
            0.6307653784751892,
            0.271554559469223
        ],
        "kf_translation_vector": [
            -0.011214441346536715,
            0.008720550618976825,
            1.0541928532671763
        ],
        "kf_rotation_matrix": [
            [
                0.9985357405983161,
                0.040288918649607965,
                0.036099553762031444
            ],
            [
                -0.031640183447373155,
                0.9762441524536472,
                -0.21435077231369326
            ],
            [
                -0.04387793909459628,
                0.21289471067667573,
                0.9760894265520478
            ]
        ],
        "kf_euler_angles": [
            0.21474669387417156,
            0.04389203081254746,
            -0.031675982346711574
        ]
    },
    {
        "frame": 94,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9987897276878357,
            0.3281201720237732,
            0.9991456866264343,
            0.9978269934654236,
            0.8255785703659058,
            0.7965379357337952,
            0.8038411736488342,
            0.4542143940925598,
            0.5523061752319336,
            0.21014581620693207
        ],
        "kf_translation_vector": [
            -0.011214811121409011,
            0.008737132850173612,
            1.0541409829813226
        ],
        "kf_rotation_matrix": [
            [
                0.9985237731223332,
                0.040363787662636985,
                0.03634610233662953
            ],
            [
                -0.03171222669680674,
                0.9764909420537351,
                -0.2132129798228508
            ],
            [
                -0.044097723155164484,
                0.21174561325452437,
                0.9763294454639765
            ]
        ],
        "kf_euler_angles": [
            0.2135716994583221,
            0.04411202781594091,
            -0.03174843895863748
        ]
    },
    {
        "frame": 95,
        "object_rotation_in_cam": [
            [
                0.9978228116869654,
                0.04264619262715665,
                0.050308435987676606
            ],
            [
                -0.031067317736671075,
                0.9768096071664802,
                -0.21184384134525888
            ],
            [
                -0.05817609685916912,
                0.20981966924402953,
                0.9760078115223046
            ]
        ],
        "object_translation_in_cam": [
            -0.01196127233080739,
            0.00968297451745683,
            1.0518421688145896
        ],
        "raw_rvec": [
            0.2125834951431259,
            0.05469294966814129,
            -0.03716298726088918
        ],
        "refined_raw_rvec": [
            0.2125834951431259,
            0.05469294966814129,
            -0.03716298726088918
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5419435501098633,
            6.092584133148193,
            2.428942918777466,
            0.41568824648857117,
            3.0638062953948975,
            3.4492790699005127,
            0.8984018564224243,
            1.8419109582901,
            0.5452972650527954,
            3.0220184326171875,
            1.8431166410446167
        ],
        "mean_reprojection_error": 2.194817066192627,
        "std_reprojection_error": 1.6182935237884521,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9995740056037903,
            0.21922720968723297,
            0.9994156956672668,
            0.9978708028793335,
            0.8844796419143677,
            0.22332756221294403,
            0.9105709195137024,
            0.8503186106681824,
            0.650530219078064,
            0.7371832728385925,
            0.2926594614982605,
            0.4731430113315582
        ],
        "kf_translation_vector": [
            -0.011547648454588165,
            0.009138956543111589,
            1.0531731382005791
        ],
        "kf_rotation_matrix": [
            [
                0.9982621881437084,
                0.04126543716242931,
                0.04206860371261627
            ],
            [
                -0.031332328587277324,
                0.976296000006632,
                -0.2141597664276586
            ],
            [
                -0.049908805914732485,
                0.2124694897316883,
                0.9758923234790413
            ]
        ],
        "kf_euler_angles": [
            0.2143727767444488,
            0.04992954872227682,
            -0.03137657237784132
        ]
    },
    {
        "frame": 96,
        "object_rotation_in_cam": [
            [
                0.9813889426149053,
                0.08046794216918544,
                0.17435783204735805
            ],
            [
                -0.028032998162136568,
                0.9582756407975849,
                -0.2844678316928289
            ],
            [
                -0.18997340426291187,
                0.2742858117676425,
                0.9426968755309023
            ]
        ],
        "object_translation_in_cam": [
            -0.01010447293030015,
            0.00834573533931915,
            1.061818508813863
        ],
        "raw_rvec": [
            0.28498661290006827,
            0.18582344155596278,
            -0.055339801079406066
        ],
        "refined_raw_rvec": [
            0.28498661290006827,
            0.18582344155596278,
            -0.055339801079406066
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.0598996877670288,
            0.605853796005249,
            1.8407855033874512,
            1.006230115890503,
            3.3023135662078857,
            0.3243609368801117,
            0.7600407600402832,
            0.6034731864929199,
            3.0381405353546143
        ],
        "mean_reprojection_error": 1.3934553861618042,
        "std_reprojection_error": 1.0327203273773193,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999697744846344,
            0.24443966150283813,
            0.9996563792228699,
            0.998604416847229,
            0.9009309411048889,
            0.31015899777412415,
            0.9156433939933777,
            0.8405908942222595,
            0.7410194277763367,
            0.7578570246696472,
            0.3336811661720276
        ],
        "kf_translation_vector": [
            -0.010927338432364124,
            0.008798196785740946,
            1.0570113441150153
        ],
        "kf_rotation_matrix": [
            [
                0.9931672098762494,
                0.05661860256719088,
                0.10204522071103843
            ],
            [
                -0.029816595853376426,
                0.9685122100338496,
                -0.247174168608018
            ],
            [
                -0.11282669825153298,
                0.24244263828519724,
                0.9635827433609273
            ]
        ],
        "kf_euler_angles": [
            0.24648907245401216,
            0.11306745807990452,
            -0.030012713325192567
        ]
    },
    {
        "frame": 97,
        "object_rotation_in_cam": [
            [
                0.9931921885408075,
                0.03182193797771567,
                0.11205641831177494
            ],
            [
                -0.06209450786366548,
                0.9585255080513677,
                0.278160246095729
            ],
            [
                -0.09855733719358627,
                -0.28322467173290133,
                0.9539760146917217
            ]
        ],
        "object_translation_in_cam": [
            -0.010961824812998709,
            0.015301410911990151,
            1.0326608895787828
        ],
        "raw_rvec": [
            -0.2851892334743037,
            0.10699392446103066,
            -0.04771050726430556
        ],
        "refined_raw_rvec": [
            -0.2851892334743037,
            0.10699392446103066,
            -0.04771050726430556
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            1.4942160844802856,
            1.6335300207138062,
            1.619370937347412,
            4.781810283660889,
            3.5051493644714355,
            4.090208530426025,
            1.1691800355911255,
            1.0515789985656738,
            2.7924187183380127
        ],
        "mean_reprojection_error": 2.4597179889678955,
        "std_reprojection_error": 1.3005783557891846,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999268114566803,
            0.99889075756073,
            0.9980568885803223,
            0.9150627851486206,
            0.5293920040130615,
            0.9397941827774048,
            0.9531540870666504,
            0.6553782224655151,
            0.6762371063232422,
            0.3169805705547333
        ],
        "kf_translation_vector": [
            -0.010918690472426242,
            0.011694598797995776,
            1.046387735092972
        ],
        "kf_rotation_matrix": [
            [
                0.9928119386184238,
                0.045508460586230974,
                0.11069523274196948
            ],
            [
                -0.04402785480909926,
                0.9989055988840947,
                -0.0157845658450608
            ],
            [
                -0.11129241904836198,
                0.010797431781662087,
                0.9937290440201917
            ]
        ],
        "kf_euler_angles": [
            0.010865141720123405,
            0.1115234537952657,
            -0.04431758427283662
        ]
    },
    {
        "frame": 98,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9995332956314087,
            0.9995927810668945,
            0.9985039234161377,
            0.8946647047996521,
            0.9372039437294006,
            0.9322196841239929,
            0.7737850546836853,
            0.6511313915252686
        ],
        "kf_translation_vector": [
            -0.011042919538890193,
            0.010493676405706117,
            1.0493117516906636
        ],
        "kf_rotation_matrix": [
            [
                0.9954946827372638,
                0.046476251445302125,
                0.08264559693914421
            ],
            [
                -0.03910906241804022,
                0.9952966339124008,
                -0.08862895553613521
            ],
            [
                -0.08637602606404317,
                0.08499746216351081,
                0.992630149424823
            ]
        ],
        "kf_euler_angles": [
            0.08542016442453008,
            0.08648379424158713,
            -0.03926586597747001
        ]
    },
    {
        "frame": 99,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9991647601127625,
            0.9991937279701233,
            0.9982858896255493,
            0.861138105392456,
            0.9211097359657288,
            0.9292768836021423,
            0.7553778290748596,
            0.6995457410812378
        ],
        "kf_translation_vector": [
            -0.011122692416582723,
            0.009726662862446637,
            1.0511810899501217
        ],
        "kf_rotation_matrix": [
            [
                0.9968709882801791,
                0.04504959541526448,
                0.06495203367270506
            ],
            [
                -0.03594146671705555,
                0.990173783680967,
                -0.13514469682952535
            ],
            [
                -0.07040201485416464,
                0.13238735613282152,
                0.9886946668414043
            ]
        ],
        "kf_euler_angles": [
            0.13310939243660636,
            0.07046030222255312,
            -0.036038670703905415
        ]
    },
    {
        "frame": 100,
        "object_rotation_in_cam": [
            [
                0.9985983917688148,
                0.037096051185554486,
                0.037750959500063394
            ],
            [
                -0.028231276664668202,
                0.9766586022176081,
                -0.21293419108313935
            ],
            [
                -0.04476881698928023,
                0.21156998298621346,
                0.9763369783658682
            ]
        ],
        "object_translation_in_cam": [
            -0.011274320817346526,
            0.008466519702110873,
            1.055175400290761
        ],
        "raw_rvec": [
            0.21398121883184948,
            0.04159601584515102,
            -0.032929761567278976
        ],
        "refined_raw_rvec": [
            0.21398121883184948,
            0.04159601584515102,
            -0.032929761567278976
        ],
        "num_inliers": 9,
        "total_matches": 12,
        "inlier_ratio": 0.75,
        "reprojection_errors": [
            0.2613238990306854,
            2.0785810947418213,
            0.40953177213668823,
            0.09724530577659607,
            0.2060491442680359,
            0.6388152241706848,
            2.0243256092071533,
            1.5871952772140503,
            1.7185590267181396
        ],
        "mean_reprojection_error": 1.002402901649475,
        "std_reprojection_error": 0.7848373651504517,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ],
            [
                866,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9991571307182312,
            0.2202262133359909,
            0.9992905259132385,
            0.9980589151382446,
            0.8992895483970642,
            0.9216598272323608,
            0.9044501781463623,
            0.8216087818145752,
            0.672313392162323,
            0.2613159716129303,
            0.10600263625383377,
            0.5046302080154419
        ],
        "kf_translation_vector": [
            -0.011185432666101482,
            0.009210959837733287,
            1.0528005525679656
        ],
        "kf_rotation_matrix": [
            [
                0.9976686978077385,
                0.04214843681705278,
                0.05367195439417391
            ],
            [
                -0.032723921027224906,
                0.9856280850546104,
                -0.1657299699637504
            ],
            [
                -0.059885844798377205,
                0.1635872465244787,
                0.9847095502569903
            ]
        ],
        "kf_euler_angles": [
            0.16462394876051217,
            0.059921697600639735,
            -0.032788633297093646
        ]
    },
    {
        "frame": 101,
        "object_rotation_in_cam": [
            [
                0.9906164303052272,
                0.04227663006011925,
                0.1299683598422667
            ],
            [
                -0.0296203307354613,
                0.994763709533425,
                -0.09781512256507938
            ],
            [
                -0.13342310150963735,
                0.09304756174161383,
                0.9866815226999488
            ]
        ],
        "object_translation_in_cam": [
            -0.010845239306938733,
            0.01004617717060979,
            1.0577488515236773
        ],
        "raw_rvec": [
            0.09587820558482782,
            0.1323124044520236,
            -0.036116811482155405
        ],
        "refined_raw_rvec": [
            0.09587820558482782,
            0.1323124044520236,
            -0.036116811482155405
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.6783465147018433,
            1.6725621223449707,
            1.3079167604446411,
            0.27443093061447144,
            0.1860441416501999,
            1.5706384181976318,
            1.4572288990020752,
            0.0841132253408432
        ],
        "mean_reprojection_error": 0.9039101600646973,
        "std_reprojection_error": 0.6264240741729736,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                388,
                405
            ],
            [
                866,
                379
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ]
