20241227_C_test2_anlaysis.json

[
    {
        "frame": 2,
        "object_rotation_in_cam": [
            [
                0.9989926635640567,
                0.030093172084304128,
                -0.03328752227330827
            ],
            [
                -0.02825904887666126,
                0.9981268217272554,
                0.05426116387651589
            ],
            [
                0.03485805935186303,
                -0.05326583091018201,
                0.9979717766328213
            ]
        ],
        "object_translation_in_cam": [
            -0.024008860831520085,
            0.0011808805295288607,
            1.1492873020144638
        ],
        "raw_rvec": [
            -0.053807525775599094,
            -0.03410069394260805,
            -0.029200003586532113
        ],
        "refined_raw_rvec": [
            -0.053807525775599094,
            -0.03410069394260805,
            -0.029200003586532113
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.341041088104248,
            3.1165287494659424,
            0.6239836812019348,
            2.0769240856170654,
            1.6223427057266235,
            0.8979164361953735,
            2.293567180633545
        ],
        "mean_reprojection_error": 2.4246151447296143,
        "std_reprojection_error": 1.7797240018844604,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                640,
                343
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.30417492985725403,
            0.13135309517383575,
            0.30901432037353516,
            0.9922015070915222,
            0.36439090967178345,
            0.982541561126709,
            0.21793508529663086,
            0.3075024485588074
        ],
        "kf_translation_vector": [
            -0.02403312904622184,
            0.0011820741664293716,
            1.150449004404053
        ],
        "kf_rotation_matrix": [
            [
                0.9989906267698114,
                0.030125376397857246,
                -0.033319503641963
            ],
            [
                -0.02828757077606793,
                0.9981229817530265,
                0.054316909301215424
            ],
            [
                0.03489327966311432,
                -0.05331955544952472,
                0.9979676768518191
            ]
        ],
        "kf_euler_angles": [
            -0.05337738753829037,
            -0.03490036421161468,
            -0.028308587975009392
        ]
    },
    {
        "frame": 3,
        "object_rotation_in_cam": [
            [
                0.9989916748571772,
                0.02725636807332228,
                -0.03567525704887806
            ],
            [
                -0.02532323297416585,
                0.9982434495690725,
                0.053560706344993755
            ],
            [
                0.03707246198714168,
                -0.05260328689245676,
                0.9979271149589642
            ]
        ],
        "object_translation_in_cam": [
            -0.023796411447982675,
            0.0004329059981350403,
            1.1514286359150938
        ],
        "raw_rvec": [
            -0.05312483773804048,
            -0.036403215927994954,
            -0.026311018348105515
        ],
        "refined_raw_rvec": [
            -0.05312483773804048,
            -0.036403215927994954,
            -0.026311018348105515
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.815124034881592,
            4.197115898132324,
            0.6203164458274841,
            1.6136516332626343,
            1.6403553485870361,
            0.9587701559066772,
            2.4755501747131348
        ],
        "mean_reprojection_error": 2.6172690391540527,
        "std_reprojection_error": 2.0297091007232666,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                555,
                344
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3688579499721527,
            0.3564525842666626,
            0.9941977858543396,
            0.3194888234138489,
            0.9633166790008545,
            0.23551872372627258,
            0.33283692598342896
        ],
        "kf_translation_vector": [
            -0.023702816593407634,
            9.148456523702039e-05,
            1.1525706486288365
        ],
        "kf_rotation_matrix": [
            [
                0.9989864357106967,
                0.02596428825595281,
                -0.036768967913173994
            ],
            [
                -0.023986556276272986,
                0.9982933955643781,
                0.05324416860604904
            ],
            [
                0.038088664771076135,
                -0.05230824130006648,
                0.9979043548898114
            ]
        ],
        "kf_euler_angles": [
            -0.0523701610430596,
            -0.038097880287345905,
            -0.024006280178179674
        ]
    },
    {
        "frame": 4,
        "object_rotation_in_cam": [
            [
                0.999633047076384,
                0.023600187650243517,
                -0.013296703939587047
            ],
            [
                -0.02275382918131406,
                0.9979050919688837,
                0.06056146200482091
            ],
            [
                0.014698110435403495,
                -0.06023668786916391,
                0.998075902416335
            ]
        ],
        "object_translation_in_cam": [
            -0.02360372182760413,
            0.0008646144603864051,
            1.1470731493470563
        ],
        "raw_rvec": [
            -0.06044326500899252,
            -0.01400764817929979,
            -0.023193965524338958
        ],
        "refined_raw_rvec": [
            -0.06044326500899252,
            -0.01400764817929979,
            -0.023193965524338958
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.69627571105957,
            3.975749969482422,
            2.020925283432007,
            1.7650079727172852,
            1.8598120212554932,
            1.2768656015396118,
            3.429494857788086
        ],
        "mean_reprojection_error": 3.0034472942352295,
        "std_reprojection_error": 1.7546647787094116,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                259
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.48723629117012024,
            0.2882162928581238,
            0.9961645603179932,
            0.31470438838005066,
            0.9856862425804138,
            0.15663422644138336,
            0.33771175146102905
        ],
        "kf_translation_vector": [
            -0.023504015972079628,
            0.0006316180039307712,
            1.1474705677410033
        ],
        "kf_rotation_matrix": [
            [
                0.9996867022016158,
                0.02212028983050935,
                -0.011712822848146915
            ],
            [
                -0.021364807169073186,
                0.9979023324092815,
                0.06111039180649986
            ],
            [
                0.013040032817678295,
                -0.06084100385373232,
                0.9980622875322882
            ]
        ],
        "kf_euler_angles": [
            -0.060883784679213834,
            -0.013040402405827073,
            -0.021368249957101525
        ]
    },
    {
        "frame": 5,
        "object_rotation_in_cam": [
            [
                0.9989891525870405,
                0.02883009150420382,
                -0.0344891118657171
            ],
            [
                -0.02696395836413778,
                0.9982090310674773,
                0.05340107905899727
            ],
            [
                0.035966900933549414,
                -0.05241713574001795,
                0.9979773674377835
            ]
        ],
        "object_translation_in_cam": [
            -0.023744924219821342,
            0.0007830011955399957,
            1.151307051793519
        ],
        "raw_rvec": [
            -0.052951691372081444,
            -0.03525635971217406,
            -0.02791947789554318
        ],
        "refined_raw_rvec": [
            -0.052951691372081444,
            -0.03525635971217406,
            -0.02791947789554318
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.713261604309082,
            3.8950130939483643,
            0.6250450015068054,
            1.6184509992599487,
            1.6421058177947998,
            0.960964024066925,
            2.4015235900878906
        ],
        "mean_reprojection_error": 2.5509092807769775,
        "std_reprojection_error": 1.9671005010604858,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                344
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4399414658546448,
            0.19973215460777283,
            0.2929627299308777,
            0.9945281744003296,
            0.26963159441947937,
            0.9794281721115112,
            0.14953705668449402,
            0.299773633480072
        ],
        "kf_translation_vector": [
            -0.023637216147707085,
            0.0007392123076390961,
            1.1504605149837495
        ],
        "kf_rotation_matrix": [
            [
                0.9992419168446868,
                0.02703093276146335,
                -0.0280164290122996
            ],
            [
                -0.02544697037997733,
                0.9981382920884935,
                0.055429248282344044
            ],
            [
                0.029462574888093746,
                -0.0546742950636808,
                0.9980694756079123
            ]
        ],
        "kf_euler_angles": [
            -0.05472535209458386,
            -0.02946683901917209,
            -0.025460772851071033
        ]
    },
    {
        "frame": 7,
        "object_rotation_in_cam": [
            [
                0.9186815482700258,
                0.018654165497309007,
                0.39455827830345575
            ],
            [
                0.00946687592478497,
                0.9975574978958611,
                -0.0692056114196943
            ],
            [
                -0.3948855418072596,
                0.06731315251381413,
                0.9162610699850993
            ]
        ],
        "object_translation_in_cam": [
            -0.022076363744106348,
            8.638040233043074e-05,
            1.1509010184777602
        ],
        "raw_rvec": [
            0.07023117165493979,
            0.4061241315452497,
            -0.004726340119266211
        ],
        "refined_raw_rvec": [
            0.07023117165493979,
            0.4061241315452497,
            -0.004726340119266211
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.9358023405075073,
            0.8641383051872253,
            0.6610526442527771,
            0.4759705662727356,
            0.6631028652191162,
            0.7566022276878357,
            0.5471969246864319
        ],
        "mean_reprojection_error": 0.8434094190597534,
        "std_reprojection_error": 0.461334228515625,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                624,
                363
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5351009368896484,
            0.1174880713224411,
            0.1143961101770401,
            0.30647629499435425,
            0.9948979020118713,
            0.3274216055870056,
            0.977522611618042,
            0.42675983905792236
        ],
        "kf_translation_vector": [
            -0.022124374039198792,
            0.00014171254240255505,
            1.15120283998091
        ],
        "kf_rotation_matrix": [
            [
                0.9258028493070501,
                0.01753572599056245,
                0.37759976500116
            ],
            [
                0.007826152079696558,
                0.997820106868447,
                -0.06552698430926245
            ],
            [
                -0.3779257011087931,
                0.0636202219661703,
                0.9236474607762436
            ]
        ],
        "kf_euler_angles": [
            0.06877071353891101,
            0.38755480857430624,
            0.008453166541985005
        ]
    },
    {
        "frame": 8,
        "object_rotation_in_cam": [
            [
                0.9996139015890269,
                0.0249210206981411,
                -0.012287818249233978
            ],
            [
                -0.024179959893622493,
                0.9980722507179041,
                0.05715865539391213
            ],
            [
                0.01368858245057509,
                -0.05683946757544457,
                0.9982894858888547
            ]
        ],
        "object_translation_in_cam": [
            -0.023586705332840366,
            0.0008365750204333293,
            1.1468594316457377
        ],
        "raw_rvec": [
            -0.05703732308981072,
            -0.012996918903863564,
            -0.024566970236797308
        ],
        "refined_raw_rvec": [
            -0.05703732308981072,
            -0.012996918903863564,
            -0.024566970236797308
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.6965155601501465,
            4.033470153808594,
            2.0952067375183105,
            1.7946186065673828,
            2.1031289100646973,
            1.2924548387527466,
            3.718707799911499
        ],
        "mean_reprojection_error": 3.104871988296509,
        "std_reprojection_error": 1.738781452178955,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5156925320625305,
            0.14025507867336273,
            0.28673505783081055,
            0.9958914518356323,
            0.37620288133621216,
            0.9888916611671448,
            0.10825085639953613,
            0.3242591917514801
        ],
        "kf_translation_vector": [
            -0.023085041554379928,
            0.0006717900622887356,
            1.1474702929990979
        ],
        "kf_rotation_matrix": [
            [
                0.9920252176728868,
                0.011433553595109572,
                0.1255198842942802
            ],
            [
                -0.01313605899090917,
                0.9998324993321107,
                0.012744302000981065
            ],
            [
                -0.12535314696986705,
                -0.014291505571234004,
                0.9920092446208646
            ]
        ],
        "kf_euler_angles": [
            -0.014405628812197169,
            0.12568377784576937,
            -0.01324088447770315
        ]
    },
    {
        "frame": 9,
        "object_rotation_in_cam": [
            [
                0.9995872146367439,
                0.02648295638019323,
                -0.011137924228542803
            ],
            [
                -0.025806573007852784,
                0.9980393114587647,
                0.05702239535923834
            ],
            [
                0.012626207837127593,
                -0.05671142569429642,
                0.9983107697863296
            ]
        ],
        "object_translation_in_cam": [
            -0.02353507707005954,
            0.0011858283459167407,
            1.1467069753481145
        ],
        "raw_rvec": [
            -0.05690544741330995,
            -0.011890118128972603,
            -0.026162482164892493
        ],
        "refined_raw_rvec": [
            -0.05690544741330995,
            -0.011890118128972603,
            -0.026162482164892493
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.6068220138549805,
            3.832686185836792,
            2.0915935039520264,
            1.8536771535873413,
            2.1169135570526123,
            1.2917873859405518,
            3.7007243633270264
        ],
        "mean_reprojection_error": 3.0706005096435547,
        "std_reprojection_error": 1.6901288032531738,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4253443777561188,
            0.12550479173660278,
            0.3588862717151642,
            0.9873077869415283,
            0.3930577039718628,
            0.9775332808494568,
            0.1403292566537857,
            0.3157126307487488
        ],
        "kf_translation_vector": [
            -0.023522604710631386,
            0.0012411980092442234,
            1.1458954116262206
        ],
        "kf_rotation_matrix": [
            [
                0.9996727274364304,
                0.025542676392082922,
                -0.0014176397771185473
            ],
            [
                -0.025427164185992477,
                0.9981833744303047,
                0.05462060355203652
            ],
            [
                0.00281022085732074,
                -0.054566681167718935,
                0.9985061742248136
            ]
        ],
        "kf_euler_angles": [
            -0.05459401222534356,
            -0.0028102245562127426,
            -0.025430005369365096
        ]
    },
    {
        "frame": 10,
        "object_rotation_in_cam": [
            [
                0.9995872146367439,
                0.02648295638019323,
                -0.011137924228542803
            ],
            [
                -0.025806573007852784,
                0.9980393114587647,
                0.05702239535923834
            ],
            [
                0.012626207837127593,
                -0.05671142569429642,
                0.9983107697863296
            ]
        ],
        "object_translation_in_cam": [
            -0.02353507707005954,
            0.0011858283459167407,
            1.1467069753481145
        ],
        "raw_rvec": [
            -0.05690544741330995,
            -0.011890118128972603,
            -0.026162482164892493
        ],
        "refined_raw_rvec": [
            -0.05690544741330995,
            -0.011890118128972603,
            -0.026162482164892493
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.6068220138549805,
            3.832686185836792,
            2.0915935039520264,
            1.8536771535873413,
            2.1169135570526123,
            1.2917873859405518,
            3.7007243633270264
        ],
        "mean_reprojection_error": 3.0706005096435547,
        "std_reprojection_error": 1.6901288032531738,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.41854172945022583,
            0.14462068676948547,
            0.4538038671016693,
            0.9910206198692322,
            0.39832115173339844,
            0.9884989261627197,
            0.15883620083332062,
            0.4045660197734833
        ],
        "kf_translation_vector": [
            -0.023708654497295558,
            0.0014443866059682718,
            1.1455152011686283
        ],
        "kf_rotation_matrix": [
            [
                0.9980184298099646,
                0.034082657757700786,
                -0.05289221303579816
            ],
            [
                -0.03022632235837449,
                0.9969414046395056,
                0.07207083426808078
            ],
            [
                0.055186802737071564,
                -0.07032928376985631,
                0.9959960886710743
            ]
        ],
        "kf_euler_angles": [
            -0.07049499936888115,
            -0.05521485386503496,
            -0.030277081783064944
        ]
    },
    {
        "frame": 11,
        "object_rotation_in_cam": [
            [
                0.9995872146367439,
                0.02648295638019323,
                -0.011137924228542803
            ],
            [
                -0.025806573007852784,
                0.9980393114587647,
                0.05702239535923834
            ],
            [
                0.012626207837127593,
                -0.05671142569429642,
                0.9983107697863296
            ]
        ],
        "object_translation_in_cam": [
            -0.02353507707005954,
            0.0011858283459167407,
            1.1467069753481145
        ],
        "raw_rvec": [
            -0.05690544741330995,
            -0.011890118128972603,
            -0.026162482164892493
        ],
        "refined_raw_rvec": [
            -0.05690544741330995,
            -0.011890118128972603,
            -0.026162482164892493
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.6068220138549805,
            3.832686185836792,
            2.0915935039520264,
            1.8536771535873413,
            2.1169135570526123,
            1.2917873859405518,
            3.7007243633270264
        ],
        "mean_reprojection_error": 3.0706005096435547,
        "std_reprojection_error": 1.6901288032531738,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3037242889404297,
            0.11568726599216461,
            0.27044856548309326,
            0.9892723560333252,
            0.379688560962677,
            0.9837221503257751,
            0.10378047823905945,
            0.35225170850753784
        ],
        "kf_translation_vector": [
            -0.0237716943499749,
            0.0014857431729756673,
            1.1455952234015967
        ],
        "kf_rotation_matrix": [
            [
                0.9969415468068931,
                0.03695583682309958,
                -0.06886086243276271
            ],
            [
                -0.031604893995144566,
                0.9965116116555633,
                0.07723819334492006
            ],
            [
                0.07147505107263029,
                -0.07482562368825278,
                0.9946318128402232
            ]
        ],
        "kf_euler_angles": [
            -0.07508802981616365,