        ],
        "mconf": [
            0.999234676361084,
            0.9992781281471252,
            0.9975556135177612,
            0.8819634914398193,
            0.9312846064567566,
            0.8991804718971252,
            0.810614824295044,
            0.7444871664047241,
            0.3651655912399292,
            0.12007200717926025
        ],
        "kf_translation_vector": [
            -0.011033593699803383,
            0.009591367641241967,
            1.054974573330231
        ],
        "kf_rotation_matrix": [
            [
                0.9951820721313873,
                0.04334164232965105,
                0.08794398983698128
            ],
            [
                -0.03132445214025246,
                0.9905275241304288,
                -0.13369368959736208
            ],
            [
                -0.09290544659163691,
                0.1302947657437219,
                0.9871128871681278
            ]
        ],
        "kf_euler_angles": [
            0.13123714290163363,
            0.09303961941313793,
            -0.031465712972902626
        ]
    },
    {
        "frame": 102,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994166493415833,
            0.9989286661148071,
            0.9971069097518921,
            0.8119609951972961,
            0.8980122804641724,
            0.92824786901474,
            0.7056115865707397,
            0.6425310969352722,
            0.26936089992523193
        ],
        "kf_translation_vector": [
            -0.01111832163313823,
            0.009154084829488783,
            1.0547601954310477
        ],
        "kf_rotation_matrix": [
            [
                0.996750051160202,
                0.04271591047625624,
                0.06829851026427239
            ],
            [
                -0.031021591839197324,
                0.9859835120138196,
                -0.16393344648562777
            ],
            [
                -0.07434377143982342,
                0.16128194266277424,
                0.9841042315827246
            ]
        ],
        "kf_euler_angles": [
            0.16244297575184874,
            0.07441242528849709,
            -0.03111269623194862
        ]
    },
    {
        "frame": 103,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 8,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9991195201873779,
            0.9988059401512146,
            0.9972849488258362,
            0.6982949376106262,
            0.8545949459075928,
            0.8089811205863953,
            0.5933265089988708,
            0.6542180180549622
        ],
        "kf_translation_vector": [
            -0.011158782354955257,
            0.009007060518429342,
            1.0544729551151413
        ],
        "kf_rotation_matrix": [
            [
                0.9975486853871224,
                0.04214890382693003,
                0.055857767486824826
            ],
            [
                -0.031358872872638756,
                0.9828688126407266,
                -0.18161915711280577
            ],
            [
                -0.06255590599281305,
                0.17942231478942788,
                0.9817812340745884
            ]
        ],
        "kf_euler_angles": [
            0.18075712013839726,
            0.0625967773999142,
            -0.031425583185297826
        ]
    },
    {
        "frame": 104,
        "object_rotation_in_cam": [
            [
                0.9985515245105714,
                0.03923495151385931,
                0.03681672822670208
            ],
            [
                -0.030612221982521372,
                0.9770228276184613,
                -0.21092483537440398
            ],
            [
                -0.04424640960469639,
                0.20949227406310644,
                0.9768087030452594
            ]
        ],
        "object_translation_in_cam": [
            -0.011423380066014347,
            0.00850523312309096,
            1.0536215157523638
        ],
        "raw_rvec": [
            0.2118928541302268,
            0.04085632876080672,
            -0.03520341254636089
        ],
        "refined_raw_rvec": [
            0.2118928541302268,
            0.04085632876080672,
            -0.03520341254636089
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.37982678413391113,
            1.5202723741531372,
            0.9490830302238464,
            0.24137499928474426,
            0.06469415873289108,
            0.8176852464675903,
            1.9726604223251343,
            1.6226905584335327
        ],
        "mean_reprojection_error": 0.9460359215736389,
        "std_reprojection_error": 0.656882107257843,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.999265730381012,
            0.9992256164550781,
            0.9973804950714111,
            0.7234956622123718,
            0.9065998196601868,
            0.8764644861221313,
            0.7220895886421204,
            0.707242488861084,
            0.36275041103363037
        ],
        "kf_translation_vector": [
            -0.011276626033931949,
            0.00877639641099645,
            1.0541540580659206
        ],
        "kf_rotation_matrix": [
            [
                0.9980370235518409,
                0.040890954276600104,
                0.047434475628295635
            ],
            [
                -0.03093674280572732,
                0.9804571408403393,
                -0.1942851330384275
            ],
            [
                -0.054451974843477,
                0.19243628772540847,
                0.9797975594999762
            ]
        ],
        "kf_euler_angles": [
            0.1939356142074644,
            0.05447891932016652,
            -0.03098766804736977
        ]
    },
    {
        "frame": 105,
        "object_rotation_in_cam": [
            [
                0.9911885454481089,
                0.0242018620708977,
                0.13022878807991492
            ],
            [
                -0.06371623918991715,
                0.9490626614335558,
                0.3085778759667469
            ],
            [
                -0.1161271210181128,
                -0.31415654464765974,
                0.9422420905579879
            ]
        ],
        "object_translation_in_cam": [
            -0.01061157765250894,
            0.014964228564426394,
            1.030463097688347
        ],
        "raw_rvec": [
            -0.3176121815007102,
            0.1256484869376836,
            -0.044840720233992055
        ],
        "refined_raw_rvec": [
            -0.3176121815007102,
            0.1256484869376836,
            -0.044840720233992055
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            2.7906391620635986,
            1.8613625764846802,
            0.709904134273529,
            2.037318706512451,
            3.6004416942596436,
            1.7779303789138794,
            1.0615618228912354,
            2.921802520751953,
            2.868469476699829
        ],
        "mean_reprojection_error": 2.1810479164123535,
        "std_reprojection_error": 0.8888456225395203,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9991171360015869,
            0.9992932081222534,
            0.9981318116188049,
            0.8825481534004211,
            0.8976278901100159,
            0.9074989557266235,
            0.7542763352394104,
            0.7164918780326843,
            0.5217248797416687,
            0.4876902401447296
        ],
        "kf_translation_vector": [
            -0.010988109080365866,
            0.011520259025984103,
            1.0435926664575355
        ],
        "kf_rotation_matrix": [
            [
                0.995630209764089,
                0.04273321724188192,
                0.0830322681207393
            ],
            [
                -0.045552696396707275,
                0.9984375664469016,
                0.032363216134655634
            ],
            [
                -0.08151955137330937,
                -0.03600413936962177,
                0.9960212169889491
            ]
        ],
        "kf_euler_angles": [
            -0.03613223205712211,
            0.08161011129414343,
            -0.04572074111171331
        ]
    },
    {
        "frame": 106,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9980763792991638,
            0.22432933747768402,
            0.999191164970398,
            0.9959061741828918,
            0.8615418672561646,
            0.8864849805831909,
            0.887804388999939,
            0.7108711004257202,
            0.7554017901420593,
            0.44428205490112305
        ],
        "kf_translation_vector": [
            -0.011174501725859523,
            0.010483342320353639,
            1.0477418734675863
        ],
        "kf_rotation_matrix": [
            [
                0.9969613948669682,
                0.04426883328967369,
                0.06409561251817597
            ],
            [
                -0.040528209089363096,
                0.9974626933385968,
                -0.05852896433152686
            ],
            [
                -0.06652399125817651,
                0.05575343753423061,
                0.9962259346103165
            ]
        ],
        "kf_euler_angles": [
            0.055906333459078604,
            0.06657315556708482,
            -0.040629362643711836
        ]
    },
    {
        "frame": 107,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9985626339912415,
            0.9995580911636353,
            0.9979479908943176,
            0.8648865818977356,
            0.9284448623657227,
            0.8948296308517456,
            0.8639969229698181,
            0.8064866662025452,
            0.2941778600215912
        ],
        "kf_translation_vector": [
            -0.011292816491498025,
            0.009820073856971506,
            1.0503983483765378
        ],
        "kf_rotation_matrix": [
            [
                0.9976782007842521,
                0.043636607307698076,
                0.052288183967041595
            ],
            [
                -0.03729740615726352,
                0.9924767919331642,
                -0.11661355396348613
            ],
            [
                -0.05698342894068026,
                0.11439258707070367,
                0.991799992362086
            ]
        ],
        "kf_euler_angles": [
            0.11483096001807414,
            0.057014312677453285,
            -0.0373668035737241
        ]
    },
    {
        "frame": 108,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9978331327438354,
            0.999101459980011,
            0.9976946115493774,
            0.7998824119567871,
            0.8992794752120972,
            0.8573265671730042,
            0.7926298975944519,
            0.812114953994751,
            0.3318540155887604
        ],
        "kf_translation_vector": [
            -0.011367323560132004,
            0.009397430021151341,
            1.0520933293758647
        ],
        "kf_rotation_matrix": [
            [
                0.9980792225438082,
                0.042598550026276286,
                0.04498031860720941
            ],
            [
                -0.03522916860715366,
                0.9875175678275775,
                -0.15351859467554577
            ],
            [
                -0.050958524366350844,
                0.1516391003915699,
                0.987121477846997
            ]
        ],
        "kf_euler_angles": [
            0.1524259207818494,
            0.05098060478289241,
            -0.035282318626409855
        ]
    },
    {
        "frame": 109,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9987285733222961,
            0.9994414448738098,
            0.9971162676811218,
            0.8876746296882629,
            0.9228287935256958,
            0.8104926347732544,
            0.8001042604446411,
            0.803270697593689,
            0.35696130990982056
        ],
        "kf_translation_vector": [
            -0.011413672868334121,
            0.009129634325851914,
            1.0531693821758308
        ],
        "kf_rotation_matrix": [
            [
                0.9983098676277707,
                0.04169582988404191,
                0.04048290957063137
            ],
            [
                -0.03391192346579403,
                0.9836525418858209,
                -0.17685490744792356
            ],
            [
                -0.04719522903719197,
                0.17518314591262626,
                0.9834040246736244
            ]
        ],
        "kf_euler_angles": [
            0.1762902878566487,
            0.04721276698234477,
            -0.03395627926132883
        ]
    },
    {
        "frame": 110,
        "object_rotation_in_cam": [
            [
                0.9920784701282785,
                0.02660685658875621,
                0.12276963912303307
            ],
            [
                -0.06333909702110327,
                0.9499351559778616,
                0.3059597330137858
            ],
            [
                -0.10848256955145227,
                -0.3113121819328328,
                0.9440954705344864
            ]
        ],
        "object_translation_in_cam": [
            -0.010632629642628923,
            0.014939041701748264,
            1.0290308269498871
        ],
        "raw_rvec": [
            -0.31463121550169226,
            0.11787214312025923,
            -0.04584657754302052
        ],
        "refined_raw_rvec": [
            -0.31463121550169226,
            0.11787214312025923,
            -0.04584657754302052
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            2.798320770263672,
            1.9070320129394531,
            0.7081770896911621,
            2.0136594772338867,
            3.605611562728882,
            1.826343297958374,
            0.924725353717804,
            2.9143669605255127,
            2.9531774520874023
        ],
        "mean_reprojection_error": 2.18349027633667,
        "std_reprojection_error": 0.9141424894332886,
        "inliers": [
            0,
            1,
            2,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9993060231208801,
            0.999549388885498,
            0.9978732466697693,
            0.7890336513519287,
            0.8520512580871582,
            0.7756571173667908,
            0.6478663086891174,
            0.7004043459892273,
            0.30202624201774597,
            0.4438581168651581
        ],
        "kf_translation_vector": [
            -0.011082969694286526,
            0.011716913565395346,
            1.0424038029435032
        ],
        "kf_rotation_matrix": [
            [
                0.9961763202613614,
                0.04399416064266151,
                0.07548014825025957
            ],
            [
                -0.047156381631631494,
                0.998060603709159,
                0.04063627683635474
            ],
            [
                -0.07354600343965263,
                -0.04404026740446323,
                0.9963189450296517
            ]
        ],
        "kf_euler_angles": [
            -0.044174225257919184,
            0.07361246724507964,
            -0.04730207378125034
        ]
    },
    {
        "frame": 111,
        "object_rotation_in_cam": [
            [
                0.9984996500448932,
                0.04051553561627922,
                0.03683666969138177
            ],
            [
                -0.031988426113370584,
                0.9775786696952158,
                -0.20812660846638928
            ],
            [
                -0.044443103570918456,
                0.20663599863203477,
                0.9774079877995301
            ]
        ],
        "object_translation_in_cam": [
            -0.011435761312583934,
            0.008774285457477273,
            1.0546327540003277
        ],
        "raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "refined_raw_rvec": [
            0.2090040883482973,
            0.04095789885854422,
            -0.03653565717738221
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8176193833351135,
            1.6113618612289429,
            1.161724328994751,
            0.1930285394191742,
            0.6813185811042786,
            0.7322695851325989,
            1.778347134590149,
            1.7931751012802124
        ],
        "mean_reprojection_error": 1.0961055755615234,
        "std_reprojection_error": 0.5498501658439636,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                641,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993283748626709,
            0.2640782296657562,
            0.9995481371879578,
            0.99779212474823,
            0.83512943983078,
            0.8892199397087097,
            0.7520843148231506,
            0.6966343522071838,
            0.7335861325263977,
            0.3203980028629303
        ],
        "kf_translation_vector": [
            -0.011232734525683548,
            0.010591303387434694,
            1.0470673626202915
        ],
        "kf_rotation_matrix": [
            [
                0.9972438628266613,
                0.04467650570519778,
                0.05923417841527344
            ],
            [
                -0.04142989237227376,
                0.9976292530032955,
                -0.05494940918798222
            ],
            [
                -0.06154869675777731,
                0.052343895442161385,
                0.9967305927568187
            ]
        ],
        "kf_euler_angles": [
            0.05246739266401238,
            0.061587623380011905,
            -0.041520518144131456
        ]
    },
    {
        "frame": 112,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9993367195129395,
            0.26536816358566284,
            0.9989714026451111,
            0.997465968132019,
            0.839970052242279,
            0.8916526436805725,
            0.7847062945365906,
            0.6618900895118713,
            0.6753671169281006,
            0.31392383575439453
        ],
        "kf_translation_vector": [
            -0.011230054173363353,
            0.009890956559021549,
            1.0497255892779183
        ],
        "kf_rotation_matrix": [
            [
                0.9978002591899681,
                0.043787272708339556,
                0.049772658249264475
            ],
            [
                -0.03778889853135,
                0.9925709558681468,
                -0.11564988852039938
            ],
            [
                -0.05446688818190284,
                0.11351463480872839,
                0.9920422298350111
            ]
        ],
        "kf_euler_angles": [
            0.11392969655530667,
            0.05449385482311773,
            -0.037854116384041535
        ]
    },
    {
        "frame": 113,
        "object_rotation_in_cam": [
            [
                0.9938577590552774,
                0.08366116765193397,
                0.07244007035292764
            ],
            [
                -0.038281193187544194,
                0.8740807246909595,
                -0.48427000420412675
            ],
            [
                -0.10383306320127529,
                0.4785224088283035,
                0.8719145595959492
            ]
        ],
        "object_translation_in_cam": [
            -0.010729159782319447,
            0.004251238690292351,
            1.0664537982318911
        ],
        "raw_rvec": [
            0.5034187305172294,
            0.09216856709397628,
            -0.06376044062991203
        ],
        "refined_raw_rvec": [
            0.5034187305172294,
            0.09216856709397628,
            -0.06376044062991203
        ],
        "num_inliers": 7,
        "total_matches": 9,
        "inlier_ratio": 0.7777777777777778,
        "reprojection_errors": [
            1.107574462890625,
            1.2401163578033447,
            0.13601496815681458,
            0.331719309091568,
            0.5918060541152954,
            1.6806373596191406,
            1.1653789281845093
        ],
        "mean_reprojection_error": 0.8933210968971252,
        "std_reprojection_error": 0.5126784443855286,
        "inliers": [
            0,
            2,
            3,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ]
        ],
        "mconf": [
            0.9990700483322144,
            0.24656914174556732,
            0.9987561702728271,
            0.9975267052650452,
            0.8177606463432312,
            0.8760343194007874,
            0.7460973858833313,
            0.6858890652656555,
            0.7116382122039795
        ],
        "kf_translation_vector": [
            -0.011009858614857187,
            0.0074039144526601855,
            1.0570314896163064
        ],
        "kf_rotation_matrix": [
            [
                0.9963701603259105,
                0.05816041820097157,
                0.062160030299281493
            ],
            [
                -0.038252608418125514,
                0.9582324450379855,
                -0.28342074593390926
            ],
            [
                -0.07604762692766324,
                0.28001419076756107,
                0.9569790025948631
            ]
        ],
        "kf_euler_angles": [
            0.2846561079126793,
            0.07612111864738591,
            -0.03837311923749412
        ]
    },
    {
        "frame": 114,
        "object_rotation_in_cam": [
            [
                0.9984344207291626,
                0.041046627697949534,
                0.03799844546619577
            ],
            [
                -0.03228331618569988,
                0.9776388610965379,
                -0.20779808654056073
            ],
            [
                -0.04567816764358723,
                0.20624604633420288,
                0.9774334112215697
            ]
        ],
        "object_translation_in_cam": [
            -0.01126071494544591,
            0.008798574066183874,
            1.0552250806563455
        ],
        "raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "refined_raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8877558708190918,
            1.5662788152694702,
            1.1455576419830322,
            0.09293053299188614,
            0.6614032983779907,
            0.5296317338943481,
            1.8641653060913086,
            1.7431837320327759
        ],
        "mean_reprojection_error": 1.0613633394241333,
        "std_reprojection_error": 0.5897145867347717,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9992682933807373,
            0.26826316118240356,
            0.9995015859603882,
            0.9967276453971863,
            0.8245571851730347,
            0.914128839969635,
            0.8333110809326172,
            0.7409703731536865,
            0.6865789294242859,
            0.2868793308734894
        ],
        "kf_translation_vector": [
            -0.01110869910288196,
            0.007869555315744806,
            1.0566204053582737
        ],
        "kf_rotation_matrix": [
            [
                0.9973279669177345,
                0.05111022812692842,
                0.05219838105297569
            ],
            [
                -0.03584595599546991,
                0.9649564940142052,
                -0.2599500569312956
            ],
            [
                -0.06365527348546349,
                0.25738436090917866,
                0.9642101933276087
            ]
        ],
        "kf_euler_angles": [
            0.26085571380802025,
            0.0636983405227882,
            -0.03592652923252193
        ]
    },
    {
        "frame": 115,
        "object_rotation_in_cam": [
            [
                0.9984738775140026,
                0.03997054661617259,
                0.03810867782220724
            ],
            [
                -0.03119829800120926,
                0.977634980201193,
                -0.2079819984730427
            ],
            [
                -0.04556953065349871,
                0.20647566658136104,
                0.977390002499413
            ]
        ],
        "object_translation_in_cam": [
            -0.011279513062742464,
            0.008832679156383617,
            1.0554744334089827
        ],
        "raw_rvec": [
            0.20884998248783,
            0.04216641130878872,
            -0.035862799039000096
        ],
        "refined_raw_rvec": [
            0.20884998248783,
            0.04216641130878872,
            -0.035862799039000096
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.775897204875946,
            0.9210299253463745,
            0.9150712490081787,
            0.0920509323477745,
            0.6641933917999268,
            0.5122191905975342,
            1.8100961446762085,
            1.810106635093689
        ],
        "mean_reprojection_error": 0.9375830888748169,
        "std_reprojection_error": 0.5612598061561584,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9983102083206177,
            0.2250702977180481,
            0.995184600353241,
            0.9947320222854614,
            0.8547027707099915,
            0.872256338596344,
            0.8035650849342346,
            0.624129593372345,
            0.6769078969955444,
            0.34578582644462585
        ],
        "kf_translation_vector": [
            -0.011180219613870765,
            0.008188401050459093,
            1.0564468833266154
        ],
        "kf_rotation_matrix": [
            [
                0.9978726215478305,
                0.04639155823995371,
                0.04580452476916873
            ],
            [
                -0.03382702553472219,
                0.9690507723407588,
                -0.24453288729586517
            ],
            [
                -0.05573117178683453,
                0.24246324247161263,
                0.9685585230338012
            ]
        ],
        "kf_euler_angles": [
            0.2452931013050383,
            0.05576006201545418,
            -0.0338861656975587
        ]
    },
    {
        "frame": 116,
        "object_rotation_in_cam": [
            [
                0.9984344207291626,
                0.041046627697949534,
                0.03799844546619577
            ],
            [
                -0.03228331618569988,
                0.9776388610965379,
                -0.20779808654056073
            ],
            [
                -0.04567816764358723,
                0.20624604633420288,
                0.9774334112215697
            ]
        ],
        "object_translation_in_cam": [
            -0.01126071494544591,
            0.008798574066183874,
            1.0552250806563455
        ],
        "raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "refined_raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8877558708190918,
            1.5662788152694702,
            1.1455576419830322,
            0.09293053299188614,
            0.6614032983779907,
            0.5296317338943481,
            1.8641653060913086,
            1.7431837320327759
        ],
        "mean_reprojection_error": 1.0613633394241333,
        "std_reprojection_error": 0.5897145867347717,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9978545308113098,
            0.26288318634033203,
            0.9988631010055542,
            0.9953281879425049,
            0.8599722385406494,
            0.8924323916435242,
            0.8277357220649719,
            0.68901526927948,
            0.673577070236206,
            0.34328851103782654
        ],
        "kf_translation_vector": [
            -0.011217214368355266,
            0.008381596318152926,
            1.0562032096424465
        ],
        "kf_rotation_matrix": [
            [
                0.9981631310110621,
                0.043982293718231244,
                0.0416643940250707
            ],
            [
                -0.0330368645449202,
                0.9716251003895022,
                -0.23420766399528944
            ],
            [
                -0.05078316129617873,
                0.23240099425857247,
                0.9712933894536672
            ]
        ],
        "kf_euler_angles": [
            0.23485425919810118,
            0.05080501436512713,
            -0.033085582881220266
        ]
    },
    {
        "frame": 117,
        "object_rotation_in_cam": [
            [
                0.9985706676389953,
                0.03807888903067895,
                0.03750493222498246
            ],
            [
                -0.0293553543510056,
                0.9771496340844592,
                -0.21051569010298118
            ],
            [
                -0.044664134402652274,
                0.2091138226392429,
                0.9768707817717065
            ]
        ],
        "object_translation_in_cam": [
            -0.011287442431068034,
            0.008715253439438839,
            1.055704347782846
        ],
        "raw_rvec": [
            0.211488485502452,
            0.041412271845864254,
            -0.033986089087487535
        ],
        "refined_raw_rvec": [
            0.211488485502452,
            0.041412271845864254,
            -0.033986089087487535
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.8618890047073364,
            2.1321094036102295,
            0.6343103647232056,
            0.12310996651649475,
            0.821095883846283,
            0.48761236667633057,
            1.8550465106964111,
            1.773092269897461,
            1.7670434713363647
        ],
        "mean_reprojection_error": 1.161700963973999,
        "std_reprojection_error": 0.6814825534820557,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9988827705383301,
            0.2483256757259369,
            0.9993602633476257,
            0.9960494637489319,
            0.6888390183448792,
            0.7680267095565796,
            0.7417109608650208,
            0.5085803270339966,
            0.6383972764015198,
            0.5184385180473328
        ],
        "kf_translation_vector": [
            -0.011252458378053122,
            0.008471771510986442,
            1.0562430244738423
        ],
        "kf_rotation_matrix": [
            [
                0.9983946847308096,
                0.04118249463784611,
                0.03888515959425921
            ],
            [
                -0.031238101710926502,
                0.9730469260802467,
                -0.2284816418167571
            ],
            [
                -0.04724652900229861,
                0.22690015817796788,
                0.9727713419483779
            ]
        ],
        "kf_euler_angles": [
            0.22915411279837958,
            0.047264124237908996,
            -0.03127812533371636
        ]
    },
    {
        "frame": 118,
        "object_rotation_in_cam": [
            [
                0.9984344207291626,
                0.041046627697949534,
                0.03799844546619577
            ],
            [
                -0.03228331618569988,
                0.9776388610965379,
                -0.20779808654056073
            ],
            [
                -0.04567816764358723,
                0.20624604633420288,
                0.9774334112215697
            ]
        ],
        "object_translation_in_cam": [
            -0.01126071494544591,
            0.008798574066183874,
            1.0552250806563455
        ],
        "raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "refined_raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8877558708190918,
            1.5662788152694702,
            1.1455576419830322,
            0.09293053299188614,
            0.6614032983779907,
            0.5296317338943481,
            1.8641653060913086,
            1.7431837320327759
        ],
        "mean_reprojection_error": 1.0613633394241333,