            -0.0715360486335184,
            -0.031691238827512506
        ]
    },
    {
        "frame": 13,
        "object_rotation_in_cam": [
            [
                0.9301763576387482,
                0.06275605945358313,
                0.3617093041266289
            ],
            [
                0.006286026852934255,
                0.982413469708088,
                -0.18661259443703127
            ],
            [
                -0.3670591635640172,
                0.17585633778165077,
                0.9134232966734043
            ]
        ],
        "object_translation_in_cam": [
            -0.0218102290108988,
            -0.0011890798254120677,
            1.1614993602277355
        ],
        "raw_rvec": [
            0.1866798359939447,
            0.375332520757861,
            -0.029083365462344874
        ],
        "refined_raw_rvec": [
            0.1866798359939447,
            0.375332520757861,
            -0.029083365462344874
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.069676160812378,
            0.8906918168067932,
            0.3280991315841675,
            1.387231707572937,
            0.8122589588165283,
            1.8517491817474365,
            2.1935548782348633
        ],
        "mean_reprojection_error": 1.3618946075439453,
        "std_reprojection_error": 0.6574928164482117,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                344
            ],
            [
                624,
                363
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.500752866268158,
            0.19154267013072968,
            0.2112857550382614,
            0.3200634717941284,
            0.9970158338546753,
            0.33657434582710266,
            0.9892637729644775,
            0.2770400941371918
        ],
        "kf_translation_vector": [
            -0.022404904995203062,
            -0.00042939734993838137,
            1.1576119677450567
        ],
        "kf_rotation_matrix": [
            [
                0.9719636852579463,
                0.03425669866158385,
                0.23262216819684545
            ],
            [
                -0.005539751961619165,
                0.992391688975216,
                -0.12299612514677749
            ],
            [
                -0.23506574758563986,
                0.11825909795752483,
                0.9647584568493177
            ]
        ],
        "kf_euler_angles": [
            0.12197050518530453,
            0.2372862105187883,
            -0.005699484518659041
        ]
    },
    {
        "frame": 22,
        "object_rotation_in_cam": [
            [
                0.8890922195434827,
                -0.1014828616012372,
                0.44633648063817033
            ],
            [
                -0.008815517979163405,
                0.9711354036826038,
                0.23836592532697562
            ],
            [
                -0.45764321451323053,
                -0.2158639768823191,
                0.8625343075463996
            ]
        ],
        "object_translation_in_cam": [
            -0.02514126274563392,
            0.002186487008482551,
            1.1412109712114502
        ],
        "raw_rvec": [
            -0.23822781975629131,
            0.47410597768318485,
            0.048600805729257825
        ],
        "refined_raw_rvec": [
            -0.23822781975629131,
            0.47410597768318485,
            0.048600805729257825
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.7826223373413086,
            4.220555305480957,
            0.2935100495815277,
            0.33564332127571106,
            1.0690913200378418,
            2.198906183242798,
            1.3483576774597168
        ],
        "mean_reprojection_error": 1.7498122453689575,
        "std_reprojection_error": 1.315739393234253,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                640,
                343
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2632381021976471,
            0.11695240437984467,
            0.23874972760677338,
            0.9933785200119019,
            0.3396010994911194,
            0.9862931966781616,
            0.3136325776576996
        ],
        "kf_translation_vector": [
            -0.024307864882690506,
            0.001251641415892954,
            1.1476804726535823
        ],
        "kf_rotation_matrix": [
            [
                0.8988157288017815,
                -0.04578072927938305,
                0.435929364100619
            ],
            [
                -0.005707108109629728,
                0.9932241451942345,
                0.11607422763131878
            ],
            [
                -0.4382895328154064,
                -0.10681723751263206,
                0.8924642083549472
            ]
        ],
        "kf_euler_angles": [
            -0.11912132308796214,
            0.4536948036635966,
            -0.006349501049338534
        ]
    },
    {
        "frame": 23,
        "object_rotation_in_cam": [
            [
                0.8858881996669882,
                -0.10461532424653248,
                0.45194881526957825
            ],
            [
                -0.008791782090997582,
                0.9702789148447338,
                0.2418295514931748
            ],
            [
                -0.46381548298698144,
                -0.2182073814986985,
                0.8586388859124856
            ]
        ],
        "object_translation_in_cam": [
            -0.02488384345732532,
            0.0022063355259114075,
            1.141191271842541
        ],
        "raw_rvec": [
            -0.2416160984806005,
            0.48096876794994986,
            0.050327503593327126
        ],
        "refined_raw_rvec": [
            -0.2416160984806005,
            0.48096876794994986,
            0.050327503593327126
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.7339730262756348,
            4.274019241333008,
            0.7013699412345886,
            0.3344918489456177,
            1.7046432495117188,
            2.2595927715301514,
            1.395107626914978
        ],
        "mean_reprojection_error": 1.9147424697875977,
        "std_reprojection_error": 1.2328755855560303,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                640,
                343
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.28013700246810913,
            0.10703197121620178,
            0.25446465611457825,
            0.9885628819465637,
            0.23917235434055328,
            0.8698735237121582,
            0.2764745354652405
        ],
        "kf_translation_vector": [
            -0.025041555507516352,
            0.002091479764750879,
            1.1427235359933758
        ],
        "kf_rotation_matrix": [
            [
                0.8513326474550669,
                -0.1174437144302132,
                0.5113117418150902
            ],
            [
                -0.006105236118222248,
                0.9723370834953905,
                0.23350229581659074
            ],
            [
                -0.5245907447421158,
                -0.201909806598175,
                0.8270652819036717
            ]
        ],
        "kf_euler_angles": [
            -0.2394445003882626,
            0.5522343311370121,
            -0.0071712643442671635
        ]
    },
    {
        "frame": 35,
        "object_rotation_in_cam": [
            [
                0.9996139015890269,
                0.0249210206981411,
                -0.012287818249233978
            ],
            [
                -0.024179959893622493,
                0.9980722507179041,
                0.05715865539391213
            ],
            [
                0.01368858245057509,
                -0.05683946757544457,
                0.9982894858888547
            ]
        ],
        "object_translation_in_cam": [
            -0.023586705332840366,
            0.0008365750204333293,
            1.1468594316457377
        ],
        "raw_rvec": [
            -0.05703732308981072,
            -0.012996918903863564,
            -0.024566970236797308
        ],
        "refined_raw_rvec": [
            -0.05703732308981072,
            -0.012996918903863564,
            -0.024566970236797308
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.6965155601501465,
            4.033470153808594,
            2.0952067375183105,
            1.7946186065673828,
            2.1031289100646973,
            1.2924548387527466,
            3.718707799911499
        ],
        "mean_reprojection_error": 3.104871988296509,
        "std_reprojection_error": 1.738781452178955,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.397451251745224,
            0.3688638210296631,
            0.995700478553772,
            0.3504869043827057,
            0.9836678504943848,
            0.10967360436916351,
            0.2953265309333801
        ],
        "kf_translation_vector": [
            -0.024469898196224343,
            0.001536245138150797,
            1.1442774799550504
        ],
        "kf_rotation_matrix": [
            [
                0.9699211886912793,
                -0.021654128547022394,
                0.24245409141642607
            ],
            [
                -0.017267028076556907,
                0.9874057854042554,
                0.15726304299360613
            ],
            [
                -0.2428059667081908,
                -0.15671921920132975,
                0.9573318906543469
            ]
        ],
        "kf_euler_angles": [
            -0.16226486739000284,
            0.24525733465471744,
            -0.017800625950520517
        ]
    },
    {
        "frame": 37,
        "object_rotation_in_cam": [
            [
                0.8864600245200851,
                0.25773086172265103,
                0.3844000882460223
            ],
            [
                0.011456843096747021,
                0.8181120978296921,
                -0.5749446374486477
            ],
            [
                -0.4626633394533292,
                0.51406944890783,
                0.7222708882583413
            ]
        ],
        "object_translation_in_cam": [
            -0.016124034288233197,
            -0.007577174580446175,
            1.0967851363869008
        ],
        "raw_rvec": [
            0.6033238180822301,
            0.469280928281864,
            -0.13643807097936617
        ],
        "refined_raw_rvec": [
            0.6033238180822301,
            0.469280928281864,
            -0.13643807097936617
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            4.174122333526611,
            1.055647611618042,
            1.9144679307937622,
            0.881371796131134,
            1.1836124658584595,
            2.416982412338257,
            0.4595513939857483
        ],
        "mean_reprojection_error": 1.7265366315841675,
        "std_reprojection_error": 1.1690731048583984,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                635,
                344
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                795,
                308
            ],
            [
                533,
                363
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4595736265182495,
            0.23152020573616028,
            0.4378778636455536,
            0.9955756068229675,
            0.4152319133281708,
            0.9235972762107849,
            0.10135550051927567,
            0.29103127121925354
        ],
        "kf_translation_vector": [
            -0.019180629745585164,
            -0.004366325710949231,
            1.1119995675825733
        ],
        "kf_rotation_matrix": [
            [
                0.9186420825933885,
                0.1272237620468741,
                0.3740465725803704
            ],
            [
                0.0010956380999084527,
                0.9459117988966775,
                -0.3244220527109794
            ],
            [
                -0.39508926037749487,
                0.29843756981769537,
                0.8688149936871901
            ]
        ],
        "kf_euler_angles": [
            0.33087208699113496,
            0.40616501452387377,
            0.0011926707922127475
        ]
    },
    {
        "frame": 40,
        "object_rotation_in_cam": [
            [
                0.9166193664847182,
                0.11550991245684754,
                0.38270928537124
            ],
            [
                0.011333364250039099,
                0.9494514587553985,
                -0.31370923212749385
            ],
            [
                -0.3996004152149116,
                0.2918893413460953,
                0.8689764787200013
            ]
        ],
        "object_translation_in_cam": [
            -0.020700661935104545,
            -0.0027932549794108443,
            1.1418351477659536
        ],
        "raw_rvec": [
            0.3169218330853587,
            0.40939829651206044,
            -0.05451766907711652
        ],
        "refined_raw_rvec": [
            0.3169218330853587,
            0.40939829651206044,
            -0.05451766907711652
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.7817481756210327,
            1.4494651556015015,
            0.24295379221439362,
            1.5086075067520142,
            1.377163290977478,
            1.4193394184112549,
            1.919107437133789
        ],
        "mean_reprojection_error": 1.3854836225509644,
        "std_reprojection_error": 0.5025112628936768,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                828,
                257
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4298064112663269,
            0.16882048547267914,
            0.15932725369930267,
            0.243697851896286,
            0.9968305826187134,
            0.4432923495769501,
            0.7042481899261475,
            0.20032252371311188
        ],
        "kf_translation_vector": [
            -0.019341067098965044,
            -0.004383525132530151,
            1.1242135399633273
        ],
        "kf_rotation_matrix": [
            [
                0.9038108804857728,
                0.1571886212149913,
                0.3980171223403109
            ],
            [
                0.009701888748865434,
                0.9223283013720832,
                -0.3862853580486738
            ],
            [
                -0.4278221191923539,
                0.35299042741782316,
                0.8320853276444344
            ]
        ],
        "kf_euler_angles": [
            0.4012130437118865,
            0.4420818735307003,
            0.010734011220163469
        ]
    },
    {
        "frame": 41,
        "object_rotation_in_cam": [
            [
                0.9989926635640567,
                0.030093172084304128,
                -0.03328752227330827
            ],
            [
                -0.02825904887666126,
                0.9981268217272554,
                0.05426116387651589
            ],
            [
                0.03485805935186303,
                -0.05326583091018201,
                0.9979717766328213
            ]
        ],
        "object_translation_in_cam": [
            -0.024008860831520085,
            0.0011808805295288607,
            1.1492873020144638
        ],
        "raw_rvec": [
            -0.053807525775599094,
            -0.03410069394260805,
            -0.029200003586532113
        ],
        "refined_raw_rvec": [
            -0.053807525775599094,
            -0.03410069394260805,
            -0.029200003586532113
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.341041088104248,
            3.1165287494659424,
            0.6239836812019348,
            2.0769240856170654,
            1.6223427057266235,
            0.8979164361953735,
            2.293567180633545
        ],
        "mean_reprojection_error": 2.4246151447296143,
        "std_reprojection_error": 1.7797240018844604,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                343
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3834989666938782,
            0.141008660197258,
            0.24962922930717468,
            0.9946461319923401,
            0.3182699978351593,
            0.8691512942314148,
            0.1272934526205063,
            0.3293245732784271
        ],
        "kf_translation_vector": [
            -0.021577954348176068,
            -0.0018070241815225396,
            1.1361641545494239
        ],
        "kf_rotation_matrix": [
            [
                0.984065104712347,
                0.04415193854910021,
                0.17223958897371444
            ],
            [
                -0.00964903522554943,
                0.980513091661304,
                -0.196216648631067
            ],
            [
                -0.17754651730375826,
                0.1914280110201952,
                0.9653147418278446
            ]
        ],
        "kf_euler_angles": [
            0.19576648916572692,
            0.17849279581010905,
            -0.0098049671372074
        ]
    },
    {
        "frame": 43,
        "object_rotation_in_cam": [
            [
                0.998985594687902,
                0.03136577961608246,
                -0.032310516478911165
            ],
            [
                -0.02969927004530806,
                0.9982657885930962,
                0.05082685002417176
            ],
            [
                0.033848706989108336,
                -0.04981569224329948,
                0.9981846832332614
            ]
        ],
        "object_translation_in_cam": [
            -0.02399363748875991,
            0.0011511965312782804,
            1.149096759101364
        ],
        "raw_rvec": [
            -0.0503595832625473,
            -0.03310479691548948,
            -0.030555770786091552
        ],
        "refined_raw_rvec": [
            -0.0503595832625473,
            -0.03310479691548948,
            -0.030555770786091552
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.3403754234313965,
            3.1742913722991943,
            0.9537231922149658,
            2.1172704696655273,
            1.9518382549285889,
            0.9120650887489319,
            2.852381467819214
        ],
        "mean_reprojection_error": 2.614563465118408,
        "std_reprojection_error": 1.7152644395828247,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                257
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.35259848833084106,
            0.2525962293148041,
            0.995317816734314,
            0.20622281730175018,
            0.9584229588508606,
            0.10362614691257477,
            0.293826162815094
        ],
        "kf_translation_vector": [
            -0.02286493292938522,
            -0.00032255149185237206,
            1.1429931467446288
        ],
        "kf_rotation_matrix": [
            [
                0.9992967146124835,
                0.02462261514299142,
                0.028280788323822286
            ],
            [
                -0.022353968655977927,
                0.9967097608789173,
                -0.07790990087286276
            ],
            [
                -0.030106083272725292,
                0.07722292012227895,
                0.9965592026356306
            ]
        ],
        "kf_euler_angles": [
            0.07733500367116056,
            0.030110633035154773,
            -0.022365970767297936
        ]
    },
    {
        "frame": 44,
        "object_rotation_in_cam": [
            [
                0.9166193664847182,
                0.11550991245684754,
                0.38270928537124
            ],
            [
                0.011333364250039099,
                0.9494514587553985,
                -0.31370923212749385
            ],
            [
                -0.3996004152149116,
                0.2918893413460953,
                0.8689764787200013
            ]
        ],
        "object_translation_in_cam": [
            -0.020700661935104545,
            -0.0027932549794108443,
            1.1418351477659536
        ],
        "raw_rvec": [
            0.3169218330853587,
            0.40939829651206044,
            -0.05451766907711652
        ],
        "refined_raw_rvec": [
            0.3169218330853587,
            0.40939829651206044,
            -0.05451766907711652
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.7817481756210327,
            1.4494651556015015,
            0.24295379221439362,
            1.5086075067520142,
            1.377163290977478,
            1.4193394184112549,
            1.919107437133789
        ],
        "mean_reprojection_error": 1.3854836225509644,
        "std_reprojection_error": 0.5025112628936768,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                257
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3360985517501831,
            0.1516544371843338,
            0.25838425755500793,
            0.9920624494552612,
            0.26551133394241333,
            0.9639694690704346,
            0.10127503424882889,
            0.27288758754730225
        ],
        "kf_translation_vector": [
            -0.021667394458506947,
            -0.0017815750205605974,
            1.1426588676922438
        ],
        "kf_rotation_matrix": [
            [
                0.9780709887918764,
                0.051567010049326165,
                0.2017869776726293
            ],
            [