        "std_reprojection_error": 0.5897145867347717,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9989454746246338,
            0.2366982400417328,
            0.999362587928772,
            0.9968100786209106,
            0.881552517414093,
            0.9272049069404602,
            0.8182937502861023,
            0.7821929454803467,
            0.7005078792572021,
            0.35221245884895325
        ],
        "kf_translation_vector": [
            -0.011262522056975541,
            0.008570348259566025,
            1.0560350478639426
        ],
        "kf_rotation_matrix": [
            [
                0.998468672370483,
                0.040776157550120956,
                0.037384692992891634
            ],
            [
                -0.03142531210512919,
                0.974239649874065,
                -0.22331492196526928
            ],
            [
                -0.045527574653392945,
                0.22179812800992438,
                0.9740291732579024
            ]
        ],
        "kf_euler_angles": [
            0.2238942558965915,
            0.0455433172979923,
            -0.03146312216962933
        ]
    },
    {
        "frame": 119,
        "object_rotation_in_cam": [
            [
                0.9984344207291626,
                0.041046627697949534,
                0.03799844546619577
            ],
            [
                -0.03228331618569988,
                0.9776388610965379,
                -0.20779808654056073
            ],
            [
                -0.04567816764358723,
                0.20624604633420288,
                0.9774334112215697
            ]
        ],
        "object_translation_in_cam": [
            -0.01126071494544591,
            0.008798574066183874,
            1.0552250806563455
        ],
        "raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "refined_raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.8877558708190918,
            1.5662788152694702,
            1.1455576419830322,
            0.09293053299188614,
            0.6614032983779907,
            0.5296317338943481,
            1.8641653060913086,
            1.7431837320327759
        ],
        "mean_reprojection_error": 1.0613633394241333,
        "std_reprojection_error": 0.5897145867347717,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9992089867591858,
            0.23977114260196686,
            0.9995415210723877,
            0.9978538155555725,
            0.8906633853912354,
            0.9552410840988159,
            0.8469708561897278,
            0.8459457159042358,
            0.7352556586265564,
            0.3993850350379944
        ],
        "kf_translation_vector": [
            -0.01126851643027889,
            0.008636279973725569,
            1.0558861049342019
        ],
        "kf_rotation_matrix": [
            [
                0.9985100358160331,
                0.0405514600053968,
                0.03651420909857965
            ],
            [
                -0.03156244935245006,
                0.9750450217977356,
                -0.2197521723631585
            ],
            [
                -0.04451426923513536,
                0.21827227162166982,
                0.9748721430400901
            ]
        ],
        "kf_euler_angles": [
            0.22026563612279867,
            0.04452898334627751,
            -0.031599025050448114
        ]
    },
    {
        "frame": 120,
        "object_rotation_in_cam": [
            [
                0.9984344207291626,
                0.041046627697949534,
                0.03799844546619577
            ],
            [
                -0.03228331618569988,
                0.9776388610965379,
                -0.20779808654056073
            ],
            [
                -0.04567816764358723,
                0.20624604633420288,
                0.9774334112215697
            ]
        ],
        "object_translation_in_cam": [
            -0.01126071494544591,
            0.008798574066183874,
            1.0552250806563455
        ],
        "raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "refined_raw_rvec": [
            0.208641323503811,
            0.04216555173557339,
            -0.0369517530368496
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.8877558708190918,
            1.5662788152694702,
            1.1455576419830322,
            0.09293053299188614,
            0.6614032983779907,
            0.5296317338943481,
            1.8641653060913086,
            1.7431837320327759
        ],
        "mean_reprojection_error": 1.0613633394241333,
        "std_reprojection_error": 0.5897145867347717,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990959763526917,
            0.9997462630271912,
            0.998082160949707,
            0.8857898712158203,
            0.9300618767738342,
            0.8362060785293579,
            0.7918016314506531,
            0.7063112854957581,
            0.44404351711273193
        ],
        "kf_translation_vector": [
            -0.01127191243109644,
            0.008680963533995622,
            1.055776268297482
        ],
        "kf_rotation_matrix": [
            [
                0.9985317365418548,
                0.04043673218030003,
                0.03604499700772131
            ],
            [
                -0.031666229515888114,
                0.9756039238991506,
                -0.21724233837083326
            ],
            [
                -0.04395021077258955,
                0.21578196023569535,
                0.9754519591501601
            ]
        ],
        "kf_euler_angles": [
            0.21770633289896332,
            0.04396437227752147,
            -0.03170216746272576
        ]
    },
    {
        "frame": 121,
        "object_rotation_in_cam": [
            [
                0.9813889426149053,
                0.08046794216918544,
                0.17435783204735805
            ],
            [
                -0.028032998162136568,
                0.9582756407975849,
                -0.2844678316928289
            ],
            [
                -0.18997340426291187,
                0.2742858117676425,
                0.9426968755309023
            ]
        ],
        "object_translation_in_cam": [
            -0.01010447293030015,
            0.00834573533931915,
            1.061818508813863
        ],
        "raw_rvec": [
            0.28498661290006827,
            0.18582344155596278,
            -0.055339801079406066
        ],
        "refined_raw_rvec": [
            0.28498661290006827,
            0.18582344155596278,
            -0.055339801079406066
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.0598996877670288,
            0.605853796005249,
            1.8407855033874512,
            1.006230115890503,
            3.3023135662078857,
            0.3243609368801117,
            0.7600407600402832,
            0.6034731864929199,
            3.0381405353546143
        ],
        "mean_reprojection_error": 1.3934553861618042,
        "std_reprojection_error": 1.0327203273773193,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988980889320374,
            0.3538980484008789,
            0.9992393851280212,
            0.9982311129570007,
            0.7278097867965698,
            0.33139941096305847,
            0.7796686887741089,
            0.7281641960144043,
            0.5045690536499023,
            0.7016977667808533,
            0.2780166566371918
        ],
        "kf_translation_vector": [
            -0.010756839249100142,
            0.008509350968471836,
            1.058639770657444
        ],
        "kf_rotation_matrix": [
            [
                0.9936483730158863,
                0.055933069414021985,
                0.09764426531449874
            ],
            [
                -0.02991773670374088,
                0.9678011969291209,
                -0.2499315351312966
            ],
            [
                -0.10847967474788842,
                0.2454227678282663,
                0.9633274755752091
            ]
        ],
        "kf_euler_angles": [
            0.24945894382465694,
            0.10869357129659507,
            -0.030099884208026256
        ]
    },
    {
        "frame": 122,
        "object_rotation_in_cam": [
            [
                0.9978228116869654,
                0.04264619262715665,
                0.050308435987676606
            ],
            [
                -0.031067317736671075,
                0.9768096071664802,
                -0.21184384134525888
            ],
            [
                -0.05817609685916912,
                0.20981966924402953,
                0.9760078115223046
            ]
        ],
        "object_translation_in_cam": [
            -0.01196127233080739,
            0.00968297451745683,
            1.0518421688145896
        ],
        "raw_rvec": [
            0.2125834951431259,
            0.05469294966814129,
            -0.03716298726088918
        ],
        "refined_raw_rvec": [
            0.2125834951431259,
            0.05469294966814129,
            -0.03716298726088918
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5419435501098633,
            6.092584133148193,
            2.428942918777466,
            0.41568824648857117,
            3.0638062953948975,
            3.4492790699005127,
            0.8984018564224243,
            1.8419109582901,
            0.5452972650527954,
            3.0220184326171875,
            1.8431166410446167
        ],
        "mean_reprojection_error": 2.194817066192627,
        "std_reprojection_error": 1.6182935237884521,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9984853267669678,
            0.33471372723579407,
            0.9993304014205933,
            0.9979541301727295,
            0.6956328749656677,
            0.3736056387424469,
            0.79877769947052,
            0.6811577081680298,
            0.5264999270439148,
            0.7322287559509277,
            0.2000475823879242,
            0.5059000253677368
        ],
        "kf_translation_vector": [
            -0.01126222284076017,
            0.00900135060501524,
            1.0559695951409376
        ],
        "kf_rotation_matrix": [
            [
                0.9954887253148855,
                0.05054362704576426,
                0.08029657238016619
            ],
            [
                -0.03012680010721955,
                0.9708872262308662,
                -0.23763495083222647
            ],
            [
                -0.0899698487619281,
                0.23414383550884643,
                0.9680300050137713
            ]
        ],
        "kf_euler_angles": [
            0.23731864689978263,
            0.09009167095853927,
            -0.03025409227876415
        ]
    },
    {
        "frame": 123,
        "object_rotation_in_cam": [
            [
                0.9978506158944954,
                0.04191420304040966,
                0.05037209487864755
            ],
            [
                -0.030156634205368568,
                0.9761754424760473,
                -0.2148769017835489
            ],
            [
                -0.058178396096659035,
                0.21289599594680175,
                0.9753412577849045
            ]
        ],
        "object_translation_in_cam": [
            -0.011984823420158894,
            0.009441272615464584,
            1.052176080419394
        ],
        "raw_rvec": [
            0.215709868057706,
            0.05473795139925541,
            -0.036342626836763724
        ],
        "refined_raw_rvec": [
            0.215709868057706,
            0.05473795139925541,
            -0.036342626836763724
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.555178165435791,
            6.144526481628418,
            2.4247372150421143,
            0.39618799090385437,
            3.085456609725952,
            3.590216875076294,
            1.340195894241333,
            1.7105648517608643,
            0.6786629557609558,
            2.8650577068328857,
            1.7891913652420044
        ],
        "mean_reprojection_error": 2.2345433235168457,
        "std_reprojection_error": 1.6004806756973267,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9991364479064941,
            0.2873435616493225,
            0.999448299407959,
            0.9971427917480469,
            0.8862832188606262,
            0.47295746207237244,
            0.9271469116210938,
            0.9126724600791931,
            0.6942355632781982,
            0.6732814908027649,
            0.5044131278991699,
            0.49341222643852234
        ],
        "kf_translation_vector": [
            -0.011592962349530155,
            0.009205944066975716,
            1.0544118981888677
        ],
        "kf_rotation_matrix": [
            [
                0.9965010818316423,
                0.04700992733931816,
                0.06910615486277949
            ],
            [
                -0.02986905160916647,
                0.9725281084910923,
                -0.23086125259711124
            ],
            [
                -0.07806044878384562,
                0.22798935265992198,
                0.9705294541688956
            ]
        ],
        "kf_euler_angles": [
            0.2307288938153321,
            0.07813994298176387,
            -0.029964956210469715
        ]
    },
    {
        "frame": 124,
        "object_rotation_in_cam": [
            [
                0.9811800851437462,
                0.08077650049966958,
                0.17538756365357783
            ],
            [
                -0.02692831311948313,
                0.9566617703966782,
                -0.28995365666608225
            ],
            [
                -0.19120801884296068,
                0.2797738623040403,
                0.940832652229731
            ]
        ],
        "object_translation_in_cam": [
            -0.010096014942101965,
            0.008046335528113239,
            1.0620547849919235
        ],
        "raw_rvec": [
            0.29076747201129705,
            0.1870965807755152,
            -0.05496848113656112
        ],
        "refined_raw_rvec": [
            0.29076747201129705,
            0.1870965807755152,
            -0.05496848113656112
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.0680843591690063,
            0.5792737603187561,
            1.8529314994812012,
            0.9488568305969238,
            3.4660558700561523,
            0.7567240595817566,
            0.5851833820343018,
            0.797039270401001,
            2.88478422164917
        ],
        "mean_reprojection_error": 1.4376591444015503,
        "std_reprojection_error": 1.005216121673584,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990195631980896,
            0.32355257868766785,
            0.9994478821754456,
            0.9978654980659485,
            0.8854475617408752,
            0.5016385316848755,
            0.9283069372177124,
            0.9247474670410156,
            0.6859950423240662,
            0.7452007532119751,
            0.36529988050460815
        ],
        "kf_translation_vector": [
            -0.010956433490892665,
            0.008711594588312336,
            1.057835082344732
        ],
        "kf_rotation_matrix": [
            [
                0.9910989529512559,
                0.0609600969114317,
                0.11835004031884895
            ],
            [
                -0.028316196167475285,
                0.9651871145103795,
                -0.2600231278516057
            ],
            [
                -0.13008096899058438,
                0.2543574267987398,
                0.9583220966558136
            ]
        ],
        "kf_euler_angles": [
            0.2594377170869076,
            0.130450642115018,
            -0.02856273358570319
        ]
    },
    {
        "frame": 125,
        "object_rotation_in_cam": [
            [
                0.9776521026172486,
                0.08492806081933466,
                0.19231118202938777
            ],
            [
                -0.02586883318903132,
                0.9564155730865384,
                -0.2908608860383026
            ],
            [
                -0.20863166039101302,
                0.27938589091615884,
                0.9372386858423383
            ]
        ],
        "object_translation_in_cam": [
            -0.00992527030854862,
            0.008041779575066178,
            1.061176770471102
        ],
        "raw_rvec": [
            0.29140085922155046,
            0.20488513657897567,
            -0.0566181369503737
        ],
        "refined_raw_rvec": [
            0.29140085922155046,
            0.20488513657897567,
            -0.0566181369503737
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.2004661560058594,
            0.7762194871902466,
            1.862472653388977,
            1.0275533199310303,
            3.4070143699645996,
            0.7491267323493958,
            0.6884136199951172,
            0.8119778037071228,
            3.0249757766723633
        ],
        "mean_reprojection_error": 1.5053578615188599,
        "std_reprojection_error": 0.9790031909942627,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9982435703277588,
            0.36734727025032043,
            0.9991000294685364,
            0.9963080883026123,
            0.8639534711837769,
            0.4808380901813507,
            0.9038098454475403,
            0.9072655439376831,
            0.6809825301170349,
            0.769780158996582,
            0.39944079518318176
        ],
        "kf_translation_vector": [
            -0.010477469399328867,
            0.008397754582640882,
            1.0595933992796491
        ],
        "kf_rotation_matrix": [
            [
                0.9850074970742779,
                0.07289217571996141,
                0.15635524112186489
            ],
            [
                -0.026858599614591916,
                0.9600932033627518,
                -0.2783876011667772
            ],
            [
                -0.170407882253754,
                0.27001439142286443,
                0.9476567849650689
            ]
        ],
        "kf_euler_angles": [
            0.27757299318076667,
            0.1712435909782994,
            -0.02726065141998318
        ]
    },
    {
        "frame": 126,
        "object_rotation_in_cam": [
            [
                0.9781383103944905,
                0.0845219841079492,
                0.19000389454184063
            ],
            [
                -0.026254596158875907,
                0.9565573042142246,
                -0.29035981115669196
            ],
            [
                -0.20629140049731992,
                0.2790235795714603,
                0.9378644358989114
            ]
        ],
        "object_translation_in_cam": [
            -0.009999763335956174,
            0.00804651467209784,
            1.0624637159817716
        ],
        "raw_rvec": [
            0.2908969982111519,
            0.20246658685401434,
            -0.056595564950544054
        ],
        "refined_raw_rvec": [
            0.2908969982111519,
            0.20246658685401434,
            -0.056595564950544054
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.8447473049163818,
            0.9062773585319519,
            1.9383326768875122,
            1.17744779586792,
            3.4237120151519775,
            0.7608674168586731,
            0.7012483477592468,
            0.8399393558502197,
            3.030670404434204
        ],
        "mean_reprojection_error": 1.6248047351837158,
        "std_reprojection_error": 0.9598013758659363,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                854,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                387,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990261197090149,
            0.3430371582508087,
            0.9994102120399475,
            0.9962345361709595,
            0.8558048605918884,
            0.40217119455337524,
            0.9034915566444397,
            0.9035971760749817,
            0.7190546989440918,
            0.7828457355499268,
            0.32573819160461426
        ],
        "kf_translation_vector": [
            -0.010210481828329315,
            0.008204071353205188,
            1.0612552308745347
        ],
        "kf_rotation_matrix": [
            [
                0.9805991445533312,
                0.0807681027733003,
                0.1786108375090288
            ],
            [
                -0.026126840781248103,
                0.9568916011533988,
                -0.28926778568115086
            ],
            [
                -0.1942748205302643,
                0.2789892062723691,
                0.9404373008826518
            ]
        ],
        "kf_euler_angles": [
            0.2883888620176688,
            0.1955181313973405,
            -0.026637450346511812
        ]
    },
    {
        "frame": 127,
        "object_rotation_in_cam": [
            [
                0.9776521026172486,
                0.08492806081933466,
                0.19231118202938777
            ],
            [
                -0.02586883318903132,
                0.9564155730865384,
                -0.2908608860383026
            ],
            [
                -0.20863166039101302,
                0.27938589091615884,
                0.9372386858423383
            ]
        ],
        "object_translation_in_cam": [
            -0.00992527030854862,
            0.008041779575066178,
            1.061176770471102
        ],
        "raw_rvec": [
            0.29140085922155046,
            0.20488513657897567,
            -0.0566181369503737
        ],
        "refined_raw_rvec": [
            0.29140085922155046,
            0.20488513657897567,
            -0.0566181369503737
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.2004661560058594,
            0.7762194871902466,
            1.862472653388977,
            1.0275533199310303,
            3.4070143699645996,
            0.7491267323493958,
            0.6884136199951172,
            0.8119778037071228,
            3.0249757766723633
        ],
        "mean_reprojection_error": 1.5053578615188599,
        "std_reprojection_error": 0.9790031909942627,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.998369038105011,
            0.3329181373119354,
            0.9993239641189575,
            0.9964911937713623,
            0.8805769085884094,
            0.46062949299812317,
            0.9119737148284912,
            0.8625227808952332,
            0.7247776985168457,
            0.7485543489456177,
            0.3455035090446472
        ],
        "kf_translation_vector": [
            -0.010012595491195523,
            0.008083188799451229,
            1.0616983609795607
        ],
        "kf_rotation_matrix": [
            [
                0.9774152084008553,
                0.08594824596451812,
                0.19306063659466025
            ],
            [
                -0.025522165361389522,
                0.9548811667185353,
                -0.2958894667295791
            ],
            [
                -0.20978114658371627,
                0.2842795392951654,
                0.9355089599122768
            ]
        ],
        "kf_euler_angles": [
            0.2950097544744027,
            0.21135112029101996,
            -0.026105964907553535
        ]
    },
    {
        "frame": 128,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9988132119178772,
            0.32340943813323975,
            0.9993513822555542,
            0.9955567717552185,
            0.9040950536727905,
            0.9203313589096069,
            0.8879616856575012,
            0.7436864972114563,
            0.6516024470329285,
            0.3808140754699707
        ],
        "kf_translation_vector": [
            -0.010484010429555749,
            0.008228864926062491,
            1.0588314516152282
        ],
        "kf_rotation_matrix": [
            [
                0.988817390322052,
                0.0650069641998653,
                0.13421722394016483
            ],
            [
                -0.027506139990021466,
                0.9640523699044412,
                -0.2642847713064069
            ],
            [
                -0.1465727834883962,
                0.2576375801142913,
                0.9550598392003068
            ]
        ],
        "kf_euler_angles": [
            0.2634887507600222,
            0.14710274111229837,
            -0.027810037351026582
        ]
    },
    {
        "frame": 129,
        "object_rotation_in_cam": [
            [
                0.9989662580560367,
                0.03844927042131924,
                0.024250131331357935
            ],
            [
                -0.03223334987654616,
                0.9752972070066076,
                -0.21853230690414302
            ],
            [
                -0.032053493120968946,
                0.2175247379246293,
                0.975528350161883
            ]
        ],
        "object_translation_in_cam": [
            -0.011333338265790912,
            0.008710152391653835,
            1.0521421342881678
        ],
        "raw_rvec": [
            0.21987151179828807,
            0.028389778756853445,
            -0.03564004931707637
        ],
        "refined_raw_rvec": [
            0.21987151179828807,
            0.028389778756853445,
            -0.03564004931707637
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.4098041355609894,
            1.5131371021270752,
            0.8606603741645813,
            1.9176676273345947,
            2.4080183506011963,
            0.6077306270599365,
            0.7279795408248901,
            1.942250370979309,
            1.827221393585205
        ],
        "mean_reprojection_error": 1.3571633100509644,
        "std_reprojection_error": 0.6755735874176025,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                595,
                386
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9994484782218933,
            0.37597936391830444,
            0.9995819330215454,
            0.9980521202087402,
            0.8910225629806519,
            0.5665956139564514,
            0.9544582366943359,
            0.8437315821647644,
            0.871269702911377,
            0.6965698599815369,
            0.4795810580253601
        ],
        "kf_translation_vector": [
            -0.010824063219420315,
            0.008405703369160992,
            1.056065690770316
        ],
        "kf_rotation_matrix": [
            [
                0.99457135876866,
                0.05300011054945436,
                0.0895477559674559
            ],
            [
                -0.029351380351174215,
                0.968511382205882,
                -0.24723308639648645
            ],
            [
                -0.09983140181597233,
                0.24326259642492812,
                0.9648093077868084
            ]
        ],
        "kf_euler_angles": [
            0.24698745463798039,
            0.09999797505304857,
            -0.02950302510291788
        ]
    },
    {
        "frame": 130,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9985707402229309,
            0.3608328402042389,
            0.9995254278182983,
            0.9965434074401855,
            0.8720012903213501,
            0.9154180884361267,
            0.8726633191108704,
            0.8114380836486816,
            0.6812919974327087,
            0.35891297459602356
        ],
        "kf_translation_vector": [
            -0.011002869748108834,
            0.008439432177473567,
            1.0552328240968427
        ],
        "kf_rotation_matrix": [
            [
                0.9966609224187188,
                0.04669166491554915,
                0.06698428286458331
            ],
            [
                -0.02991363615428961,
                0.9721268943091851,
                -0.2325391918210934
            ],
            [
                -0.07597486489291844,
                0.2297589819532472,
                0.9702776046659587
            ]
        ],
        "kf_euler_angles": [
            0.23251438410792444,
            0.07604814549841558,
            -0.030004847136864025
        ]
    },
    {
        "frame": 131,
        "object_rotation_in_cam": [
            [
                0.9984866306684075,
                0.039769455408983995,
                0.03798471788659304
            ],
            [
                -0.030905130409709547,
                0.9770830079780919,
                -0.21060310642258573
            ],
            [
                -0.04548979325969809,
                0.20911046348032647,
                0.9768334007251354
            ]
        ],
        "object_translation_in_cam": [
            -0.011248301040522673,
            0.008529188302572661,
            1.0542154550547234
        ],
        "raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "refined_raw_rvec": [
            0.21153755331521137,
            0.04207153429934229,
            -0.03562031356077114
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.4251331090927124,
            1.486680030822754,
            0.9495301246643066,
            0.1374184638261795,
            0.14451849460601807,
            0.6073961853981018,
            2.0523645877838135,
            1.5514905452728271
        ],
        "mean_reprojection_error": 0.9193164110183716,
        "std_reprojection_error": 0.6670311689376831,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9975689053535461,
            0.3684083819389343,
            0.999407947063446,
            0.9960745573043823,
            0.8782621026039124,
            0.920537531375885,
            0.909565806388855,
            0.8203878998756409,
            0.7487722635269165,
            0.39034032821655273
        ],
        "kf_translation_vector": [
            -0.011116402649313298,
            0.00846291951973515,
            1.054704328779847
        ],
        "kf_rotation_matrix": [
            [
                0.9976865357697082,
                0.043045721089123766,
                0.052617888970920144
            ],
            [
                -0.030273600897162033,
                0.974332969793429,
                -0.22306674575614435
            ],
            [
                -0.06086941294737501,
                0.22095775584811309,
                0.9733820343000006
            ]
        ],
        "kf_euler_angles": [
            0.22321728711582797,
            0.060907063484722974,
            -0.03033449235539711
        ]
    },
    {
        "frame": 132,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9984709620475769,
            0.3739311993122101,
            0.9995740652084351,
            0.9973663091659546,
            0.8972052931785583,
            0.9382002949714661,
            0.8309703469276428,
            0.8101344108581543,
            0.7737619876861572,
            0.3947083652019501
        ],
        "kf_translation_vector": [
            -0.011174197805415268,
            0.008608489299768205,
            1.0542330317601512
        ],
        "kf_rotation_matrix": [
            [
                0.9981922643547539,
                0.04136216787482785,
                0.04360475261967893
            ],
            [
                -0.031025561092498072,
                0.9759956632945397,
                -0.21556873564862591
            ],
            [
                -0.051474439688300705,
                0.21382618244486817,
                0.9755146056107153
            ]
        ],
        "kf_euler_angles": [
            0.21578063529289002,
            0.05149719810073634,
            -0.03107174537406177