                -0.004533017167029357,
                0.9739048740760984,
                -0.22691132189950863
            ],
            [
                -0.20822245949715634,
                0.22102067714445112,
                0.9527818573186432
            ]
        ],
        "kf_euler_angles": [
            0.2279424579671673,
            0.2097572324097389,
            -0.004634617285465784
        ]
    },
    {
        "frame": 45,
        "object_rotation_in_cam": [
            [
                0.9274917998230178,
                0.015145229238269099,
                0.3735365889606792
            ],
            [
                0.00468394303128981,
                0.9986298347639856,
                -0.05212018607923905
            ],
            [
                -0.3738141542782172,
                0.050090669296538166,
                0.926150043411264
            ]
        ],
        "object_translation_in_cam": [
            -0.022653520043326915,
            0.0005100870756832334,
            1.1546095061268868
        ],
        "raw_rvec": [
            0.052402107964711606,
            0.3831565071119954,
            -0.005363358395274643
        ],
        "refined_raw_rvec": [
            0.052402107964711606,
            0.3831565071119954,
            -0.005363358395274643
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.803117036819458,
            0.9052155613899231,
            0.4834851920604706,
            0.5138505101203918,
            1.0410692691802979,
            0.551748514175415,
            0.4070315957069397
        ],
        "mean_reprojection_error": 0.8150739073753357,
        "std_reprojection_error": 0.45856204628944397,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                635,
                344
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.39633166790008545,
            0.25007322430610657,
            0.12466728687286377,
            0.2977224886417389,
            0.9925500154495239,
            0.3392583429813385,
            0.8928824663162231,
            0.2856975197792053
        ],
        "kf_translation_vector": [
            -0.02211597541633176,
            -0.0006970689870645223,
            1.1498213810913296
        ],
        "kf_rotation_matrix": [
            [
                0.956079100827201,
                0.04436464710627127,
                0.28973182608851716
            ],
            [
                0.0012443297561260884,
                0.987855612827434,
                -0.15536968767682127
            ],
            [
                -0.2931061319810774,
                0.14890623322235702,
                0.9444129018086422
            ]
        ],
        "kf_euler_angles": [
            0.15638327171393415,
            0.2974740476255449,
            0.0013014917410780545
        ]
    },
    {
        "frame": 46,
        "object_rotation_in_cam": [
            [
                0.9294446770413146,
                0.010014420376700006,
                0.36882557354945605
            ],
            [
                0.0038288888315370358,
                0.9993159613121667,
                -0.036782456104178046
            ],
            [
                -0.3689416375660007,
                0.035599450153882856,
                0.928770556821683
            ]
        ],
        "object_translation_in_cam": [
            -0.02280929809775614,
            0.00043896079427213294,
            1.1564079356748118
        ],
        "raw_rvec": [
            0.03707555812299663,
            0.37790012077646856,
            -0.0031683613513394998
        ],
        "refined_raw_rvec": [
            0.03707555812299663,
            0.37790012077646856,
            -0.0031683613513394998
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.5247070789337158,
            0.8023120164871216,
            0.44605720043182373,
            0.5094860196113586,
            1.0195249319076538,
            0.49289530515670776,
            0.33599069714546204
        ],
        "mean_reprojection_error": 0.7329961657524109,
        "std_reprojection_error": 0.3893698453903198,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                344
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.6075373291969299,
            0.21726517379283905,
            0.1389315277338028,
            0.2951512038707733,
            0.9958499670028687,
            0.3463309407234192,
            0.8197662234306335,
            0.3149503171443939
        ],
        "kf_translation_vector": [
            -0.022477526610047743,
            -9.070541436668603e-05,
            1.1549240951347803
        ],
        "kf_rotation_matrix": [
            [
                0.9413642095435424,
                0.03084181164582987,
                0.3359794750351048
            ],
            [
                0.0037930244813462067,
                0.9947827770593928,
                -0.10194527665020123
            ],
            [
                -0.3373707722310061,
                0.09724201314455244,
                0.9363359188474236
            ]
        ],
        "kf_euler_angles": [
            0.10348279039305523,
            0.3441225199641284,
            0.004029262974241876
        ]
    },
    {
        "frame": 47,
        "object_rotation_in_cam": [
            [
                0.9996057261601704,
                0.025376450938003045,
                -0.012017818670187953
            ],
            [
                -0.024643762506190908,
                0.9980341317486138,
                0.05762427296139212
            ],
            [
                0.013456492757656178,
                -0.05730538894887367,
                0.9982660042293745
            ]
        ],
        "object_translation_in_cam": [
            -0.023863912863073582,
            0.0009663385193657909,
            1.145081973607139
        ],
        "raw_rvec": [
            -0.057504074580799036,
            -0.012745854115406597,
            -0.025027186512461948
        ],
        "refined_raw_rvec": [
            -0.057504074580799036,
            -0.012745854115406597,
            -0.025027186512461948
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.105112075805664,
            3.175720453262329,
            2.086833953857422,
            2.1630821228027344,
            2.1268470287323,
            1.2194559574127197,
            3.6303749084472656
        ],
        "mean_reprojection_error": 2.9296324253082275,
        "std_reprojection_error": 1.488160252571106,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5335885286331177,
            0.2518824338912964,
            0.9904466867446899,
            0.32367098331451416,
            0.9240899085998535,
            0.10575716942548752,
            0.2998756170272827
        ],
        "kf_translation_vector": [
            -0.02327681605102107,
            0.0005583527255339908,
            1.1515163883873345
        ],
        "kf_rotation_matrix": [
            [
                0.9881819708009704,
                0.013285772292858112,
                0.15270848319098942
            ],
            [
                -0.010345641619509093,
                0.9997458159650328,
                -0.020031753789710345
            ],
            [
                -0.1529358044520349,
                0.01821515069916297,
                0.9880682405591306
            ]
        ],
        "kf_euler_angles": [
            0.01843302605871852,
            0.15353834657068746,
            -0.010468986444573097
        ]
    },
    {
        "frame": 49,
        "object_rotation_in_cam": [
            [
                0.9995953947637201,
                0.026160726897825014,
                -0.011165264678462426
            ],
            [
                -0.025470648439997117,
                0.9979904257814927,
                0.0580203077940911
            ],
            [
                0.012660680677150742,
                -0.0577124459423824,
                0.9982529643072134
            ]
        ],
        "object_translation_in_cam": [
            -0.02385019570233932,
            0.0012331926519651949,
            1.1448326665421682
        ],
        "raw_rvec": [
            -0.057906542705289464,
            -0.011921241633723415,
            -0.025833606687872185
        ],
        "refined_raw_rvec": [
            -0.057906542705289464,
            -0.011921241633723415,
            -0.025833606687872185
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.324487209320068,
            3.2762460708618164,
            2.0828897953033447,
            2.227221965789795,
            2.093966484069824,
            1.2280930280685425,
            3.644897699356079
        ],
        "mean_reprojection_error": 2.9825427532196045,
        "std_reprojection_error": 1.5556862354278564,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3647155463695526,
            0.2841890752315521,
            0.9921432137489319,
            0.35104280710220337,
            0.8773007988929749,
            0.1662740707397461,
            0.29822877049446106
        ],
        "kf_translation_vector": [
            -0.023736713978815417,
            0.0010795585210745054,
            1.149245433768683
        ],
        "kf_rotation_matrix": [
            [
                0.9989555561427522,
                0.01821170851948429,
                0.04190621104712149
            ],
            [
                -0.019528919618757173,
                0.9993210902840528,
                0.031240675601145438
            ],
            [
                -0.04130881443528325,
                -0.03202642949648346,
                0.9986330105016847
            ]
        ],
        "kf_euler_angles": [
            -0.032059281217155365,
            0.04132057181766241,
            -0.01954684794224825
        ]
    },
    {
        "frame": 51,
        "object_rotation_in_cam": [
            [
                0.9208425862687273,
                0.013428354109008146,
                0.38970323403821616
            ],
            [
                0.00864313732915042,
                0.9984584088305191,
                -0.05482793095437427
            ],
            [
                -0.3898387198458243,
                0.05385615230919556,
                0.9193069603605847
            ]
        ],
        "object_translation_in_cam": [
            -0.022240863144536875,
            4.884940995124516e-06,
            1.1530101458002495
        ],
        "raw_rvec": [
            0.055852645285936274,
            0.4006058562430286,
            -0.0024591182756131306
        ],
        "refined_raw_rvec": [
            0.055852645285936274,
            0.4006058562430286,
            -0.0024591182756131306
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6135891675949097,
            0.772339403629303,
            0.5088855624198914,
            0.45044830441474915,
            0.7377734184265137,
            0.678290605545044,
            0.4632079303264618
        ],
        "mean_reprojection_error": 0.7463620901107788,
        "std_reprojection_error": 0.3744713366031647,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                363
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5618389844894409,
            0.14733543992042542,
            0.3464936912059784,
            0.9935845136642456,
            0.3969302773475647,
            0.8338029384613037,
            0.282230019569397
        ],
        "kf_translation_vector": [
            -0.023139235671309155,
            0.0007201886636476666,
            1.1521842341312627
        ],
        "kf_rotation_matrix": [
            [
                0.9806614793865407,
                0.006401944727007868,
                0.19560694760440828
            ],
            [
                -0.006129574570396261,
                0.9999792184368862,
                -0.001997751220804533
            ],
            [
                -0.19561567207917505,
                0.0007601302958116264,
                0.9806803409057133
            ]
        ],
        "kf_euler_angles": [
            0.0007751049061348318,
            0.19688521169250672,
            -0.006250367611527672
        ]
    },
    {
        "frame": 52,
        "object_rotation_in_cam": [
            [
                0.9208425862687273,
                0.013428354109008146,
                0.38970323403821616
            ],
            [
                0.00864313732915042,
                0.9984584088305191,
                -0.05482793095437427
            ],
            [
                -0.3898387198458243,
                0.05385615230919556,
                0.9193069603605847
            ]
        ],
        "object_translation_in_cam": [
            -0.022240863144536875,
            4.884940995124516e-06,
            1.1530101458002495
        ],
        "raw_rvec": [
            0.055852645285936274,
            0.4006058562430286,
            -0.0024591182756131306
        ],
        "refined_raw_rvec": [
            0.055852645285936274,
            0.4006058562430286,
            -0.0024591182756131306
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6135891675949097,
            0.772339403629303,
            0.5088855624198914,
            0.45044830441474915,
            0.7377734184265137,
            0.678290605545044,
            0.4632079303264618
        ],
        "mean_reprojection_error": 0.7463620901107788,
        "std_reprojection_error": 0.3744713366031647,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                363
            ],
            [
                555,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5730369687080383,
            0.12337268888950348,
            0.3340187966823578,
            0.9881621599197388,
            0.3087242841720581,
            0.9180431962013245,
            0.3450852036476135
        ],
        "kf_translation_vector": [
            -0.0227737584917841,
            0.0004934643378962343,
            1.153860221699704
        ],
        "kf_rotation_matrix": [
            [
                0.9580065893116936,
                0.004334570695554166,
                0.28671342196043265
            ],
            [
                0.001644889900005457,
                0.9997862170051601,
                -0.02061103160270791
            ],
            [
                -0.2867414674800154,
                0.02021711609988445,
                0.9577946539023963
            ]
        ],
        "kf_euler_angles": [
            0.02110485192309698,
            0.2908237354807514,
            0.0017169905739139323
        ]
    },
    {
        "frame": 61,
        "object_rotation_in_cam": [
            [
                0.9995978375067054,
                0.02569691539389467,
                -0.011992989250278011
            ],
            [
                -0.024978603218687796,
                0.998083028597284,
                0.05662453008472998
            ],
            [
                0.013425074791658496,
                -0.05630218970264078,
                0.9983235100915565
            ]
        ],
        "object_translation_in_cam": [
            -0.023548767152369983,
            0.0009185058161131566,
            1.14695746095689
        ],
        "raw_rvec": [
            -0.05650099102484995,
            -0.012717502208570555,
            -0.02535464616080479
        ],
        "refined_raw_rvec": [
            -0.05650099102484995,
            -0.012717502208570555,
            -0.02535464616080479
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.394840717315674,
            3.743309736251831,
            2.095536708831787,
            1.7800217866897583,
            2.150075674057007,
            1.2834657430648804,
            3.686276912689209
        ],
        "mean_reprojection_error": 3.019075393676758,
        "std_reprojection_error": 1.6266154050827026,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.36491382122039795,
            0.26009854674339294,
            0.9931791424751282,
            0.43249768018722534,
            0.9405843019485474,
            0.16372588276863098,
            0.3098571300506592
        ],
        "kf_translation_vector": [
            -0.023230818562540428,
            0.0008239694858729585,
            1.1516267803667184
        ],
        "kf_rotation_matrix": [
            [
                0.9912462768553737,
                0.008017750414136984,
                0.13178214711658195
            ],
            [
                -0.011335611268318257,
                0.9996368831183668,
                0.024445977717614833
            ],
            [
                -0.13153829304629666,
                -0.02572581558849303,
                0.9909772247003326
            ]
        ],
        "kf_euler_angles": [
            -0.02595421791854732,
            0.13192059688822602,
            -0.011435217898178652
        ]
    },
    {
        "frame": 62,
        "object_rotation_in_cam": [
            [
                0.9233955672671519,
                0.003708111276821059,
                0.38383183331002346
            ],
            [
                0.004156085920793407,
                0.9997981395790975,
                -0.019657238971802042
            ],
            [
                -0.3838272440840982,
                0.01974664540964522,
                0.9231937590202134
            ]
        ],
        "object_translation_in_cam": [
            -0.022489835172124696,
            0.0006468624546393871,
            1.1553248788104982
        ],
        "raw_rvec": [
            0.02022237798520412,
            0.39396857113270245,
            0.00022990404931909252
        ],
        "refined_raw_rvec": [
            0.02022237798520412,
            0.39396857113270245,
            0.00022990404931909252
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6054434776306152,
            0.8530311584472656,
            0.04397141560912132,
            0.46986478567123413,
            0.5692169666290283,
            0.6077675223350525,
            0.3478027284145355
        ],
        "mean_reprojection_error": 0.6424425840377808,
        "std_reprojection_error": 0.4556072950363159,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                363
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3936585485935211,
            0.12844540178775787,
            0.2642194926738739,
            0.99272620677948,
            0.46833986043930054,
            0.9179540276527405,
            0.4246867895126343
        ],
        "kf_translation_vector": [
            -0.022960076624795583,
            0.000876135464262205,
            1.1544879123554208
        ],
        "kf_rotation_matrix": [
            [
                0.9700972014012459,
                0.0009007133729926727,
                0.24271507688829347
            ],
            [
                -0.004160320046690779,
                0.9999079100650966,
                0.012917551097637063
            ],
            [
                -0.24268109026164275,
                -0.013541052568787766,
                0.9700116124690208
            ]
        ],
        "kf_euler_angles": [
            -0.013958774208250998,
            0.24512860806006304,
            -0.004288533701343146
        ]
    },
    {
        "frame": 68,
        "object_rotation_in_cam": [
            [
                0.9995704218590798,
                0.024938756853039475,
                -0.0153957835489505
            ],
            [
                -0.024120561658273015,
                0.9983961155918305,
                0.0512190870324105
            ],
            [
                0.01664843084950074,
                -0.05082572948585361,
                0.9985687632669471
            ]
        ],
        "object_translation_in_cam": [
            -0.02302715127406748,
            -2.080870058010709e-05,
            1.1502937031977
        ],
        "raw_rvec": [
            -0.051051891573852363,
            -0.01603136557892887,
            -0.024543833727001134
        ],
        "refined_raw_rvec": [
            -0.051051891573852363,
            -0.01603136557892887,
            -0.024543833727001134
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            5.814091205596924,
            2.9252817630767822,
            2.026282787322998,
            2.1590723991394043,
            2.5580639839172363,
            1.1683158874511719,
            3.5255496501922607
        ],
        "mean_reprojection_error": 2.8823795318603516,
        "std_reprojection_error": 1.3789080381393433,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                555,
                346
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.30411043763160706,
            0.2993139326572418,
            0.9946694374084473,
            0.2684858739376068,
            0.9792270064353943,
            0.11013081669807434,
            0.5711173415184021
        ],
        "kf_translation_vector": [
            -0.023064720840613943,
            0.0005599571324993258,
            1.1535886554415324
        ],
        "kf_rotation_matrix": [
            [
                0.9943095121432599,
                0.00997233710820418,
                0.10606199391880643
            ],
            [
                -0.014408811820509994,