        ]
    },
    {
        "frame": 133,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9983812570571899,
            0.3909514546394348,
            0.9991915225982666,
            0.9969479441642761,
            0.8711848258972168,
            0.8891546726226807,
            0.7828903794288635,
            0.7897391319274902,
            0.6736213564872742,
            0.36136236786842346
        ],
        "kf_translation_vector": [
            -0.011210063156260929,
            0.008701804419784945,
            1.0539394086303473
        ],
        "kf_rotation_matrix": [
            [
                0.9984588618342453,
                0.04040490504422787,
                0.03804398602973461
            ],
            [
                -0.03150574522205954,
                0.9770232443531147,
                -0.21079129017043513
            ],
            [
                -0.0456868607223826,
                0.20926782753706036,
                0.9767905031864574
            ]
        ],
        "kf_euler_angles": [
            0.21104985075963176,
            0.04570276928500059,
            -0.031543908453820775
        ]
    },
    {
        "frame": 134,
        "object_rotation_in_cam": [
            [
                0.9977096356594558,
                0.042908022146471256,
                0.052291342952289176
            ],
            [
                -0.030912161086934578,
                0.9768348776009902,
                -0.2117499945671636
            ],
            [
                -0.060165781048793825,
                0.20964857151370325,
                0.9759239495232466
            ]
        ],
        "object_translation_in_cam": [
            -0.012034454406187053,
            0.00969035990168946,
            1.0516119613728625
        ],
        "raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "refined_raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5600451827049255,
            6.781534671783447,
            2.4359710216522217,
            0.4057794511318207,
            3.3538122177124023,
            3.403392791748047,
            0.9988111257553101,
            1.927632451057434,
            0.4712720811367035,
            3.078165054321289,
            1.8682516813278198
        ],
        "mean_reprojection_error": 2.2986061573028564,
        "std_reprojection_error": 1.7841236591339111,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9983126521110535,
            0.3522574007511139,
            0.9995254278182983,
            0.9968945980072021,
            0.8570433259010315,
            0.377666175365448,
            0.8912606835365295,
            0.7425779104232788,
            0.6962178349494934,
            0.7638275623321533,
            0.41219964623451233,
            0.5950989127159119
        ],
        "kf_translation_vector": [
            -0.011596970912088302,
            0.009151578770085399,
            1.0527351534774245
        ],
        "kf_rotation_matrix": [
            [
                0.9983224734390987,
                0.040789824912579285,
                0.04109050024082021
            ],
            [
                -0.03129730458619441,
                0.9772605398964157,
                -0.2097196125473363
            ],
            [
                -0.04871055072649758,
                0.2080817804253102,
                0.9768977709581255
            ]
        ],
        "kf_euler_angles": [
            0.20986624377546492,
            0.04872983405425722,
            -0.03133963052781165
        ]
    },
    {
        "frame": 135,
        "object_rotation_in_cam": [
            [
                0.9815148222016895,
                0.07959906590121804,
                0.17404781672298975
            ],
            [
                -0.02295849393735596,
                0.9518093122313233,
                -0.30582992120762786
            ],
            [
                -0.1900041087832426,
                0.29618072499301673,
                0.9360424225365519
            ]
        ],
        "object_translation_in_cam": [
            -0.010267931209934078,
            0.007368660862389511,
            1.0636757964412817
        ],
        "raw_rvec": [
            0.30773504263643064,
            0.1860956039973353,
            -0.0524252440530645
        ],
        "refined_raw_rvec": [
            0.30773504263643064,
            0.1860956039973353,
            -0.0524252440530645
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.9243835210800171,
            1.6111822128295898,
            2.411998748779297,
            0.6098353266716003,
            0.927049994468689,
            0.5576015114784241,
            1.1677912473678589,
            2.7106847763061523,
            2.5100486278533936
        ],
        "mean_reprojection_error": 1.492286205291748,
        "std_reprojection_error": 0.8013876676559448,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9983493685722351,
            0.37521132826805115,
            0.9989604353904724,
            0.9971671104431152,
            0.8362160325050354,
            0.910955548286438,
            0.7124948501586914,
            0.7845315337181091,
            0.7599825859069824,
            0.3138555586338043,
            0.6872138381004333
        ],
        "kf_translation_vector": [
            -0.011049944015032355,
            0.008397227540664224,
            1.057376309566368
        ],
        "kf_rotation_matrix": [
            [
                0.9936408431106653,
                0.05409769210564299,
                0.09874874485870333
            ],
            [
                -0.02765142240709818,
                0.9674009412655813,
                -0.25173561066589617
            ],
            [
                -0.10914794428293399,
                0.24740424116678045,
                0.9627449650408456
            ]
        ],
        "kf_euler_angles": [
            0.2515352995693444,
            0.1093658326327351,
            -0.027821207213085477
        ]
    },
    {
        "frame": 136,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9982361197471619,
            0.27402108907699585,
            0.9991294145584106,
            0.996989905834198,
            0.8923141956329346,
            0.8928377628326416,
            0.7533659338951111,
            0.6369333863258362,
            0.7139803171157837,
            0.3623085916042328
        ],
        "kf_translation_vector": [
            -0.011127345455981317,
            0.008568101493158698,
            1.0559424516242308
        ],
        "kf_rotation_matrix": [
            [
                0.9961521033546255,
                0.04780257172226438,
                0.07345679763570903
            ],
            [
                -0.029400144586013557,
                0.9718535800396182,
                -0.23374398486912779
            ],
            [
                -0.08256281536186393,
                0.23068492170255797,
                0.9695193904294064
            ]
        ],
        "kf_euler_angles": [
            0.23359380389660525,
            0.08265690413266742,
            -0.02950514537346536
        ]
    },
    {
        "frame": 137,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 10,
        "inlier_ratio": 0.8,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9980344176292419,
            0.2993980348110199,
            0.9989114999771118,
            0.996504008769989,
            0.8801701664924622,
            0.866981029510498,
            0.7872456312179565,
            0.6528559923171997,
            0.720069944858551,
            0.45018747448921204
        ],
        "kf_translation_vector": [
            -0.011176049090352467,
            0.008677442446382314,
            1.055029537213784
        ],
        "kf_rotation_matrix": [
            [
                0.9973749060749937,
                0.04428797944452816,
                0.05728762177485328
            ],
            [
                -0.030512972122450428,
                0.97453200616487,
                -0.22216284003525047
            ],
            [
                -0.06566776426948123,
                0.21983162610733414,
                0.9733251259979129
            ]
        ],
        "kf_euler_angles": [
            0.22212934552529304,
            0.06571505211687259,
            -0.030583743135236634
        ]
    },
    {
        "frame": 138,
        "object_rotation_in_cam": [
            [
                0.9815148222016895,
                0.07959906590121804,
                0.17404781672298975
            ],
            [
                -0.02295849393735596,
                0.9518093122313233,
                -0.30582992120762786
            ],
            [
                -0.1900041087832426,
                0.29618072499301673,
                0.9360424225365519
            ]
        ],
        "object_translation_in_cam": [
            -0.010267931209934078,
            0.007368660862389511,
            1.0636757964412817
        ],
        "raw_rvec": [
            0.30773504263643064,
            0.1860956039973353,
            -0.0524252440530645
        ],
        "refined_raw_rvec": [
            0.30773504263643064,
            0.1860956039973353,
            -0.0524252440530645
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.9243835210800171,
            1.6111822128295898,
            2.411998748779297,
            0.6098353266716003,
            0.927049994468689,
            0.5576015114784241,
            1.1677912473678589,
            2.7106847763061523,
            2.5100486278533936
        ],
        "mean_reprojection_error": 1.492286205291748,
        "std_reprojection_error": 0.8013876676559448,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9988152384757996,
            0.3888418674468994,
            0.9989623427391052,
            0.99803227186203,
            0.7861435413360596,
            0.9119269251823425,
            0.7628123760223389,
            0.7498528361320496,
            0.7222709059715271,
            0.4007714092731476,
            0.6242315173149109
        ],
        "kf_translation_vector": [
            -0.010781822649219347,
            0.008099528093188443,
            1.0588195763499508
        ],
        "kf_rotation_matrix": [
            [
                0.9924246658179,
                0.05713704810265747,
                0.10875955319117454
            ],
            [
                -0.027175035480789412,
                0.9654351993179366,
                -0.25922267139383026
            ],
            [
                -0.11981151915758,
                0.2543034283136003,
                0.9596744063613983
            ]
        ],
        "kf_euler_angles": [
            0.25903571225852673,
            0.12010003183310651,
            -0.0273756261083534
        ]
    },
    {
        "frame": 139,
        "object_rotation_in_cam": [
            [
                0.9978228116869654,
                0.04264619262715665,
                0.050308435987676606
            ],
            [
                -0.031067317736671075,
                0.9768096071664802,
                -0.21184384134525888
            ],
            [
                -0.05817609685916912,
                0.20981966924402953,
                0.9760078115223046
            ]
        ],
        "object_translation_in_cam": [
            -0.01196127233080739,
            0.00968297451745683,
            1.0518421688145896
        ],
        "raw_rvec": [
            0.2125834951431259,
            0.05469294966814129,
            -0.03716298726088918
        ],
        "refined_raw_rvec": [
            0.2125834951431259,
            0.05469294966814129,
            -0.03716298726088918
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5419435501098633,
            6.092584133148193,
            2.428942918777466,
            0.41568824648857117,
            3.0638062953948975,
            3.4492790699005127,
            0.8984018564224243,
            1.8419109582901,
            0.5452972650527954,
            3.0220184326171875,
            1.8431166410446167
        ],
        "mean_reprojection_error": 2.194817066192627,
        "std_reprojection_error": 1.6182935237884521,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                556,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.998633861541748,
            0.3485572636127472,
            0.9992245435714722,
            0.9984380602836609,
            0.7704957723617554,
            0.46837034821510315,
            0.8590351939201355,
            0.746989369392395,
            0.666897714138031,
            0.7593711018562317,
            0.3310401439666748,
            0.6085168719291687
        ],
        "kf_translation_vector": [
            -0.01128997219695994,
            0.008770488644458233,
            1.0559174386407792
        ],
        "kf_rotation_matrix": [
            [
                0.9950786291599718,
                0.050518452376485626,
                0.08524322705409593
            ],
            [
                -0.028685117963853098,
                0.970302900287375,
                -0.2401862729243875
            ],
            [
                -0.09484558923066076,
                0.2365590151809761,
                0.9669768076536767
            ]
        ],
        "kf_euler_angles": [
            0.23992549198297122,
            0.09498836815327595,
            -0.028819005203898337
        ]
    },
    {
        "frame": 140,
        "object_rotation_in_cam": [
            [
                0.9977096356594558,
                0.042908022146471256,
                0.052291342952289176
            ],
            [
                -0.030912161086934578,
                0.9768348776009902,
                -0.2117499945671636
            ],
            [
                -0.060165781048793825,
                0.20964857151370325,
                0.9759239495232466
            ]
        ],
        "object_translation_in_cam": [
            -0.012034454406187053,
            0.00969035990168946,
            1.0516119613728625
        ],
        "raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "refined_raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5600451827049255,
            6.781534671783447,
            2.4359710216522217,
            0.4057794511318207,
            3.3538122177124023,
            3.403392791748047,
            0.9988111257553101,
            1.927632451057434,
            0.4712720811367035,
            3.078165054321289,
            1.8682516813278198
        ],
        "mean_reprojection_error": 2.2986061573028564,
        "std_reprojection_error": 1.7841236591339111,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9983116984367371,
            0.3269262909889221,
            0.9990118741989136,
            0.9979088306427002,
            0.801594614982605,
            0.3239591717720032,
            0.8329530954360962,
            0.7725006937980652,
            0.5871797204017639,
            0.7106958627700806,
            0.4710316061973572,
            0.583214282989502
        ],
        "kf_translation_vector": [
            -0.011643824107417636,
            0.009199085696988787,
            1.0539714651706078
        ],
        "kf_rotation_matrix": [
            [
                0.9963711126404619,
                0.04691231205773701,
                0.07102000333008526
            ],
            [
                -0.029579394209771674,
                0.9732374355316542,
                -0.22789022251503455
            ],
            [
                -0.07981018314595416,
                0.22496250589190755,
                0.9710933042756719
            ]
        ],
        "kf_euler_angles": [
            0.22764346616315698,
            0.0798951542884476,
            -0.02967840871353307
        ]
    },
    {
        "frame": 141,
        "object_rotation_in_cam": [
            [
                0.9977096356594558,
                0.042908022146471256,
                0.052291342952289176
            ],
            [
                -0.030912161086934578,
                0.9768348776009902,
                -0.2117499945671636
            ],
            [
                -0.060165781048793825,
                0.20964857151370325,
                0.9759239495232466
            ]
        ],
        "object_translation_in_cam": [
            -0.012034454406187053,
            0.00969035990168946,
            1.0516119613728625
        ],
        "raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "refined_raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5600451827049255,
            6.781534671783447,
            2.4359710216522217,
            0.4057794511318207,
            3.3538122177124023,
            3.403392791748047,
            0.9988111257553101,
            1.927632451057434,
            0.4712720811367035,
            3.078165054321289,
            1.8682516813278198
        ],
        "mean_reprojection_error": 2.2986061573028564,
        "std_reprojection_error": 1.7841236591339111,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9986759424209595,
            0.34160274267196655,
            0.9994617700576782,
            0.9980039596557617,
            0.8617663979530334,
            0.3673149347305298,
            0.8965701460838318,
            0.7920145392417908,
            0.7503389716148376,
            0.7841998338699341,
            0.3511064946651459,
            0.5463905930519104
        ],
        "kf_translation_vector": [
            -0.011865310608987694,
            0.009468401157145534,
            1.0527452192026692
        ],
        "kf_rotation_matrix": [
            [
                0.9970708476649823,
                0.04481874767196022,
                0.06197583879021548
            ],
            [
                -0.030150672896411684,
                0.9750251960118166,
                -0.2200381877447914
            ],
            [
                -0.07028984037915581,
                0.21752504913052115,
                0.9735205140829016
            ]
        ],
        "kf_euler_angles": [
            0.21983070703390623,
            0.07034784916264061,
            -0.030230036269479264
        ]
    },
    {
        "frame": 142,
        "object_rotation_in_cam": [
            [
                0.9986066901042369,
                0.037865020776751995,
                0.03675484567559604
            ],
            [
                -0.02949403985889737,
                0.9780526954773636,
                -0.2062596094301189
            ],
            [
                -0.043758200281347436,
                0.20488817699184003,
                0.9778067574102246
            ]
        ],
        "object_translation_in_cam": [
            -0.011520833392845545,
            0.009174123481625716,
            1.0534525232868888
        ],
        "raw_rvec": [
            0.20714833606219263,
            0.04056483836729937,
            -0.03393747404264724
        ],
        "refined_raw_rvec": [
            0.20714833606219263,
            0.04056483836729937,
            -0.03393747404264724
        ],
        "num_inliers": 10,
        "total_matches": 11,
        "inlier_ratio": 0.9090909090909091,
        "reprojection_errors": [
            0.5394061803817749,
            2.401205539703369,
            0.45419761538505554,
            0.3861159682273865,
            4.191374778747559,
            0.62638920545578,
            0.9031232595443726,
            1.4266561269760132,
            2.2390143871307373,
            1.5504025220870972
        ],
        "mean_reprojection_error": 1.4717886447906494,
        "std_reprojection_error": 1.139228343963623,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9980525970458984,
            0.9992765188217163,
            0.9980581402778625,
            0.8498537540435791,
            0.34881287813186646,
            0.86748206615448,
            0.8600534200668335,
            0.5994265079498291,
            0.7116196155548096,
            0.2700841426849365,
            0.5736392140388489
        ],
        "kf_translation_vector": [
            -0.011772233892451479,
            0.009404614694992465,
            1.052804356342895
        ],
        "kf_rotation_matrix": [
            [
                0.997927244440986,
                0.04128022442532246,
                0.04936757917718366
            ],
            [
                -0.02988333259290655,
                0.9766795553469034,
                -0.21261239992182193
            ],
            [
                -0.056992992863704,
                0.21069643860011028,
                0.9758887280451946
            ]
        ],
        "kf_euler_angles": [
            0.21263825539686937,
            0.05702389216857408,
            -0.029936455953156457
        ]
    },
    {
        "frame": 143,
        "object_rotation_in_cam": [
            [
                0.9776521026172486,
                0.08492806081933466,
                0.19231118202938777
            ],
            [
                -0.02586883318903132,
                0.9564155730865384,
                -0.2908608860383026
            ],
            [
                -0.20863166039101302,
                0.27938589091615884,
                0.9372386858423383
            ]
        ],
        "object_translation_in_cam": [
            -0.00992527030854862,
            0.008041779575066178,
            1.061176770471102
        ],
        "raw_rvec": [
            0.29140085922155046,
            0.20488513657897567,
            -0.0566181369503737
        ],
        "refined_raw_rvec": [
            0.29140085922155046,
            0.20488513657897567,
            -0.0566181369503737
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.2004661560058594,
            0.7762194871902466,
            1.862472653388977,
            1.0275533199310303,
            3.4070143699645996,
            0.7491267323493958,
            0.6884136199951172,
            0.8119778037071228,
            3.0249757766723633
        ],
        "mean_reprojection_error": 1.5053578615188599,
        "std_reprojection_error": 0.9790031909942627,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9982990026473999,
            0.39722418785095215,
            0.9993312358856201,
            0.9979904294013977,
            0.886699378490448,
            0.4867315888404846,
            0.891156017780304,
            0.8799121975898743,
            0.7537199854850769,
            0.6923328042030334,
            0.3694658875465393
        ],
        "kf_translation_vector": [
            -0.010996615868416904,
            0.008854560481369034,
            1.0563081350126187
        ],
        "kf_rotation_matrix": [
            [
                0.9920340453450136,
                0.057333656369495514,
                0.11216641531096606
            ],
            [
                -0.0281624310015454,
                0.9688259509118397,
                -0.24613645467474515
            ],
            [
                -0.12278163688634677,
                0.24101686390598126,
                0.962722982459874
            ]
        ],
        "kf_euler_angles": [
            0.24530723181777048,
            0.12309224428676903,
            -0.028380950551108692
        ]
    },
    {
        "frame": 144,
        "object_rotation_in_cam": [
            [
                0.9977096356594558,
                0.042908022146471256,
                0.052291342952289176
            ],
            [
                -0.030912161086934578,
                0.9768348776009902,
                -0.2117499945671636
            ],
            [
                -0.060165781048793825,
                0.20964857151370325,
                0.9759239495232466
            ]
        ],
        "object_translation_in_cam": [
            -0.012034454406187053,
            0.00969035990168946,
            1.0516119613728625
        ],
        "raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "refined_raw_rvec": [
            0.21245607532459856,
            0.05669739085675216,
            -0.0372178447482008
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            0.5600451827049255,
            6.781534671783447,
            2.4359710216522217,
            0.4057794511318207,
            3.3538122177124023,
            3.403392791748047,
            0.9988111257553101,
            1.927632451057434,
            0.4712720811367035,
            3.078165054321289,
            1.8682516813278198
        ],
        "mean_reprojection_error": 2.2986061573028564,
        "std_reprojection_error": 1.7841236591339111,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9984015822410583,
            0.2753061056137085,
            0.999370276927948,
            0.9979825019836426,
            0.8967658877372742,
            0.5043032169342041,
            0.8752686977386475,
            0.7627244591712952,
            0.6204412579536438,
            0.6438187956809998,
            0.33399441838264465,
            0.46180352568626404
        ],
        "kf_translation_vector": [
            -0.011447996020740444,
            0.009241930694435593,
            1.0542512391561012
        ],
        "kf_rotation_matrix": [
            [
                0.9947928274811343,
                0.050982538348175,
                0.08824970921009917
            ],
            [
                -0.02928094713368414,
                0.9723542011141152,
                -0.23166772263456398
            ],
            [
                -0.09762098405078998,
                0.2278773537658092,
                0.9687838020495841
            ]
        ],
        "kf_euler_angles": [
            0.23102046376526356,
            0.09777670510784724,
            -0.02942572025368535
        ]
    },
    {
        "frame": 145,
        "object_rotation_in_cam": [
            [
                0.9978105632417174,
                0.04333193296727509,
                0.049964221884928446
            ],
            [
                -0.03186207578356872,
                0.9769699629195239,
                -0.21098459583530335
            ],
            [
                -0.0579559143660844,
                0.2089306945815855,
                0.9762115943030216
            ]
        ],
        "object_translation_in_cam": [
            -0.01190748305454375,
            0.009698146779769217,
            1.0508266984679135
        ],
        "raw_rvec": [
            0.2116895625211633,
            0.05440517873859829,
            -0.03790713789172952
        ],
        "refined_raw_rvec": [
            0.2116895625211633,
            0.05440517873859829,
            -0.03790713789172952
        ],
        "num_inliers": 11,
        "total_matches": 12,
        "inlier_ratio": 0.9166666666666666,
        "reprojection_errors": [
            1.3337812423706055,
            6.090925693511963,
            2.4577486515045166,
            0.3755567967891693,
            3.0480945110321045,
            3.5198748111724854,
            0.9086711406707764,
            1.8870437145233154,
            0.6031540036201477,
            2.9881389141082764,
            2.135390520095825
        ],
        "mean_reprojection_error": 2.3043980598449707,
        "std_reprojection_error": 1.5540807247161865,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            11
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                307
            ],
            [
                556,
                381
            ],
            [
                830,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9976621866226196,
            0.358865886926651,
            0.9991279244422913,
            0.9979786276817322,
            0.8873983025550842,
            0.5647324919700623,
            0.9202527403831482,
            0.7689252495765686,
            0.7217473387718201,
            0.6786804795265198,
            0.4353235960006714,
            0.4768938422203064
        ],
        "kf_translation_vector": [
            -0.011676036809348502,
            0.009488703362653622,
            1.052601276244082
        ],
        "kf_rotation_matrix": [
            [
                0.9962842938189284,
                0.04746816304430785,
                0.07186361657276982
            ],
            [
                -0.030414009754976667,
                0.9745544905781983,
                -0.2220777631922937
            ],
            [
                -0.08057663371190965,
                0.2190669267394494,
                0.9723770296076463
            ]
        ],
        "kf_euler_angles": [
            0.22159055486412788,
            0.08066408133990549,
            -0.03051796296286967
        ]
    },
    {
        "frame": 146,
        "object_rotation_in_cam": [
            [
                0.9779187077146687,
                0.084478783187777,
                0.1911500360784293
            ],
            [
                -0.02699250581560891,
                0.9580525880587389,
                -0.2853184942196117
            ],
            [
                -0.20723514598510206,
                0.273858674693837,
                0.9391778428835875
            ]
        ],
        "object_translation_in_cam": [
            -0.009938516916609585,
            0.008342431093225576,
            1.0609844213288788
        ],
        "raw_rvec": [
            0.28555566638577434,
            0.20344383223553617,
            -0.056925175031904876
        ],
        "refined_raw_rvec": [
            0.28555566638577434,
            0.20344383223553617,
            -0.056925175031904876
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.1897659301757812,
            0.8069568872451782,
            1.850050926208496,
            1.0831156969070435,
            3.2418060302734375,
            0.36930420994758606,
            0.8205157518386841,
            0.6299397945404053,
            3.1748502254486084
        ],
        "mean_reprojection_error": 1.4629228115081787,
        "std_reprojection_error": 1.0108686685562134,
        "inliers": [
            0,
            1,
            2,
            3,
            5,
            6,
            7,
            8,
            9
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                520,
                375
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                676,
                338
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                555,
                381
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                664,
                360
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.04600000008940697,
                -0.009999999776482582,
                -0.06199999898672104
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9987072348594666,
            0.31612011790275574,
            0.999379575252533,
            0.9974158406257629,
            0.8775161504745483,
            0.4962203800678253,
            0.8831624984741211,
            0.786588728427887,
            0.7710039019584656,
            0.798610508441925,
            0.3534933626651764
        ],
        "kf_translation_vector": [
            -0.010937948257196257,
            0.009035642446461226,
            1.056109049769349
        ],
        "kf_rotation_matrix": [
            [
                0.9901751868983018,
                0.061967451980041846,
                0.1253520408530084
            ],
            [
                -0.02899753029018026,
                0.9679536003071296,
                -0.24944933531588226
            ],