                0.9990492693945731,
                0.0411453942026424
            ],
            [
                -0.10555084179367652,
                -0.042439484148255636,
                0.993507881187601
            ]
        ],
        "kf_euler_angles": [
            -0.042690852992060054,
            0.10574782091686259,
            -0.014490259993548887
        ]
    },
    {
        "frame": 69,
        "object_rotation_in_cam": [
            [
                0.9231234146133577,
                -0.013465886607880942,
                0.38426791603051974
            ],
            [
                0.0005848032156789765,
                0.9994345747118616,
                0.03361828186744889
            ],
            [
                -0.3845033412049547,
                -0.03080910203793684,
                0.922609332184453
            ]
        ],
        "object_translation_in_cam": [
            -0.022566557774778413,
            0.0009362978217637043,
            1.1585161605961445
        ],
        "raw_rvec": [
            -0.03307160732809304,
            0.3946225906324699,
            0.00721244396972577
        ],
        "refined_raw_rvec": [
            -0.03307160732809304,
            0.3946225906324699,
            0.00721244396972577
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.8340305089950562,
            1.0806347131729126,
            0.5196004509925842,
            0.49586495757102966,
            1.155342936515808,
            0.6397262811660767,
            0.07949741929769516
        ],
        "mean_reprojection_error": 0.8292424082756042,
        "std_reprojection_error": 0.5324057936668396,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5388395190238953,
            0.23074506223201752,
            0.38575324416160583,
            0.986785888671875,
            0.29143524169921875,
            0.9583183526992798,
            0.10828810185194016,
            0.29965004324913025
        ],
        "kf_translation_vector": [
            -0.022894195674878194,
            0.0008412595785753849,
            1.157087770310887
        ],
        "kf_rotation_matrix": [
            [
                0.9740896682136783,
                -0.0032142162991064924,
                0.22613930903969104
            ],
            [
                -0.00803763985591304,
                0.9987753512040003,
                0.04881796977417775
            ],
            [
                -0.2260192793212848,
                -0.049370706303520244,
                0.9728709157612734
            ]
        ],
        "kf_euler_angles": [
            -0.05070394167512452,
            0.2279892654397025,
            -0.008251250072905583
        ]
    },
    {
        "frame": 71,
        "object_rotation_in_cam": [
            [
                0.9231234146133577,
                -0.013465886607880942,
                0.38426791603051974
            ],
            [
                0.0005848032156789765,
                0.9994345747118616,
                0.03361828186744889
            ],
            [
                -0.3845033412049547,
                -0.03080910203793684,
                0.922609332184453
            ]
        ],
        "object_translation_in_cam": [
            -0.022566557774778413,
            0.0009362978217637043,
            1.1585161605961445
        ],
        "raw_rvec": [
            -0.03307160732809304,
            0.3946225906324699,
            0.00721244396972577
        ],
        "refined_raw_rvec": [
            -0.03307160732809304,
            0.3946225906324699,
            0.00721244396972577
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.8340305089950562,
            1.0806347131729126,
            0.5196004509925842,
            0.49586495757102966,
            1.155342936515808,
            0.6397262811660767,
            0.07949741929769516
        ],
        "mean_reprojection_error": 0.8292424082756042,
        "std_reprojection_error": 0.5324057936668396,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                346
            ],
            [
                795,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5400591492652893,
            0.15400870144367218,
            0.3590092360973358,
            0.9911435842514038,
            0.3348744511604309,
            0.9667392373085022,
            0.1314309686422348,
            0.5110060572624207
        ],
        "kf_translation_vector": [
            -0.022787728768731794,
            0.0010065688744840594,
            1.1591348192468787
        ],
        "kf_rotation_matrix": [
            [
                0.9544081738425114,
                -0.011936272559024552,
                0.2982659268169921
            ],
            [
                -0.004214091965470795,
                0.9985618581618513,
                0.05344583101849331
            ],
            [
                -0.2984749221149227,
                -0.052266058027628834,
                0.9529852989667487
            ]
        ],
        "kf_euler_angles": [
            -0.0547896681303827,
            0.30309433900702865,
            -0.0044153693311444085
        ]
    },
    {
        "frame": 86,
        "object_rotation_in_cam": [
            [
                0.9997624377162292,
                0.02015704056620084,
                -0.008292276365117571
            ],
            [
                -0.019585245514194476,
                0.9977540542984203,
                0.06405673492470176
            ],
            [
                0.009564846567074613,
                -0.06387911119197978,
                0.9979118061549683
            ]
        ],
        "object_translation_in_cam": [
            -0.025919739261269916,
            0.0005790624690882705,
            1.1336212738462093
        ],
        "raw_rvec": [
            -0.0640167080458277,
            -0.008935370812696299,
            -0.019886297721141147
        ],
        "refined_raw_rvec": [
            -0.0640167080458277,
            -0.008935370812696299,
            -0.019886297721141147
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            3.207444906234741,
            3.3768904209136963,
            1.355641484260559,
            5.662538051605225,
            2.183677911758423,
            1.1657724380493164,
            2.9554169178009033
        ],
        "mean_reprojection_error": 2.84391188621521,
        "std_reprojection_error": 1.4061253070831299,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                624,
                362
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2897307872772217,
            0.2152348756790161,
            0.9952455163002014,
            0.25245872139930725,
            0.9702630639076233,
            0.10641944408416748,
            0.5000787973403931
        ],
        "kf_translation_vector": [
            -0.024374871676494582,
            0.0009237312891560616,
            1.1480071576438038
        ],
        "kf_rotation_matrix": [
            [
                0.9887963508277708,
                0.0013869190913537034,
                0.14926437299341777
            ],
            [
                -0.011920872033953402,
                0.9974967024319268,
                0.0697009429447142
            ],
            [
                -0.14879405028304796,
                -0.07069939952267086,
                0.9863376326124335
            ]
        ],
        "kf_euler_angles": [
            -0.07155631949800885,
            0.14934863534243037,
            -0.012055358542704113
        ]
    },
    {
        "frame": 87,
        "object_rotation_in_cam": [
            [
                0.9997451722280429,
                0.021844048941684503,
                -0.00569457044508847
            ],
            [
                -0.02147299784467421,
                0.9980485729940002,
                0.05863408827808786
            ],
            [
                0.006964263800531956,
                -0.058496867185117485,
                0.9982632997156828
            ]
        ],
        "object_translation_in_cam": [
            -0.024196242739168955,
            0.000357469026890088,
            1.144577702105041
        ],
        "raw_rvec": [
            -0.05860399494879518,
            -0.006333579840224361,
            -0.0216727677241729
        ],
        "refined_raw_rvec": [
            -0.05860399494879518,
            -0.006333579840224361,
            -0.0216727677241729
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            4.722144603729248,
            4.9951043128967285,
            4.421684265136719,
            1.3597638607025146,
            3.5165679454803467,
            2.2649521827697754,
            1.8318415880203247,
            3.293245792388916
        ],
        "mean_reprojection_error": 3.3006629943847656,
        "std_reprojection_error": 1.2841496467590332,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                634,
                346
            ],
            [
                624,
                362
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.6645721793174744,
            0.17241694033145905,
            0.22883425652980804,
            0.3476082384586334,
            0.9968028664588928,
            0.27175435423851013,
            0.9785504937171936,
            0.10479157418012619,
            0.4118311107158661
        ],
        "kf_translation_vector": [
            -0.024498332142657463,
            0.0007568839277996396,
            1.1464804216784572
        ],
        "kf_rotation_matrix": [
            [
                0.998261247299411,
                0.013206266231411364,
                0.057446293809517025
            ],
            [
                -0.017636015325105364,
                0.9968518016680078,
                0.07730107680168125
            ],
            [
                -0.05624458288294899,
                -0.07817979306362902,
                0.9953514288194152
            ]
        ],
        "kf_euler_angles": [
            -0.07838398748144361,
            0.0562742796941285,
            -0.017664895741164074
        ]
    },
    {
        "frame": 88,
        "object_rotation_in_cam": [
            [
                0.9301886764281396,
                -0.012179827344964957,
                0.36687965063588984
            ],
            [
                9.08382512121008e-05,
                0.9994569942841938,
                0.032950088388610396
            ],
            [
                -0.3670817592761561,
                -0.030616472400522645,
                0.9296846850542769
            ]
        ],
        "object_translation_in_cam": [
            -0.022495797957438682,
            0.0004398982147844679,
            1.1618807467263228
        ],
        "raw_rvec": [
            -0.03255005405750628,
            0.3758341378262011,
            0.006283348092436466
        ],
        "refined_raw_rvec": [
            -0.03255005405750628,
            0.3758341378262011,
            0.006283348092436466
        ],
        "num_inliers": 7,
        "total_matches": 9,
        "inlier_ratio": 0.7777777777777778,
        "reprojection_errors": [
            2.2948601245880127,
            0.9839754104614258,
            0.5976200103759766,
            0.1729467809200287,
            1.1443372964859009,
            0.31853461265563965,
            0.17536216974258423
        ],
        "mean_reprojection_error": 0.8125194311141968,
        "std_reprojection_error": 0.701229453086853,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                635,
                346
            ],
            [
                624,
                363
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5284760594367981,
            0.16944852471351624,
            0.20916403830051422,
            0.33364540338516235,
            0.9965765476226807,
            0.15640594065189362,
            0.9711627960205078,
            0.11932668834924698,
            0.44208627939224243
        ],
        "kf_translation_vector": [
            -0.023734375651768058,
            0.0006882617377901542,
            1.15394410716641
        ],
        "kf_rotation_matrix": [
            [
                0.9827017983942103,
                -0.002244891408628222,
                0.1851813594705154
            ],
            [
                -0.01039870647857915,
                0.9976801216382631,
                0.06727734976522731
            ],
            [
                -0.184902791586166,
                -0.06803921920792333,
                0.9803987057892412
            ]
        ],
        "kf_euler_angles": [
            -0.06928844462855246,
            0.18597294740399886,
            -0.010581356821802734
        ]
    },
    {
        "frame": 90,
        "object_rotation_in_cam": [
            [
                0.9996428268012149,
                0.023520435848665193,
                -0.012688889721532494
            ],
            [
                -0.02279224206230917,
                0.9982390627549833,
                0.05476574925832329
            ],
            [
                0.013954659675158415,
                -0.05445698015444172,
                0.9984186019830606
            ]
        ],
        "object_translation_in_cam": [
            -0.022982104701146068,
            8.079981167353421e-05,
            1.1496055651229837
        ],
        "raw_rvec": [
            -0.05464506217481208,
            -0.013329994783756923,
            -0.02317062737338504
        ],
        "refined_raw_rvec": [
            -0.05464506217481208,
            -0.013329994783756923,
            -0.02317062737338504
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            5.861417293548584,
            2.9197118282318115,
            1.5277546644210815,
            2.1425704956054688,
            2.503960371017456,
            1.151703953742981,
            3.4036552906036377
        ],
        "mean_reprojection_error": 2.7872536182403564,
        "std_reprojection_error": 1.4444578886032104,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3083139955997467,
            0.21382886171340942,
            0.9951239228248596,
            0.24968697130680084,
            0.9588494896888733,
            0.10926146805286407,
            0.393354594707489
        ],
        "kf_translation_vector": [
            -0.023487188756565143,
            0.0004681582922503247,
            1.1526041743124933
        ],
        "kf_rotation_matrix": [
            [
                0.9967475993245659,
                0.011390883518615013,
                0.07977763479434521
            ],
            [
                -0.01714892435195964,
                0.9972667708161794,
                0.0718672541526428
            ],
            [
                -0.07874095271385367,
                -0.07300161367076163,
                0.9942186010969517
            ]
        ],
        "kf_euler_angles": [
            -0.07329458817281227,
            0.07882254803286229,
            -0.01720318422778168
        ]
    },
    {
        "frame": 91,
        "object_rotation_in_cam": [
            [
                0.9201966956310677,
                -0.002172225449762711,
                0.39145028137205323
            ],
            [
                0.00923891878263477,
                0.9998265707607259,
                -0.016170058150022818
            ],
            [
                -0.39134726743570364,
                0.018496211434849138,
                0.9200571756326696
            ]
        ],
        "object_translation_in_cam": [
            -0.021778125317140858,
            -0.0005715643222044947,
            1.15773055153831
        ],
        "raw_rvec": [
            0.01781042043481478,
            0.4021763410532275,
            0.00586268089572585
        ],
        "refined_raw_rvec": [
            0.01781042043481478,
            0.4021763410532275,
            0.00586268089572585
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.0659804344177246,
            0.9958280920982361,
            0.6444449424743652,
            0.2469651699066162,
            1.4471940994262695,
            0.3544994294643402,
            0.3919035494327545
        ],
        "mean_reprojection_error": 0.8781164884567261,
        "std_reprojection_error": 0.6224672794342041,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                624,
                363
            ],
            [
                556,
                344
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.34356963634490967,
            0.1578361690044403,
            0.2580851912498474,
            0.9539819359779358,
            0.31727492809295654,
            0.9367819428443909,
            0.14978408813476562,
            0.39923492074012756
        ],
        "kf_translation_vector": [
            -0.022751579993259535,
            1.631501789419047e-05,
            1.1556245256840092
        ],
        "kf_rotation_matrix": [
            [
                0.9774454738250838,
                -0.0027895121220659186,
                0.2111695156053033
            ],
            [
                -0.005388098960033378,
                0.9992578772919005,
                0.03814004535501057
            ],
            [
                -0.21111919403136814,
                -0.03841761695116218,
                0.9767050591756651
            ]
        ],
        "kf_euler_angles": [
            -0.03931363136306192,
            0.21271982046520257,
            -0.005512373354303065
        ]
    },
    {
        "frame": 94,
        "object_rotation_in_cam": [
            [
                0.9216390569597122,
                -0.0033683548880087217,
                0.3880336362633539
            ],
            [
                0.003190797690317649,
                0.9999943023036632,
                0.0011018939646810439
            ],
            [
                -0.38803513693544806,
                0.000222588315876433,
                0.9216445534792302
            ]
        ],
        "object_translation_in_cam": [
            -0.022269253034356316,
            0.000871982440885093,
            1.1551389493750284
        ],
        "raw_rvec": [
            -0.0004515091898645673,
            0.39849872856217944,
            0.003368018471010985
        ],
        "refined_raw_rvec": [
            -0.0004515091898645673,
            0.39849872856217944,
            0.003368018471010985
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.8252415657043457,
            0.7333066463470459,
            0.4463832378387451,
            0.28016024827957153,
            1.2126282453536987,
            0.3937421143054962,
            0.3860350251197815
        ],
        "mean_reprojection_error": 0.7539281249046326,
        "std_reprojection_error": 0.5268047451972961,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                363
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3650434911251068,
            0.16989107429981232,
            0.20131251215934753,
            0.9921146631240845,
            0.1725979894399643,
            0.9582579731941223,
            0.43715742230415344
        ],
        "kf_translation_vector": [
            -0.022528384804709128,
            0.00042394942792531434,
            1.1562114861323811
        ],
        "kf_rotation_matrix": [
            [
                0.956944481185097,
                -0.006509326220327697,
                0.29019801619160457
            ],
            [
                -0.0013229217546893942,
                0.9996403427126528,
                0.026784978987500842
            ],
            [
                -0.29026799652634183,
                -0.0260156470895353,
                0.956591697799587
            ]
        ],
        "kf_euler_angles": [
            -0.027189485323029974,
            0.2945068800054497,
            -0.0013824426995854729
        ]
    },
    {
        "frame": 99,
        "object_rotation_in_cam": [
            [
                0.9228868091724608,
                -0.011660600414950466,
                0.3848947490593199
            ],
            [
                0.0006816560581699048,
                0.9995893103797907,
                0.02864866348493026
            ],
            [
                -0.38507073739832837,
                -0.02617710779320881,
                0.9225157376582203
            ]
        ],
        "object_translation_in_cam": [
            -0.0224595616808115,
            0.0011308676056814636,
            1.1566748992662372
        ],
        "raw_rvec": [
            -0.028143799825289507,
            0.39524760013519766,
            0.006335670022947531
        ],
        "refined_raw_rvec": [
            -0.028143799825289507,
            0.39524760013519766,
            0.006335670022947531
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.2579853534698486,
            1.183275580406189,
            0.5354419350624084,
            0.23846814036369324,
            1.1819483041763306,
            0.3634357452392578,
            0.30728915333747864
        ],
        "mean_reprojection_error": 0.866834819316864,
        "std_reprojection_error": 0.6767463088035583,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                624,
                362
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2195054441690445,
            0.12218742817640305,
            0.2570684552192688,
            0.9889751076698303,
            0.21496514976024628,
            0.9493710398674011,
            0.4214199483394623
        ],
        "kf_translation_vector": [
            -0.022482024430088458,
            0.0007992487484683533,
            1.157245368521549
        ],
        "kf_rotation_matrix": [
            [
                0.9415871822007847,
                -0.010929161596632887,
                0.3365919365373758
            ],
            [
                -0.00013693538641633025,
                0.9994607562819325,
                0.032835619394911524
            ],
            [
                -0.33676929724053833,
                -0.030963689688766546,
                0.9410779406388038
            ]
        ],
        "kf_euler_angles": [
            -0.032890499495927636,
            0.34348365851659574,
            -0.00014543038397238473
        ]
    },
    {
        "frame": 100,
        "object_rotation_in_cam": [
            [
                0.9219557800348174,
                -0.010142225928746426,
                0.3871623366413652
            ],
            [
                -0.00035998865429964257,
                0.9996341799464784,
                0.027043976980105296
            ],
            [
                -0.38729499101919757,
                -0.02507272494049965,
                0.9216148590357568
            ]
        ],
        "object_translation_in_cam": [
            -0.022462788463701536,
            0.0010712721184120467,
            1.157121433096827
        ],
        "raw_rvec": [
            -0.026761419601931857,
            0.3976763061655106,
            0.005023083708288691
        ],
        "refined_raw_rvec": [
            -0.026761419601931857,
            0.3976763061655106,
            0.005023083708288691
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.2426106929779053,
            1.1833244562149048,
            0.5762593746185303,
            0.9475918412208557,
            1.177130937576294,
            0.6266852021217346,
            0.4492014944553375
        ],
        "mean_reprojection_error": 1.0289719104766846,
        "std_reprojection_error": 0.564197838306427,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                624,
                362
            ],
            [
                555,
                346
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2520686388015747,
            0.2013203501701355,
            0.3665788769721985,
            0.9817121624946594,
            0.2619490325450897,
            0.9391475319862366,
            0.40525558590888977
        ],
        "kf_translation_vector": [
            -0.022457395241446753,
            0.0010012289524115833,
            1.1580385684727381
        ],
        "kf_rotation_matrix": [
            [
                0.9307330450987928,
                -0.013052582968577569,
                0.36546631696912485
            ],
            [
                3.82921975418757e-05,
                0.9993663063792159,
                0.03559472162654306
            ],
            [
                -0.36569932635272384,
                -0.033115189140512,
                0.9301437453175461
            ]
        ],
        "kf_euler_angles": [
            -0.035587196673023784,
            0.37438406383965384,
            4.114197698460993e-05
        ]
    },
    {
        "frame": 101,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.33424821496009827,
            0.17321787774562836,
            0.268341064453125,
            0.9817073941230774,
            0.20496869087219238,
            0.9107339978218079,
            0.38201168179512024
        ],
        "kf_translation_vector": [
            -0.022415093923094598,
            0.0007996807074035479,
            1.1584675057813536
        ],
        "kf_rotation_matrix": [
            [
                0.9237771299545585,
                -0.012588574983788006,
                0.3827235842651929
            ],
            [
                0.001795357711179091,
                0.9995908909434631,
                0.028545182317556
            ],
            [
                -0.38292635174875017,
                -0.025682260857080884,
                0.9234218053596424
            ]
        ],
        "kf_euler_angles": [
            -0.027804890404533086,
            0.39296203006767294,
            0.0019434941529782484
        ]
    },
    {
        "frame": 103,
        "object_rotation_in_cam": [
            [
                0.999593927672009,
                0.022571880601116593,
                -0.017392238710850747
            ],
            [
                -0.021659875362624457,
                0.9984661665338251,
                0.05095256702584597
            ],
            [
                0.018515657172292126,
                -0.050555162875582635,
                0.9985496211736808
            ]
        ],
        "object_translation_in_cam": [
            -0.02309224465719484,
            -0.0006392794120882245,
            1.15068249261726
        ],
        "raw_rvec": [
            -0.05078256275169525,
            -0.017964099657610203,
            -0.022128382981548067
        ],
        "refined_raw_rvec": [
            -0.05078256275169525,
            -0.017964099657610203,
            -0.022128382981548067
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            5.887453079223633,
            2.913679838180542,
            2.021395444869995,
            2.418809175491333,
            2.592268943786621,
            1.1628788709640503,
            3.5212254524230957
        ],
        "mean_reprojection_error": 2.9311013221740723,
        "std_reprojection_error": 1.3846088647842407,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                346
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.22270606458187103,
            0.2187446802854538,
            0.9748010635375977,
            0.3153749704360962,
            0.9329626560211182,
            0.10254212468862534,
            0.3700341284275055
        ],
        "kf_translation_vector": [
            -0.022715125642264297,
            0.00019077581454491767,
            1.1556657063996005
        ],
        "kf_rotation_matrix": [
            [
                0.9782509985183673,
                -0.0001646024060610752,
                0.20742458100202438
            ],
            [
                -0.008508459851180847,
                0.99912618741546,
                0.04092026064931753
            ],
            [
                -0.2072500663661614,
                -0.04179514955943046,
                0.9773947899720596
            ]
        ],
        "kf_euler_angles": [
            -0.042735753018556186,
            0.20876315327025569,
            -0.008697405188009707
        ]
    },
    {
        "frame": 104,
        "object_rotation_in_cam": [
            [
                0.8878319418816033,
                -0.11137123525429099,
                0.44648727969862106
            ],
            [
                -0.010273040624715242,
                0.9652316736015643,
                0.2611939526724272
            ],
            [
                -0.4600531573753888,
                -0.23648311617165518,
                0.8558193899151147
            ]
        ],
        "object_translation_in_cam": [
            -0.025106468721955433,
            0.001513454085292068,
            1.1432608230039465
        ],
        "raw_rvec": [
            -0.26166190734120953,
            0.47662855031207785,
            0.053154039218582666
        ],
        "refined_raw_rvec": [
            -0.26166190734120953,
            0.47662855031207785,
            0.053154039218582666
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.556317090988159,
            4.403104782104492,
            0.8590914011001587,
            0.2579331696033478,
            1.8833237886428833,
            2.5100595951080322,
            1.399539589881897
        ],
        "mean_reprojection_error": 1.9813385009765625,
        "std_reprojection_error": 1.2565690279006958,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                640,
                342
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5144321322441101,
            0.15145735442638397,
            0.34414875507354736,
            0.9834505915641785,
            0.3781408369541168,
            0.9661476016044617,
            0.12927651405334473,
            0.4513630270957947
        ],
        "kf_translation_vector": [
            -0.02384179266227027,
            0.0008117755527562206,
            1.150412327638197
        ],
        "kf_rotation_matrix": [
            [
                0.9476715317966244,
                -0.03834020154360267,
                0.3169364238579015
            ],
            [
                -0.01009558151428027,
                0.9886667355762998,
                0.14978706619328563
            ],
            [
                -0.3190873658672934,
                -0.1451485959646153,
                0.9365442531100028
            ]
        ],
        "kf_euler_angles": [
            -0.15375986365192756,
            0.3247663577199677,
            -0.01065263574458591
        ]
    },
    {
        "frame": 107,
        "object_rotation_in_cam": [
            [
                0.9996019137803894,
                0.025106807474043313,
                -0.012870982287465105
            ],
            [
                -0.024376329446966806,
                0.9982393787591296,
                0.054073443179437165
            ],
            [
                0.014205932890023679,
                -0.05373816998231521,
                0.9984540052289219
            ]
        ],
        "object_translation_in_cam": [
            -0.02357586190727741,
            0.0004944681333533264,
            1.1470970663034559
        ],
        "raw_rvec": [
            -0.05393911542237324,
            -0.013546823113101429,
            -0.02475685647926428
        ],
        "refined_raw_rvec": [
            -0.05393911542237324,
            -0.013546823113101429,
            -0.02475685647926428
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            6.478356838226318,
            3.9057321548461914,
            2.0202243328094482,
            1.7785515785217285,
            2.3472163677215576,
            1.2736897468566895,
            3.5171597003936768
        ],
        "mean_reprojection_error": 3.045847177505493,
        "std_reprojection_error": 1.648818850517273,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4680066704750061,
            0.32478469610214233,
            0.9875391125679016,
            0.3868159055709839,
            0.9579728245735168,
            0.17964209616184235,
            0.5232853889465332
        ],
        "kf_translation_vector": [
            -0.023831925672963994,
            0.0007251533508885379,
            1.1488915821051164
        ],
        "kf_rotation_matrix": [
            [
                0.9856449243016204,
                -0.0028187449919693675,
                0.1688079911471115
            ],
            [
                -0.01753981012829927,
                0.9927406277533005,
                0.11898907961929249
            ],
            [
                -0.16791795097343296,
                -0.12024184248693698,
                0.9784403206410855
            ]
        ],
        "kf_euler_angles": [
            -0.12227823985575187,
            0.16871724960418089,
            -0.01779338440823196
        ]
    },
    {
        "frame": 108,
        "object_rotation_in_cam": [
            [
                0.9112654035982003,
                -0.0507805204394839,
                0.40867677074786657
            ],
            [
                -0.0021400723789063852,
                0.9917711631330914,
                0.12800539077651324
            ],
            [
                -0.4118140166327783,
                -0.11752148195768285,
                0.9036580752603541
            ]
        ],
        "object_translation_in_cam": [
            -0.02361971678682184,
            0.000740057636524291,
            1.1541222327606313
        ],
        "raw_rvec": [
            -0.12687810310781666,
            0.4239956040697624,
            0.025135365899118644
        ],
        "refined_raw_rvec": [
            -0.12687810310781666,
            0.4239956040697624,
            0.025135365899118644
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            1.8893789052963257,
            5.565364360809326,
            2.765007972717285,
            0.5581237077713013,
            0.39930665493011475,
            1.6961616277694702,
            1.5279377698898315,
            0.4353734254837036
        ],
        "mean_reprojection_error": 1.8545818328857422,
        "std_reprojection_error": 1.602520227432251,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                641,
                342
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.411877304315567,
            0.10322258621454239,
            0.1469826102256775,
            0.335807204246521,
            0.9888659119606018,
            0.2750847637653351,
            0.9545400738716125,
            0.10091864317655563,
            0.4879947006702423
        ],
        "kf_translation_vector": [
            -0.023839424537582542,
            0.0007813568114251467,
            1.1511925543150492
        ],
        "kf_rotation_matrix": [
            [
                0.9625995872316362,
                -0.02497144110531797,
                0.26977483535461044
            ],
            [
                -0.01156608539130977,
                0.9910478772031017,
                0.13300500276285346
            ],
            [
                -0.27068110449420824,
                -0.13115079954140332,
                0.9536934557023269
            ]
        ],
        "kf_euler_angles": [
            -0.13666163412771523,
            0.27410047791656683,
            -0.012014890706990616
        ]
    },
    {
        "frame": 109,
        "object_rotation_in_cam": [
            [
                0.9184081456410266,
                0.006912840952955406,
                0.39557387508551434
            ],
            [
                0.00654517132617971,
                0.9994450307383871,
                -0.03266177069075296
            ],
            [
                -0.39558012937017184,
                0.03258593503804236,
                0.9178532116221932
            ]
        ],
        "object_translation_in_cam": [
            -0.022048667227165145,
            0.00021047903533877007,
            1.1535070493239297
        ],
        "raw_rvec": [
            0.03354759375687694,
            0.4067777225903665,
            -0.00018904007639873488
        ],
        "refined_raw_rvec": [
            0.03354759375687694,
            0.4067777225903665,
            -0.00018904007639873488
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.7851982116699219,
            0.7137480974197388,
            0.7604632377624512,
            0.9980672597885132,
            1.290027141571045,
            0.5770292282104492,
            0.7429019212722778
        ],
        "mean_reprojection_error": 0.981062114238739,
        "std_reprojection_error": 0.3932405710220337,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                346
            ],
            [
                624,
                363
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4845762550830841,
            0.17948630452156067,
            0.13830730319023132,
            0.3429156243801117,
            0.991046130657196,
            0.2769981324672699,
            0.9499738812446594,
            0.5055207014083862
        ],
        "kf_translation_vector": [
            -0.02311353332020074,
            0.0005694028299328106,
            1.1523487637765688
        ],
        "kf_rotation_matrix": [
            [
                0.945354187652035,
                -0.01847876410203697,
                0.3255211132415564
            ],
            [
                -0.003758863066599828,
                0.9977086164476582,
                0.0675528505286502
            ],
            [
                -0.3260235127060738,
                -0.06508495942505362,
                0.9431185594714122
            ]
        ],
        "kf_euler_angles": [
            -0.06890112821065347,
            0.33209419413638486,
            -0.003976121655819238
        ]
    },
    {
        "frame": 110,
        "object_rotation_in_cam": [
            [
                0.9215988488875566,
                0.011628271823327267,
                0.387969515585353
            ],
            [
                0.006757143547887593,
                0.99891900357549,
                -0.045990926353178245
            ],
            [
                -0.38808491691922775,
                0.045006750495376106,
                0.9205240299251525
            ]
        ],
        "object_translation_in_cam": [
            -0.022293234020548537,
            6.162475185145753e-05,
            1.1534278197656411
        ],
        "raw_rvec": [
            0.0467439148859948,
            0.39864558740621764,
            -0.002502213390401868
        ],
        "refined_raw_rvec": [
            0.0467439148859948,
            0.39864558740621764,
            -0.002502213390401868
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.648351788520813,
            0.7626490592956543,
            0.5778933167457581,
            0.9970571398735046,
            0.7225260138511658,
            0.5274640321731567,
            0.7478326559066772
        ],
        "mean_reprojection_error": 0.8548248410224915,
        "std_reprojection_error": 0.3527884781360626,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                363
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5624706149101257,
            0.22003315389156342,
            0.25874418020248413,
            0.9858556389808655,
            0.4016430974006653,
            0.9296647906303406,
            0.15201924741268158,
            0.40658044815063477
        ],
        "kf_translation_vector": [
            -0.02276770331694051,
            0.0003659139433401415,
            1.1530260177904161
        ],
        "kf_rotation_matrix": [
            [
                0.9343357034062406,
                -0.008204036926565062,
                0.35629971529384213
            ],
            [
                0.0010860849430263798,
                0.9997959166553224,
                0.020172889204079506
            ],
            [
                -0.35639249958418306,
                -0.018461278868244557,
                0.9341539313318159
            ]
        ],
        "kf_euler_angles": [
            -0.019759993943010826,
            0.36440400667106015,
            0.0011624135199932292
        ]
    },
    {
        "frame": 111,
        "object_rotation_in_cam": [
            [
                0.9513805718960521,
                0.01806697282937532,
                0.3074875475714806
            ],
            [
                -0.0032749124755737536,
                0.998815169885487,
                -0.04855441643046508
            ],
            [
                -0.3080004583876756,
                0.04518673366606951,
                0.9503125152988218
            ]
        ],
        "object_translation_in_cam": [
            -0.023547539860423128,
            -0.0005871276925762078,
            1.176465024413318
        ],
        "raw_rvec": [
            0.04766358319805532,
            0.31295075587646226,
            -0.010851485444633978
        ],
        "refined_raw_rvec": [
            0.04766358319805532,
            0.31295075587646226,
            -0.010851485444633978
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.7411293983459473,
            0.788027822971344,
            0.22340039908885956,
            1.1091965436935425,
            1.207420825958252,
            2.010713815689087,
            2.187227725982666
        ],
        "mean_reprojection_error": 1.4667309522628784,
        "std_reprojection_error": 0.8142223358154297,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3995942175388336,
            0.24767526984214783,
            0.2563357353210449,
            0.9888915419578552,
            0.3892340660095215,
            0.971784234046936,
            0.23965929448604584
        ],
        "kf_translation_vector": [
            -0.023125870248786304,
            -6.007641331243928e-05,
            1.1639997144352818
        ],
        "kf_rotation_matrix": [
            [
                0.9410892667509482,
                0.004172014751957143,
                0.3381324981409984
            ],
            [
                -0.0005526196068753332,
                0.999941529574405,
                -0.010799631658976986
            ],
            [
                -0.33815778361252147,
                0.009976558790932524,
                0.9410365463981504
            ]
        ],
        "kf_euler_angles": [
            0.010601272693608891,
            0.3449586713835283,
            -0.0005872126724655503