            [
                -0.1367926989571562,
                0.24336364261648985,
                0.9602405401587928
            ]
        ],
        "kf_euler_angles": [
            0.24821395454078019,
            0.13722294817187572,
            -0.029276884795825762
        ]
    },
    {
        "frame": 147,
        "object_rotation_in_cam": [
            [
                0.9989874068030475,
                0.03511525490299884,
                0.028126143034904804
            ],
            [
                -0.028375420854995576,
                0.9768990567041304,
                -0.21180903781916904
            ],
            [
                -0.034914130953302994,
                0.2107964702827771,
                0.9769062655015055
            ]
        ],
        "object_translation_in_cam": [
            -0.011295066601144642,
            0.008499212140958659,
            1.0530182961849752
        ],
        "raw_rvec": [
            0.21298111537206765,
            0.03177049898774713,
            -0.031997488625732554
        ],
        "refined_raw_rvec": [
            0.21298111537206765,
            0.03177049898774713,
            -0.031997488625732554
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            0.33359456062316895,
            2.2900874614715576,
            0.2598441243171692,
            0.09544482082128525,
            0.1882622092962265,
            0.7056373953819275,
            2.1192662715911865,
            1.5969997644424438,
            1.7124569416046143
        ],
        "mean_reprojection_error": 1.033510446548462,
        "std_reprojection_error": 0.8384307026863098,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                830,
                307
            ],
            [
                845,
                288
            ],
            [
                552,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                867,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9990052580833435,
            0.9997895359992981,
            0.9989027976989746,
            0.9401792287826538,
            0.9234952330589294,
            0.9379978775978088,
            0.8711482286453247,
            0.7349051833152771,
            0.4158347547054291,
            0.11470748484134674,
            0.6707322597503662
        ],
        "kf_translation_vector": [
            -0.011077198613854115,
            0.008817063659697404,
            1.0547698604663156
        ],
        "kf_rotation_matrix": [
            [
                0.9950620840222628,
                0.05001279234410191,
                0.08573312978783024
            ],
            [
                -0.02871898585909599,
                0.9719001358466678,
                -0.2336350696972823
            ],
            [
                -0.09500878271242215,
                0.23001923081163161,
                0.9685372913132096
            ]
        ],
        "kf_euler_angles": [
            0.233171614420704,
            0.09515230192430885,
            -0.028853491786618203
        ]
    },
    {
        "frame": 148,
        "object_rotation_in_cam": [
            [
                0.9984434127887789,
                0.040809351645833956,
                0.03801773634690386
            ],
            [
                -0.03206492457629794,
                0.9777275785409436,
                -0.20741413349234245
            ],
            [
                -0.04563542561007128,
                0.2058722394561967,
                0.9775142090786599
            ]
        ],
        "object_translation_in_cam": [
            -0.011217599592106196,
            0.008817437383260617,
            1.0539047727630857
        ],
        "raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "refined_raw_rvec": [
            0.20825321633999097,
            0.042152466606295416,
            -0.03672103269080588
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.45511284470558167,
            1.4867124557495117,
            0.9933798909187317,
            0.14353325963020325,
            0.6598594188690186,
            0.5702767372131348,
            1.8970390558242798,
            1.7670835256576538
        ],
        "mean_reprojection_error": 0.9966245889663696,
        "std_reprojection_error": 0.6083515286445618,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                357
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9987024068832397,
            0.99891197681427,
            0.9961630702018738,
            0.8504019379615784,
            0.8067507743835449,
            0.728873610496521,
            0.5335066318511963,
            0.6478723287582397,
            0.48360660672187805
        ],
        "kf_translation_vector": [
            -0.011131371453696864,
            0.00882057888371993,
            1.0543193789779373
        ],
        "kf_rotation_matrix": [
            [
                0.9968641337870028,
                0.045563915548335276,
                0.06469797809045377
            ],
            [
                -0.03016378645608098,
                0.9746602325649016,
                -0.2216474160534332
            ],
            [
                -0.07315767051868595,
                0.21900082341497243,
                0.9729782086911523
            ]
        ],
        "kf_euler_angles": [
            0.22139341147596672,
            0.07322308537574145,
            -0.030249443858776072
        ]
    },
    {
        "frame": 149,
        "object_rotation_in_cam": [
            [
                0.9990093081123297,
                0.037365389605067925,
                0.024170849480019758
            ],
            [
                -0.031086858675385746,
                0.9746033203129641,
                -0.22177009548774235
            ],
            [
                -0.031843516178664745,
                0.22079899387136537,
                0.9747993612958371
            ]
        ],
        "object_translation_in_cam": [
            -0.011365204223774194,
            0.008421801982896823,
            1.0524465932383436
        ],
        "raw_rvec": [
            0.22320699941605196,
            0.028250500957882174,
            -0.0345234705932321
        ],
        "refined_raw_rvec": [
            0.22320699941605196,
            0.028250500957882174,
            -0.0345234705932321
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            0.3803695738315582,
            1.5135700702667236,
            0.8180633783340454,
            1.9301105737686157,
            2.418968915939331,
            0.12119590491056442,
            0.7372115254402161,
            2.088489294052124,
            1.6068720817565918
        ],
        "mean_reprojection_error": 1.290539026260376,
        "std_reprojection_error": 0.7596867680549622,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                605,
                386
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                595,
                386
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.017000000923871994,
                -0.009999999776482582,
                -0.09200000017881393
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9989396333694458,
            0.9992311596870422,
            0.9970138669013977,
            0.8445436954498291,
            0.4573648273944855,
            0.9151632785797119,
            0.9018352031707764,
            0.7560513019561768,
            0.6098398566246033,
            0.5069205164909363
        ],
        "kf_translation_vector": [
            -0.011231877117752715,
            0.008645901436338735,
            1.053386981317348
        ],
        "kf_rotation_matrix": [
            [
                0.9981138210599276,
                0.04158253645377669,
                0.04516295906183359
            ],
            [
                -0.030641432915737437,
                0.9749180940880564,
                -0.2204445789956785
            ],
            [
                -0.05319683071406498,
                0.21864492329295437,
                0.9743533726119067
            ]
        ],
        "kf_euler_angles": [
            0.2207433062537199,
            0.05322195302941618,
            -0.03068969861935174
        ]
    },
    {
        "frame": 150,
        "object_rotation_in_cam": [
            [
                0.9985247145682297,
                0.03869403057503813,
                0.03809417795797086
            ],
            [
                -0.029821375325691554,
                0.9770774463557187,
                -0.2107850786860204
            ],
            [
                -0.04537708639963317,
                0.209338089751592,
                0.9767898874420408
            ]
        ],
        "object_translation_in_cam": [
            -0.011267043373539449,
            0.008563243661468286,
            1.0544619933320412
        ],
        "raw_rvec": [
            0.21174438508330784,
            0.04206997583412671,
            -0.03453214100316305
        ],
        "refined_raw_rvec": [
            0.21174438508330784,
            0.04206997583412671,
            -0.03453214100316305
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            0.1468760371208191,
            0.7830656170845032,
            0.6645646095275879,
            0.13897711038589478,
            0.1528470665216446,
            0.6054310202598572,
            1.996264100074768,
            1.6185119152069092
        ],
        "mean_reprojection_error": 0.7633171677589417,
        "std_reprojection_error": 0.6547003388404846,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ]
        ],
        "mkpts1": [
            [
                855,
                308
            ],
            [
                829,
                308
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                557,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ]
        ],
        "mconf": [
            0.9990455508232117,
            0.9975870847702026,
            0.9983645081520081,
            0.8535138368606567,
            0.906438946723938,
            0.8780184388160706,
            0.691666305065155,
            0.7209978103637695,
            0.3930567502975464
        ],
        "kf_translation_vector": [
            -0.011251413692801221,
            0.008599112192983139,
            1.0537060235307467
        ],
        "kf_rotation_matrix": [
            [
                0.9984448786886119,
                0.03967880592437101,
                0.03915886337598871
            ],
            [
                -0.030369316415098768,
                0.9761835977010903,
                -0.21480988850571003
            ],
            [
                -0.04674964000891195,
                0.21328660515787684,
                0.9758705319965683
            ]
        ],
        "kf_euler_angles": [
            0.21517670328538216,
            0.046766685559423704,
            -0.030407242962041826
        ]
    },
    {
        "frame": 151,
        "object_rotation_in_cam": [
            [
                0.9983278885586212,
                0.03909430698274646,
                0.042580066787453505
            ],
            [
                -0.02915334335169878,
                0.9765914606433865,
                -0.21311781147955433
            ],
            [
                -0.04991502276372496,
                0.21152010344162486,
                0.9760982206430565
            ]
        ],
        "object_translation_in_cam": [
            -0.010895293657067815,
            0.008440762901600963,
            1.056355431811423
        ],
        "raw_rvec": [
            0.21406943448031096,
            0.04662883557183493,
            -0.03440516119342886
        ],
        "refined_raw_rvec": [
            0.21406943448031096,
            0.04662883557183493,
            -0.03440516119342886
        ],
        "num_inliers": 9,
        "total_matches": 11,
        "inlier_ratio": 0.8181818181818182,
        "reprojection_errors": [
            1.042203426361084,
            2.1265599727630615,
            0.4869668483734131,
            0.13242386281490326,
            0.5754716396331787,
            1.126348853111267,
            2.2505879402160645,
            1.49695885181427,
            1.9779670238494873
        ],
        "mean_reprojection_error": 1.24616539478302,
        "std_reprojection_error": 0.7230321168899536,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            10
        ],
        "mkpts0": [
            [
                963,
                266
            ],
            [
                930,
                263
            ],
            [
                954,
                233
            ],
            [
                537,
                396
            ],
            [
                531,
                330
            ],
            [
                491,
                331
            ],
            [
                636,
                340
            ],
            [
                639,
                363
            ],
            [
                137,
                419
            ],
            [
                1059,
                384
            ],
            [
                988,
                187
            ]
        ],
        "mkpts1": [
            [
                855,
                307
            ],
            [
                830,
                307
            ],
            [
                845,
                288
            ],
            [
                551,
                389
            ],
            [
                579,
                356
            ],
            [
                558,
                357
            ],
            [
                640,
                360
            ],
            [
                642,
                372
            ],
            [
                388,
                405
            ],
            [
                867,
                379
            ],
            [
                868,
                258
            ]
        ],
        "mpts3D": [
            [
                0.23100000619888306,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.22100000083446503,
                -0.07500000298023224,
                -0.0020000000949949026
            ],
            [
                -0.052000001072883606,
                -0.009999999776482582,
                -0.10999999940395355
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                -0.0,
                -0.014999999664723873
            ],
            [
                -0.22499999403953552,
                0.009999999776482582,
                0.0
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.9992624521255493,
            0.9991053342819214,
            0.9979312419891357,
            0.8773070573806763,
            0.9116210341453552,
            0.8947675228118896,
            0.6462382078170776,
            0.7340919971466064,
            0.23569364845752716,
            0.1007423847913742,
            0.7105574607849121
        ],
        "kf_translation_vector": [
            -0.011097209092889469,
            0.008515691703609555,
            1.054762557611944
        ],
        "kf_rotation_matrix": [
            [
                0.9985443416207412,
                0.03872592003476483,
                0.03754332077295971
            ],
            [
                -0.029895986051298354,
                0.9767352209310856,
                -0.21235474614598104
            ],
            [
                -0.044893516627915464,
                0.21092323558623047,
                0.9764711776876032
            ]
        ],
        "kf_euler_angles": [
            0.21273712417714424,
            0.044908610261490116,
            -0.029930626921717326
        ]
    }
]