        ]
    },
    {
        "frame": 112,
        "object_rotation_in_cam": [
            [
                0.9308198705974029,
                0.0005182333051065549,
                0.3654779062204383
            ],
            [
                0.0012375030963733729,
                0.9999887932064501,
                -0.004569687909932666
            ],
            [
                -0.3654761785494651,
                0.004705836349597891,
                0.9308087977759613
            ]
        ],
        "object_translation_in_cam": [
            -0.02302278559999958,
            0.0007622389110275566,
            1.1580632027295796
        ],
        "raw_rvec": [
            0.0047477773148030715,
            0.3741467462895547,
            0.00036816601441055067
        ],
        "refined_raw_rvec": [
            0.0047477773148030715,
            0.3741467462895547,
            0.00036816601441055067
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.013181447982788,
            1.3246989250183105,
            0.5200386047363281,
            0.5398672819137573,
            0.9787517189979553,
            0.4869050979614258,
            0.19917230308055878
        ],
        "mean_reprojection_error": 0.8660879135131836,
        "std_reprojection_error": 0.5798481106758118,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4357956647872925,
            0.1689338982105255,
            0.25560617446899414,
            0.9873350262641907,
            0.3885102868080139,
            0.9650211930274963,
            0.23047581315040588
        ],
        "kf_translation_vector": [
            -0.023110094655063723,
            0.000291012557366451,
            1.1624150592376452
        ],
        "kf_rotation_matrix": [
            [
                0.9358276337806324,
                0.003116427426790623,
                0.35244421932078274
            ],
            [
                0.00043210205393167365,
                0.9999500130841834,
                -0.009989225233038792
            ],
            [
                -0.35245773241675016,
                0.009500484884201334,
                0.9357795080287917
            ]
        ],
        "kf_euler_angles": [
            0.010152133498021187,
            0.36019607494101075,
            0.0004617324896449439
        ]
    },
    {
        "frame": 115,
        "object_rotation_in_cam": [
            [
                0.9324645022748856,
                -0.00406522653705594,
                0.36123873813650187
            ],
            [
                0.0003595390789350942,
                0.9999466322100854,
                0.010324895319513618
            ],
            [
                -0.36126143266186117,
                -0.009497718931965288,
                0.9324162003130303
            ]
        ],
        "object_translation_in_cam": [
            -0.0231590293127505,
            0.0006785713149308988,
            1.1594838864614352
        ],
        "raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "refined_raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6261903047561646,
            1.131948709487915,
            0.48349496722221375,
            0.5551212430000305,
            0.9695433974266052,
            0.48871830105781555,
            0.18108750879764557
        ],
        "mean_reprojection_error": 0.7765864133834839,
        "std_reprojection_error": 0.4563485383987427,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.6641741394996643,
            0.24765360355377197,
            0.38270512223243713,
            0.9959551095962524,
            0.3720865249633789,
            0.9676174521446228,
            0.29313895106315613
        ],
        "kf_translation_vector": [
            -0.02316103687700063,
            0.0004742491403503071,
            1.161996154304912
        ],
        "kf_rotation_matrix": [
            [
                0.9333179556143889,
                0.00033460522723222146,
                0.3590508066654627
            ],
            [
                0.0006136125054443128,
                0.9999966190225185,
                -0.0025269394977450858
            ],
            [
                -0.35905043824993543,
                0.0025787560710564903,
                0.9333145947694461
            ]
        ],
        "kf_euler_angles": [
            0.0027630013751834166,
            0.36725028994537595,
            0.000657452707668372
        ]
    },
    {
        "frame": 118,
        "object_rotation_in_cam": [
            [
                0.9324645022748856,
                -0.00406522653705594,
                0.36123873813650187
            ],
            [
                0.0003595390789350942,
                0.9999466322100854,
                0.010324895319513618
            ],
            [
                -0.36126143266186117,
                -0.009497718931965288,
                0.9324162003130303
            ]
        ],
        "object_translation_in_cam": [
            -0.0231590293127505,
            0.0006785713149308988,
            1.1594838864614352
        ],
        "raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "refined_raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6261903047561646,
            1.131948709487915,
            0.48349496722221375,
            0.5551212430000305,
            0.9695433974266052,
            0.48871830105781555,
            0.18108750879764557
        ],
        "mean_reprojection_error": 0.7765864133834839,
        "std_reprojection_error": 0.4563485383987427,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5391448736190796,
            0.17375347018241882,
            0.3330751657485962,
            0.9973952174186707,
            0.3755793273448944,
            0.9905907511711121,
            0.534608781337738
        ],
        "kf_translation_vector": [
            -0.02319162347634575,
            0.0005887907401742932,
            1.1616702790552655
        ],
        "kf_rotation_matrix": [
            [
                0.9318884801714796,
                -0.0014714674212301323,
                0.362741912807602
            ],
            [
                0.0006967793897944478,
                0.9999971888088137,
                0.0022664670639248445
            ],
            [
                -0.36274422810317963,
                -0.0018593434589006875,
                0.9318868857429695
            ]
        ],
        "kf_euler_angles": [
            -0.0019952432210392575,
            0.3712110141185641,
            0.0007477066996448241
        ]
    },
    {
        "frame": 119,
        "object_rotation_in_cam": [
            [
                0.9324645022748856,
                -0.00406522653705594,
                0.36123873813650187
            ],
            [
                0.0003595390789350942,
                0.9999466322100854,
                0.010324895319513618
            ],
            [
                -0.36126143266186117,
                -0.009497718931965288,
                0.9324162003130303
            ]
        ],
        "object_translation_in_cam": [
            -0.0231590293127505,
            0.0006785713149308988,
            1.1594838864614352
        ],
        "raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "refined_raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.6261903047561646,
            1.131948709487915,
            0.48349496722221375,
            0.5551212430000305,
            0.9695433974266052,
            0.48871830105781555,
            0.18108750879764557
        ],
        "mean_reprojection_error": 0.7765864133834839,
        "std_reprojection_error": 0.4563485383987427,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4395177960395813,
            0.1523226499557495,
            0.2501523494720459,
            0.9903913736343384,
            0.26874297857284546,
            0.9849147796630859,
            0.47431617975234985
        ],
        "kf_translation_vector": [
            -0.023209258257356508,
            0.0006594018189326633,
            1.1614085552585391
        ],
        "kf_rotation_matrix": [
            [
                0.9311511247023178,
                -0.0026190753230062717,
                0.3646240850657853
            ],
            [
                0.0007203327454154622,
                0.9999854649872112,
                0.0053433075006768405
            ],
            [
                -0.364632779774864,
                -0.004712776120645534,
                0.9311394770145299
            ]
        ],
        "kf_euler_angles": [
            -0.005061256659809532,
            0.3732384004106971,
            0.0007735936547915897
        ]
    },
    {
        "frame": 121,
        "object_rotation_in_cam": [
            [
                0.9492342454188955,
                0.019058484850700292,
                0.31399223155870576
            ],
            [
                -0.003995505456193933,
                0.9988129372177134,
                -0.04854639412637816
            ],
            [
                -0.31454472378370896,
                0.04482734212196555,
                0.9481835930546945
            ]
        ],
        "object_translation_in_cam": [
            -0.023453489803320387,
            -0.00012514317790842788,
            1.1750546175120942
        ],
        "raw_rvec": [
            0.0475114504522671,
            0.3198190798721484,
            -0.011730584661192459
        ],
        "refined_raw_rvec": [
            0.0475114504522671,
            0.3198190798721484,
            -0.011730584661192459
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.973322868347168,
            0.632012665271759,
            0.26491397619247437,
            1.094498872756958,
            1.1265801191329956,
            1.9608608484268188,
            2.212209701538086
        ],
        "mean_reprojection_error": 1.3234854936599731,
        "std_reprojection_error": 0.6874675750732422,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                343
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3925487995147705,
            0.15755431354045868,
            0.1194649487733841,
            0.3261885344982147,
            0.985987663269043,
            0.32620811462402344,
            0.8880579471588135,
            0.29559892416000366
        ],
        "kf_translation_vector": [
            -0.023352366455795734,
            0.0003371049347591015,
            1.1682608500979725
        ],
        "kf_rotation_matrix": [
            [
                0.9388441146646642,
                0.007877800626675492,
                0.3442523327688704
            ],
            [
                -0.0012436834725171354,
                0.9998093239332576,
                -0.01948766347057165
            ],
            [
                -0.3443402120155921,
                0.017867737221271645,
                0.9386748970520351
            ]
        ],
        "kf_euler_angles": [
            0.019032765996776727,
            0.3515359287839816,
            -0.0013246956822875937
        ]
    },
    {
        "frame": 125,
        "object_rotation_in_cam": [
            [
                0.9367909921576251,
                -0.016682809472961812,
                0.3494915176086844
            ],
            [
                -0.002251484194644336,
                0.9985545494844474,
                0.053700489037190824
            ],
            [
                -0.349882219941588,
                -0.05109300903255788,
                0.9353993460531952
            ]
        ],
        "object_translation_in_cam": [
            -0.023527723720466073,
            0.0004001783049035252,
            1.1630192426147796
        ],
        "raw_rvec": [
            -0.05355551864710669,
            0.35742029737131886,
            0.007375239153969078
        ],
        "refined_raw_rvec": [
            -0.05355551864710669,
            0.35742029737131886,
            0.007375239153969078
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.325864791870117,
            1.0199182033538818,
            0.6248352527618408,
            0.6625331044197083,
            1.1069436073303223,
            0.6799405217170715,
            0.32082682847976685
        ],
        "mean_reprojection_error": 0.9629803895950317,
        "std_reprojection_error": 0.6069248914718628,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.338525652885437,
            0.22180114686489105,
            0.2635473906993866,
            0.9954475164413452,
            0.3543708920478821,
            0.9882442951202393,
            0.28235024213790894
        ],
        "kf_translation_vector": [
            -0.023473990785286645,
            0.00037147148304367473,
            1.1670482209177317
        ],
        "kf_rotation_matrix": [
            [
                0.9378115852790175,
                -0.002341833056770269,
                0.34713678332091247
            ],
            [
                -0.0017316797130926677,
                0.9999332453357372,
                0.011423929171330921
            ],
            [
                -0.34714036325646025,
                -0.011314622851626134,
                0.9377449266767046
            ]
        ],
        "kf_euler_angles": [
            -0.012065193322202088,
            0.3545201155458628,
            -0.0018465092265494004
        ]
    },
    {
        "frame": 126,
        "object_rotation_in_cam": [
            [
                0.9370864190996213,
                -0.01710946067582755,
                0.34867794523661977
            ],
            [
                -0.00398584692767598,
                0.9982087799040229,
                0.05969375802201676
            ],
            [
                -0.34907471429955794,
                -0.057327986864220734,
                0.9353396953827939
            ]
        ],
        "object_translation_in_cam": [
            -0.023538485639983446,
            0.000421163914103188,
            1.1628667581807404
        ],
        "raw_rvec": [
            -0.059805988216835464,
            0.35659857383816823,
            0.006707049958512099
        ],
        "refined_raw_rvec": [
            -0.059805988216835464,
            0.35659857383816823,
            0.006707049958512099
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.275559186935425,
            1.0471206903457642,
            0.573390781879425,
            0.7846117615699768,
            1.1012182235717773,
            0.9004572033882141,
            0.23695653676986694
        ],
        "mean_reprojection_error": 0.9884735345840454,
        "std_reprojection_error": 0.5927078723907471,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.49708130955696106,
            0.2149190455675125,
            0.3468019366264343,
            0.9922956228256226,
            0.35259106755256653,
            0.8878315687179565,
            0.33985573053359985
        ],
        "kf_translation_vector": [
            -0.023552721666323415,
            0.000402388563527295,
            1.1661375347947123
        ],
        "kf_rotation_matrix": [
            [
                0.9373846166355214,
                -0.009068163083641403,
                0.34817789837002167
            ],
            [
                -0.002834474684327893,
                0.9994292919906299,
                0.03366089815159899
            ],
            [
                -0.34828443296871675,
                -0.03254010954801627,
                0.9368239402482531
            ]
        ],
        "kf_euler_angles": [
            -0.03472053950248783,
            0.35574032490757135,
            -0.0030238026047419344
        ]
    },
    {
        "frame": 127,
        "object_rotation_in_cam": [
            [
                0.9370864190996213,
                -0.01710946067582755,
                0.34867794523661977
            ],
            [
                -0.00398584692767598,
                0.9982087799040229,
                0.05969375802201676
            ],
            [
                -0.34907471429955794,
                -0.057327986864220734,
                0.9353396953827939
            ]
        ],
        "object_translation_in_cam": [
            -0.023538485639983446,
            0.000421163914103188,
            1.1628667581807404
        ],
        "raw_rvec": [
            -0.059805988216835464,
            0.35659857383816823,
            0.006707049958512099
        ],
        "refined_raw_rvec": [
            -0.059805988216835464,
            0.35659857383816823,
            0.006707049958512099
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.275559186935425,
            1.0471206903457642,
            0.573390781879425,
            0.7846117615699768,
            1.1012182235717773,
            0.9004572033882141,
            0.23695653676986694
        ],
        "mean_reprojection_error": 0.9884735345840454,
        "std_reprojection_error": 0.5927078723907471,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4588559567928314,
            0.16219575703144073,
            0.3043295741081238,
            0.9736025929450989,
            0.3406795263290405,
            0.9515689015388489,
            0.2961035370826721
        ],
        "kf_translation_vector": [
            -0.023599190593853354,
            0.0004214651331158338,
            1.165495901794808
        ],
        "kf_rotation_matrix": [
            [
                0.9372027471175487,
                -0.013285137201673883,
                0.3485319439088082
            ],
            [
                -0.0035337293863773734,
                0.9988613599558387,
                0.04757621615677593
            ],
            [
                -0.34876714803998354,
                -0.0458201780518705,
                0.9360886644604511
            ]
        ],
        "kf_euler_angles": [
            -0.04890950811477965,
            0.3562553313041154,
            -0.0037704889911733546
        ]
    },
    {
        "frame": 128,
        "object_rotation_in_cam": [
            [
                0.932899761592788,
                -0.004956022940354113,
                0.3601020308978193
            ],
            [
                -0.0014370590718083913,
                0.999846116849707,
                0.017483634684644197
            ],
            [
                -0.36013326655745576,
                -0.01682796651935831,
                0.93274908194084
            ]
        ],
        "object_translation_in_cam": [
            -0.023183315130486423,
            0.0007136896658597364,
            1.1594889213929511
        ],
        "raw_rvec": [
            -0.017551044129283155,
            0.3684142110986745,
            0.001800017719341945
        ],
        "refined_raw_rvec": [
            -0.017551044129283155,
            0.3684142110986745,
            0.001800017719341945
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.667304277420044,
            1.067307472229004,
            0.4753776490688324,
            0.9087900519371033,
            0.9746036529541016,
            0.580725371837616,
            0.36423027515411377
        ],
        "mean_reprojection_error": 0.8626197576522827,
        "std_reprojection_error": 0.41090479493141174,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2982776463031769,
            0.15651890635490417,
            0.25204378366470337,
            0.96208256483078,
            0.313605397939682,
            0.8651207089424133,
            0.40408003330230713
        ],
        "kf_translation_vector": [
            -0.02346479871700597,
            0.0005650529063389027,
            1.1635063923375932
        ],
        "kf_rotation_matrix": [
            [
                0.935297027402623,
                -0.010494181010116527,
                0.3537079907165573
            ],
            [
                -0.002820015828974615,
                0.999307379748797,
                0.037105367405778175
            ],
            [
                -0.35385239584117784,
                -0.035702001967962,
                0.9346196279839935
            ]
        ],
        "kf_euler_angles": [
            -0.038180935444573155,
            0.3616867932795375,
            -0.003015092746970004
        ]
    },
    {
        "frame": 129,
        "object_rotation_in_cam": [
            [
                0.9300607628293432,
                0.008553870147677594,
                0.3673061512564103
            ],
            [
                0.001973114150636962,
                0.999598237343148,
                -0.02827491328050618
            ],
            [
                -0.3674004412978418,
                0.02702212437926113,
                0.929670221384004
            ]
        ],
        "object_translation_in_cam": [
            -0.02285017797950309,
            0.0004916965365834136,
            1.156623050560822
        ],
        "raw_rvec": [
            0.02831554664134401,
            0.3762157914710326,
            -0.0033697592358565487
        ],
        "refined_raw_rvec": [
            0.02831554664134401,
            0.3762157914710326,
            -0.0033697592358565487
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.5532747507095337,
            0.7839958071708679,
            0.4394304156303406,
            0.9682600498199463,
            1.0245978832244873,
            0.43813157081604004,
            0.6018908023834229
        ],
        "mean_reprojection_error": 0.829940140247345,
        "std_reprojection_error": 0.3665215075016022,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5766500234603882,
            0.28440967202186584,
            0.38686880469322205,
            0.9880272746086121,
            0.41233837604522705,
            0.9241732954978943,
            0.3280215263366699
        ],
        "kf_translation_vector": [
            -0.023226988561976393,
            0.0005544404463405771,
            1.1609107693453469
        ],
        "kf_rotation_matrix": [
            [
                0.9329039892706167,
                -0.0027183327523122975,
                0.3601149225872438
            ],
            [
                -0.0008268537439864585,
                0.9999527072188835,
                0.009690182584031476
            ],
            [
                -0.3601242328917272,
                -0.009337772361410273,
                0.9328576219828358
            ]
        ],
        "kf_euler_angles": [
            -0.010009523733374562,
            0.36840105789056804,
            -0.0008863222121244864
        ]
    },
    {
        "frame": 132,
        "object_rotation_in_cam": [
            [
                0.9988713807135545,
                0.028013969369679214,
                -0.03835599446699292
            ],
            [
                -0.025957386015205166,
                0.9982515051652237,
                0.053105051987764204
            ],
            [
                0.039776612508545126,
                -0.05204949524750631,
                0.9978520286805178
            ]
        ],
        "object_translation_in_cam": [
            -0.024148398668920098,
            0.0005223184554320993,
            1.150289104475892
        ],
        "raw_rvec": [
            -0.05262135213584286,
            -0.03909905499143413,
            -0.027008301320554998
        ],
        "refined_raw_rvec": [
            -0.05262135213584286,
            -0.03909905499143413,
            -0.027008301320554998
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.143657207489014,
            3.224722385406494,
            0.6228711009025574,
            1.985540509223938,
            1.7614593505859375,
            0.930598258972168,
            2.4207212924957275
        ],
        "mean_reprojection_error": 2.4413673877716064,
        "std_reprojection_error": 1.7146605253219604,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                343
            ],
            [
                554,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                795,
                308
            ],
            [
                845,
                350
            ],
            [
                828,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5206950902938843,
            0.17938408255577087,
            0.34671396017074585,
            0.9909252524375916,
            0.43388524651527405,
            0.8275957107543945,
            0.11205378919839859,
            0.2718009054660797
        ],
        "kf_translation_vector": [
            -0.023660387296523748,
            0.0005603073361822867,
            1.1563864070020922
        ],
        "kf_rotation_matrix": [
            [
                0.982874704206677,
                0.006918312852450581,
                0.18414519482710634
            ],
            [
                -0.012005860986584543,
                0.9995759905305311,
                0.026527315297223898
            ],
            [
                -0.18388359125438064,
                -0.02828384878659796,
                0.9825410163271601
            ]
        ],
        "kf_euler_angles": [
            -0.028778483185332927,
            0.1849359654336345,
            -0.012214439813774939
        ]
    },
    {
        "frame": 136,
        "object_rotation_in_cam": [
            [
                0.9996296607318828,
                0.02381717966812671,
                -0.013163712915331409
            ],
            [
                -0.023019282309539795,
                0.9980650683849617,
                0.057760123889025544
            ],
            [
                0.014513925279358422,
                -0.05743571382317837,
                0.9982437000806001
            ]
        ],
        "object_translation_in_cam": [
            -0.023915420707620937,
            0.0006175970564033214,
            1.1452310231375475
        ],
        "raw_rvec": [
            -0.05763694022647282,
            -0.013848194604241994,
            -0.02343409634443974
        ],
        "refined_raw_rvec": [
            -0.05763694022647282,
            -0.013848194604241994,
            -0.02343409634443974
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.1651482582092285,
            3.362891435623169,
            2.0901691913604736,
            2.1638195514678955,
            2.1133787631988525,
            1.2200957536697388,
            3.647796869277954
        ],
        "mean_reprojection_error": 2.9661858081817627,
        "std_reprojection_error": 1.5138709545135498,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                344
            ],
            [
                554,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.37753552198410034,
            0.24617992341518402,
            0.27233242988586426,
            0.9928675889968872,
            0.304728239774704,
            0.9368785619735718,
            0.17117470502853394,
            0.36078813672065735
        ],
        "kf_translation_vector": [
            -0.023826464967518526,
            0.0006057246824541945,
            1.1512437886848
        ],
        "kf_rotation_matrix": [
            [
                0.9965654519076542,
                0.014512418218676998,
                0.08152723337351221
            ],
            [
                -0.017943911029390722,
                0.9989766801282609,
                0.041516365651239506
            ],
            [
                -0.08084130207426289,
                -0.04283669311891759,
                0.9958060562185659
            ]
        ],
        "kf_euler_angles": [
            -0.042990599885874545,
            0.08092961595397229,
            -0.018003807166790693
        ]
    },
    {
        "frame": 137,
        "object_rotation_in_cam": [
            [
                0.9146396481472052,
                -0.048463348547045385,
                0.40135472824518226
            ],
            [
                -6.386139502937219e-05,
                0.9927712209215287,
                0.1200220764347104
            ],
            [
                -0.4042700953061934,
                -0.10980258083298787,
                0.9080248252572924
            ]
        ],
        "object_translation_in_cam": [
            -0.024436805274294073,
            0.0007202533851996609,
            1.1518236946369809
        ],
        "raw_rvec": [
            -0.11858297468147189,
            0.41567945402255674,
            0.024972756308121343
        ],
        "refined_raw_rvec": [
            -0.11858297468147189,
            0.41567945402255674,
            0.024972756308121343
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            1.9751561880111694,
            5.956007480621338,
            3.296401262283325,
            0.43388476967811584,
            0.3800797164440155,
            1.7108650207519531,
            1.4487714767456055,
            0.29887324571609497
        ],
        "mean_reprojection_error": 1.9375048875808716,
        "std_reprojection_error": 1.7908854484558105,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                622,
                350
            ],
            [
                640,
                342
            ],
            [
                624,
                362
            ],
            [
                554,
                345
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                844,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4069501459598541,
            0.10240387171506882,
            0.2011938840150833,
            0.27525803446769714,
            0.9936452507972717,
            0.2453640252351761,
            0.9399088025093079,
            0.16020192205905914,
            0.3312869966030121
        ],
        "kf_translation_vector": [
            -0.024162065132777546,
            0.000679280379067889,
            1.1509802998292977
        ],
        "kf_rotation_matrix": [
            [
                0.9779438269590119,
                -0.005464493393021857,
                0.20879657713841926
            ],
            [
                -0.011015612794365972,
                0.9969171204661587,
                0.07768469087424529
            ],
            [
                -0.20857738992404437,
                -0.07827128613623306,
                0.9748687492062986
            ]
        ],
        "kf_euler_angles": [
            -0.08011719134465749,
            0.21012013074499206,
            -0.011263578380601016
        ]
    },
    {
        "frame": 139,
        "object_rotation_in_cam": [
            [
                0.8931941825885372,
                -0.11297738485949042,
                0.4352473580624073
            ],
            [
                -0.01324478513196932,
                0.9608938495954963,
                0.27660004605269994
            ],
            [
                -0.4494760592699046,
                -0.25282230977478704,
                0.8567684353565664
            ]
        ],
        "object_translation_in_cam": [
            -0.025995974617881674,
            0.001929658802288376,
            1.142055646619336
        ],
        "raw_rvec": [
            -0.2782543132686756,
            0.46499378844276795,
            0.052417556119832225
        ],
        "refined_raw_rvec": [
            -0.2782543132686756,
            0.46499378844276795,
            0.052417556119832225
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.2286853790283203,
            4.254868984222412,
            0.6005242466926575,
            0.5340493321418762,
            1.6865335702896118,
            2.4249885082244873,
            1.541369080543518
        ],
        "mean_reprojection_error": 1.895859956741333,
        "std_reprojection_error": 1.1745866537094116,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                622,
                350
            ],
            [
                640,
                342
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3672572374343872,
            0.21483159065246582,
            0.314186692237854,
            0.9867032766342163,
            0.33152148127555847,
            0.9416238069534302,
            0.1529369056224823,
            0.3571575880050659
        ],
        "kf_translation_vector": [
            -0.025069835294993726,
            0.0012678448361347519,
            1.1464495435527666
        ],
        "kf_rotation_matrix": [
            [
                0.9507209360321653,
                -0.041527141812709084,
                0.30725428928330767
            ],
            [
                -0.0129201023642304,
                0.9848226170282927,
                0.17308230396098448
            ],
            [
                -0.30977858664701335,
                -0.16852272690178013,
                0.935754945363671
            ]
        ],
        "kf_euler_angles": [
            -0.17818282304805305,
            0.3149601551546624,
            -0.013588958221446864
        ]
    },
    {
        "frame": 141,
        "object_rotation_in_cam": [
            [
                0.999629030285511,
                0.023018537308782176,
                -0.0145584597610178
            ],
            [
                -0.022162843755120034,
                0.9981603982870145,
                0.05643250524471349
            ],
            [
                0.015830671720906485,
                -0.056088913625356326,
                0.9983002672548937
            ]
        ],
        "object_translation_in_cam": [
            -0.023904851264665777,
            0.0001654308694805602,
            1.1458225592706124
        ],
        "raw_rvec": [
            -0.05629740421533204,
            -0.015204476054166043,
            -0.02260542480093126
        ],
        "refined_raw_rvec": [
            -0.05629740421533204,
            -0.015204476054166043,
            -0.02260542480093126
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.020299911499023,
            3.0299370288848877,
            2.1136393547058105,
            2.1798713207244873,
            2.2394485473632812,
            1.1988085508346558,
            3.5873026847839355
        ],
        "mean_reprojection_error": 2.9099009037017822,
        "std_reprojection_error": 1.4487522840499878,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                635,
                344
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.45337042212486267,
            0.1862407922744751,
            0.32196855545043945,
            0.9927110075950623,
            0.38362380862236023,
            0.8345499634742737,
            0.12504886090755463,
            0.3305698037147522
        ],
        "kf_translation_vector": [
            -0.024695144596209334,
            0.000843302693950878,
            1.1453223784368787
        ],
        "kf_rotation_matrix": [
            [
                0.9862878217617652,
                -0.004058420858428045,
                0.16498442915793157
            ],
            [
                -0.018059471029263526,
                0.9910399657512406,
                0.13233911662816467
            ],
            [
                -0.16404325085347418,
                -0.13350399059172596,
                0.9773773561657282
            ]
        ],
        "kf_euler_angles": [
            -0.13575397370170855,
            0.16478804485143417,
            -0.018308502582331458
        ]
    },
    {
        "frame": 143,
        "object_rotation_in_cam": [
            [
                0.9300607628293432,
                0.008553870147677594,
                0.3673061512564103
            ],
            [
                0.001973114150636962,
                0.999598237343148,
                -0.02827491328050618
            ],
            [
                -0.3674004412978418,
                0.02702212437926113,
                0.929670221384004
            ]
        ],
        "object_translation_in_cam": [
            -0.02285017797950309,
            0.0004916965365834136,
            1.156623050560822
        ],
        "raw_rvec": [
            0.02831554664134401,
            0.3762157914710326,
            -0.0033697592358565487
        ],
        "refined_raw_rvec": [
            0.02831554664134401,
            0.3762157914710326,
            -0.0033697592358565487
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.5532747507095337,
            0.7839958071708679,
            0.4394304156303406,
            0.9682600498199463,
            1.0245978832244873,
            0.43813157081604004,
            0.6018908023834229
        ],
        "mean_reprojection_error": 0.829940140247345,
        "std_reprojection_error": 0.3665215075016022,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                344
            ],
            [
                624,
                363
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4694843590259552,
            0.2175276130437851,
            0.22155649960041046,
            0.3265291452407837,
            0.9916954636573792,
            0.4276125729084015,
            0.9085954427719116,
            0.40972718596458435
        ],
        "kf_translation_vector": [
            -0.0239764452248908,
            0.0007185416420778066,
            1.1495120467104496
        ],
        "kf_rotation_matrix": [
            [
                0.9697340633596643,
                -0.006779087487229594,
                0.24406943752300284
            ],
            [
                -0.010006900125604512,
                0.9976711278716497,
                0.06746986409639977
            ],
            [
                -0.24395841512403435,
                -0.06787020394953124,
                0.9674078390761666
            ]
        ],
        "kf_euler_angles": [
            -0.07004200003762592,
            0.2464455110618647,
            -0.010318854753125165
        ]
    },
    {
        "frame": 144,
        "object_rotation_in_cam": [
            [
                0.932899761592788,
                -0.004956022940354113,
                0.3601020308978193
            ],
            [
                -0.0014370590718083913,
                0.999846116849707,
                0.017483634684644197
            ],
            [
                -0.36013326655745576,
                -0.01682796651935831,
                0.93274908194084
            ]
        ],
        "object_translation_in_cam": [
            -0.023183315130486423,
            0.0007136896658597364,
            1.1594889213929511
        ],
        "raw_rvec": [
            -0.017551044129283155,
            0.3684142110986745,
            0.001800017719341945
        ],
        "refined_raw_rvec": [
            -0.017551044129283155,
            0.3684142110986745,
            0.001800017719341945
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.667304277420044,
            1.067307472229004,
            0.4753776490688324,
            0.9087900519371033,
            0.9746036529541016,
            0.580725371837616,
            0.36423027515411377
        ],
        "mean_reprojection_error": 0.8626197576522827,
        "std_reprojection_error": 0.41090479493141174,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.378357470035553,
            0.16992639005184174,
            0.21505288779735565,
            0.9833603501319885,
            0.23194636404514313,
            0.9799802899360657,
            0.40073075890541077
        ],
        "kf_translation_vector": [
            -0.023666953644922096,
            0.0007375926013888945,
            1.1534828776722972
        ],
        "kf_rotation_matrix": [
            [
                0.9567807658058698,
                -0.0074736090673929315,
                0.2907141402674476
            ],
            [
                -0.006574125763756377,
                0.9988583948205736,
                0.047314775355162604
            ],
            [
                -0.2907358716333018,
                -0.04718105831766568,
                0.9556393674821321
            ]
        ],
        "kf_euler_angles": [
            -0.0493311400137528,
            0.29499584189076133,
            -0.006870980837747356
        ]
    },
    {
        "frame": 146,
        "object_rotation_in_cam": [
            [
                0.9324645022748856,
                -0.00406522653705594,
                0.36123873813650187
            ],
            [
                0.0003595390789350942,
                0.9999466322100854,
                0.010324895319513618
            ],
            [
                -0.36126143266186117,
                -0.009497718931965288,
                0.9324162003130303
            ]
        ],
        "object_translation_in_cam": [
            -0.0231590293127505,
            0.0006785713149308988,
            1.1594838864614352
        ],
        "raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "refined_raw_rvec": [
            -0.010140813560387449,
            0.3696151999158063,
            0.0022636127904688626
        ],
        "num_inliers": 7,
        "total_matches": 9,
        "inlier_ratio": 0.7777777777777778,
        "reprojection_errors": [
            1.6261903047561646,
            1.131948709487915,
            0.48349496722221375,
            0.5551212430000305,
            0.9695433974266052,
            0.48871830105781555,
            0.18108750879764557
        ],
        "mean_reprojection_error": 0.7765864133834839,
        "std_reprojection_error": 0.4563485383987427,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                665,
                165
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                728,
                310
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.23000000417232513,
                -0.0,
                0.07000000029802322
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.6293314695358276,
            0.11243569850921631,
            0.3407164216041565,
            0.9978327751159668,
            0.2512684464454651,
            0.1647583693265915,
            0.9882482290267944,
            0.20848357677459717,
            0.43757277727127075
        ],
        "kf_translation_vector": [
            -0.023458148370640707,
            0.000732371290370721,
            1.1560049815549094
        ],
        "kf_rotation_matrix": [
            [
                0.9472113129583082,
                -0.006636985128871733,
                0.3205412282877153
            ],
            [
                -0.0036113783713524516,
                0.99950141055415,
                0.03136699294677763
            ],
            [
                -0.3205895920800565,
                -0.03086876623163624,
                0.9467150747301321
            ]
        ],
        "kf_euler_angles": [
            -0.03259463645992411,
            0.3263518676800385,
            -0.0038126243040734796
        ]
    },
    {
        "frame": 147,
        "object_rotation_in_cam": [
            [
                0.8971408246977828,
                -0.10685885792757369,
                0.4286251569180194
            ],
            [
                -0.013247522153338673,
                0.96335606856351,
                0.2678984664358022
            ],
            [
                -0.441545970219839,
                -0.2460208723752366,
                0.8628504427410052
            ]
        ],
        "object_translation_in_cam": [
            -0.025756182580737568,
            0.0018448785407251507,
            1.1445677467081066
        ],
        "raw_rvec": [
            -0.2695047402650072,
            0.45632694840391125,
            0.04909077520231601
        ],
        "refined_raw_rvec": [
            -0.2695047402650072,
            0.45632694840391125,
            0.04909077520231601
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.462522506713867,
            4.475777626037598,
            0.6923869848251343,
            0.5384398698806763,
            1.5416394472122192,
            2.295105218887329,
            1.4141827821731567
        ],
        "mean_reprojection_error": 1.917150616645813,
        "std_reprojection_error": 1.241066813468933,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                640,
                342
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4940491020679474,
            0.1679997444152832,
            0.4313015639781952,
            0.9935738444328308,
            0.36486175656318665,
            0.9369681477546692,
            0.15410898625850677,
            0.48147621750831604
        ],
        "kf_translation_vector": [
            -0.02448972178088004,
            0.0012505662458834022,
            1.150910051082333
        ],
        "kf_rotation_matrix": [
            [
                0.9266010674969967,
                -0.04460423023776478,
                0.37339111446085954
            ],
            [
                -0.00803781123100674,
                0.9903643860922322,
                0.13825258171466734
            ],
            [
                -0.37595991183108995,
                -0.13110623709439814,
                0.9173141769813147
            ]
        ],
        "kf_euler_angles": [
            -0.1419626014075651,
            0.3854324675161477,
            -0.008674293517033983
        ]
    },
    {
        "frame": 148,
        "object_rotation_in_cam": [
            [
                0.8998111666757094,
                0.05652515387870983,
                0.43260232466398846
            ],
            [
                0.018654535708064794,
                0.9856797095106409,
                -0.1675933129827532
            ],
            [
                -0.43588057151382104,
                0.1588723299948947,
                0.8858711588819099
            ]
        ],
        "object_translation_in_cam": [
            -0.020036204053809306,
            -0.0010920543491208193,
            1.1390532457055538
        ],
        "raw_rvec": [
            0.1697521422176678,
            0.4515845243650383,
            -0.019691562343099236
        ],
        "refined_raw_rvec": [
            0.1697521422176678,
            0.4515845243650383,
            -0.019691562343099236
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            2.0928735733032227,
            1.9968786239624023,
            2.464392900466919,
            0.34233835339546204,
            0.8108047842979431,
            1.0671043395996094,
            3.557325839996338,
            1.483115553855896
        ],
        "mean_reprojection_error": 1.7268543243408203,
        "std_reprojection_error": 0.9586567878723145,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                293
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                532,
                362
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5255900621414185,
            0.14240369200706482,
            0.35433658957481384,
            0.9969569444656372,
            0.39745545387268066,
            0.9899685382843018,
            0.1132061779499054,
            0.18452870845794678,
            0.37035295367240906
        ],
        "kf_translation_vector": [
            -0.022574003753890702,
            0.0002586340395727959,
            1.1452302540188863
        ],
        "kf_rotation_matrix": [
            [
                0.9132263252599269,
                -0.0069008158945289225,
                0.40739422871739356
            ],
            [
                0.00380951742368906,
                0.9999574740317625,
                0.008398672812755217
            ],
            [
                -0.4074348615782022,
                -0.006117913697243624,
                0.9132137782046131
            ]
        ],
        "kf_euler_angles": [
            -0.006699222372514213,
            0.41964344593999864,
            0.004171469023205103
        ]
    },
    {
        "frame": 149,
        "object_rotation_in_cam": [
            [
                0.8861387468413908,
                -0.05580596256836155,
                0.4600476235002069
            ],
            [
                0.0027540378524369344,
                0.9933394282355754,
                0.11519199446197369
            ],
            [
                -0.46341184341995056,
                -0.10080910104965059,
                0.8803902478581215
            ]
        ],
        "object_translation_in_cam": [
            -0.02254037297838895,
            0.0011660055135532502,
            1.1446962753148375
        ],
        "raw_rvec": [
            -0.11254181132231687,
            0.4811447869917989,
            0.030511180986291013
        ],
        "refined_raw_rvec": [
            -0.11254181132231687,
            0.4811447869917989,
            0.030511180986291013
        ],
        "num_inliers": 9,
        "total_matches": 10,
        "inlier_ratio": 0.9,
        "reprojection_errors": [
            2.0345938205718994,
            6.378058433532715,
            2.9546806812286377,
            3.085221767425537,
            0.5317756533622742,
            0.9469072818756104,
            2.0741255283355713,
            4.452456474304199,
            1.2311688661575317
        ],
        "mean_reprojection_error": 2.6321096420288086,
        "std_reprojection_error": 1.749205231666565,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            9
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                496,
                378
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                622,
                350
            ],
            [
                640,
                342
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                532,
                362
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                -0.09000000357627869,
                -0.0,
                -0.014999999664723873
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4658154547214508,
            0.2046908736228943,
            0.12497285008430481,
            0.2984054386615753,
            0.9917325973510742,
            0.37593701481819153,
            0.9607976675033569,
            0.10777446627616882,
            0.16614755988121033,
            0.4512156546115875
        ],
        "kf_translation_vector": [
            -0.022485879006056177,
            0.0006428149231735448,
            1.1442080366013945
        ],
        "kf_rotation_matrix": [
            [
                0.8984391765749369,
                -0.027058525550968396,
                0.438263484892772
            ],
            [
                0.003927611107509796,
                0.9985547897926254,
                0.05359949303112788
            ],
            [
                -0.4390804252825871,
                -0.0464345558524398,
                0.8972470184717523
            ]
        ],
        "kf_euler_angles": [
            -0.05170612576990458,
            0.4545749021547506,
            0.004371565922578573
        ]
    },
    {
        "frame": 150,
        "object_rotation_in_cam": [
            [
                0.8932971417326717,
                -0.11308352351745257,
                0.43500842897709097
            ],
            [
                -0.01491897573698625,
                0.9598393083969868,
                0.2801533976573428
            ],
            [
                -0.4492189229487091,
                -0.2567501095712946,
                0.8557346203700829
            ]
        ],
        "object_translation_in_cam": [
            -0.02599704244885233,
            0.001915633153121432,
            1.141865758313947
        ],
        "raw_rvec": [
            -0.282286455262954,
            0.46489807099619024,
            0.051611736284744254
        ],
        "refined_raw_rvec": [
            -0.282286455262954,
            0.46489807099619024,
            0.051611736284744254
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.304290771484375,
            4.164318084716797,
            0.5917128920555115,
            0.18268786370754242,
            1.6863667964935303,
            2.5670299530029297,
            1.4129890203475952
        ],
        "mean_reprojection_error": 1.844199299812317,
        "std_reprojection_error": 1.233885645866394,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                622,
                350
            ],
            [
                640,
                342
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.340868204832077,
            0.180653378367424,
            0.22241760790348053,
            0.9873548746109009,
            0.2869306206703186,
            0.9572041034698486,
            0.3411944806575775
        ],
        "kf_translation_vector": [
            -0.023982964167545674,
            0.0012214157737791699,
            1.1423453349330717
        ],
        "kf_rotation_matrix": [
            [
                0.8920757788662889,
                -0.06747681098393842,
                0.4468195214396324
            ],
            [
                -0.003943800817802183,
                0.9875883038798242,
                0.15701524917943913
            ],
            [
                -0.4518686216094383,
                -0.14183166789969617,
                0.8807374902804902
            ]
        ],
        "kf_euler_angles": [
            -0.1596665951948918,
            0.46885889936879505,
            -0.0044208969890415966
        ]
    },
    {
        "frame": 153,
        "object_rotation_in_cam": [
            [
                0.9996810947585498,
                0.024526554634723325,
                -0.006013060792748539
            ],
            [
                -0.02413517969119244,
                0.9980101657437856,
                0.058251198900411506
            ],
            [
                0.007429797010767507,
                -0.058087495985034356,
                0.9982838478742243
            ]
        ],
        "object_translation_in_cam": [
            -0.024886756793579885,
            0.001008398629435245,
            1.1409048403087814
        ],
        "raw_rvec": [
            -0.05820839976735017,
            -0.006725941371554745,
            -0.024347201830006462
        ],
        "refined_raw_rvec": [
            -0.05820839976735017,
            -0.006725941371554745,
            -0.024347201830006462
        ],
        "num_inliers": 8,
        "total_matches": 9,
        "inlier_ratio": 0.8888888888888888,
        "reprojection_errors": [
            5.119095802307129,
            4.2757954597473145,
            4.428284168243408,
            1.912147879600525,
            3.3742406368255615,
            2.1376709938049316,
            1.7981654405593872,
            3.3444104194641113
        ],
        "mean_reprojection_error": 3.2987265586853027,
        "std_reprojection_error": 1.1765644550323486,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                344
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5398532152175903,
            0.20226310193538666,
            0.25464433431625366,
            0.3792158365249634,
            0.9897505640983582,
            0.3247869312763214,
            0.984076201915741,
            0.11154678463935852,
            0.31706976890563965
        ],
        "kf_translation_vector": [
            -0.024431733440171736,
            0.0011783247166301247,
            1.1407944546534834
        ],
        "kf_rotation_matrix": [
            [
                0.9649526422944006,
                -0.018928196816696555,
                0.26174056142356517
            ],
            [
                -0.012860052491095654,
                0.9927862780343987,
                0.11920581024653164
            ],
            [
                -0.26210878882437527,
                -0.11839395893319152,
                0.9577483246182918
            ]
        ],
        "kf_euler_angles": [
            -0.12299302432891414,
            0.26520674316031795,
            -0.013326344361348965
        ]
    },
    {
        "frame": 154,
        "object_rotation_in_cam": [
            [
                0.9293032763244106,
                -0.008737267337345807,
                0.3692141394532337
            ],
            [
                -0.0007962249351714176,
                0.9996703909399728,
                0.025660777536439895
            ],
            [
                -0.36931664820119986,
                -0.024140622141895954,
                0.9289900127149018
            ]
        ],
        "object_translation_in_cam": [
            -0.02334173449638024,
            0.0008339225583859415,
            1.15716790746967
        ],
        "raw_rvec": [
            -0.025507438572502227,
            0.3782630372172431,
            0.004067268241121598
        ],
        "refined_raw_rvec": [
            -0.025507438572502227,
            0.3782630372172431,
            0.004067268241121598
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.333034038543701,
            1.4091519117355347,
            0.39264434576034546,
            0.8711689710617065,
            1.1133627891540527,
            0.654526948928833,
            0.39352336525917053
        ],
        "mean_reprojection_error": 1.0239161252975464,
        "std_reprojection_error": 0.635371208190918,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                622,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4116922616958618,
            0.18366673588752747,
            0.3450712561607361,
            0.9901606440544128,
            0.24588529765605927,
            0.9780994653701782,
            0.2914797365665436
        ],
        "kf_translation_vector": [
            -0.02401915156238086,
            0.0010695859727525299,
            1.1471577219751177
        ],
        "kf_rotation_matrix": [
            [
                0.9525784287600196,
                -0.017333283295015253,
                0.30379910195934884
            ],
            [
                -0.008100480429568659,
                0.996578037025282,
                0.08225933585706634
            ],
            [
                -0.30418533705276174,
                -0.08081938758150924,
                0.9491783327241764
            ]
        ],
        "kf_euler_angles": [
            -0.0849418045561984,
            0.30908312453193915,
            -0.00850353622876491
        ]
    },
    {
        "frame": 155,
        "object_rotation_in_cam": [
            [
                0.932899761592788,
                -0.004956022940354113,
                0.3601020308978193
            ],
            [
                -0.0014370590718083913,
                0.999846116849707,
                0.017483634684644197
            ],
            [
                -0.36013326655745576,
                -0.01682796651935831,
                0.93274908194084
            ]
        ],
        "object_translation_in_cam": [
            -0.023183315130486423,
            0.0007136896658597364,
            1.1594889213929511
        ],
        "raw_rvec": [
            -0.017551044129283155,
            0.3684142110986745,
            0.001800017719341945
        ],
        "refined_raw_rvec": [
            -0.017551044129283155,
            0.3684142110986745,
            0.001800017719341945
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.667304277420044,
            1.067307472229004,
            0.4753776490688324,
            0.9087900519371033,
            0.9746036529541016,
            0.580725371837616,
            0.36423027515411377
        ],
        "mean_reprojection_error": 0.8626197576522827,
        "std_reprojection_error": 0.41090479493141174,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                554,
                346
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.46809908747673035,
            0.1908622533082962,
            0.28081244230270386,
            0.9885404109954834,
            0.2508971691131592,
            0.9052703380584717,
            0.32366254925727844
        ],
        "kf_translation_vector": [
            -0.02368354269855532,
            0.0009442339061123303,
            1.1522618661555184
        ],
        "kf_rotation_matrix": [
            [
                0.9451828180833177,
                -0.012900417738608581,
                0.32628671383040936
            ],
            [
                -0.005416906358080028,
                0.9984623985255545,
                0.055167887906867746
            ],
            [
                -0.326496703697887,
                -0.05391120433422282,
                0.9436596232337421
            ]
        ],
        "kf_euler_angles": [
            -0.05706789322411474,
            0.33259477701313395,
            -0.00573100457316543
        ]
    },
    {
        "frame": 156,
        "object_rotation_in_cam": [
            [
                0.9358820955039536,
                -0.010023137621131942,
                0.3521707540772749
            ],
            [
                0.0004659843741396429,
                0.9996295726567952,
                0.027212135685314883
            ],
            [
                -0.3523130513814265,
                -0.025303244499881427,
                0.9355400898112745
            ]
        ],
        "object_translation_in_cam": [
            -0.02338312733703955,
            -0.00017119689475658673,
            1.162216830219888
        ],
        "raw_rvec": [
            -0.026836971386439933,
            0.3600128507616709,
            0.0053602633335849475
        ],
        "refined_raw_rvec": [
            -0.026836971386439933,
            0.3600128507616709,
            0.0053602633335849475
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.159418821334839,
            0.9842768311500549,
            0.45024004578590393,
            0.7907481789588928,
            1.3833380937576294,
            0.7833921909332275,
            0.26175457239151
        ],
        "mean_reprojection_error": 0.9733098745346069,
        "std_reprojection_error": 0.5885100364685059,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                347
            ],
            [
                624,
                362
            ],
            [
                554,
                345
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3821737468242645,
            0.2339695543050766,
            0.21626748144626617,
            0.9822065234184265,
            0.30042019486427307,
            0.9775699377059937,
            0.1625189334154129,
            0.3887457549571991
        ],
        "kf_translation_vector": [
            -0.023558955375310685,
            0.0004669288349580594,
            1.1567218705925473
        ],
        "kf_rotation_matrix": [
            [
                0.9414959846377693,
                -0.01156372057914635,
                0.3368257580371856
            ],
            [
                -0.0028766825102465162,
                0.9990990577620874,
                0.042341439236810025
            ],
            [
                -0.33701192205720637,
                -0.04083323579238683,
                0.9406144859856407
            ]
        ],
        "kf_euler_angles": [
            -0.0433839950452549,
            0.34374134681425256,
            -0.003055428387678595
        ]
    },
    {
        "frame": 157,
        "object_rotation_in_cam": [
            [
                0.9250368394101124,
                -0.002515046382008467,
                0.37986908307448025
            ],
            [
                0.0033903095269527043,
                0.999992916062085,
                -0.0016351229187464454
            ],
            [
                -0.37986227969549896,
                0.002800422708146448,
                0.9250388132922824
            ]
        ],
        "object_translation_in_cam": [
            -0.02265942685037017,
            0.0002715707557705789,
            1.157104435197627
        ],
        "raw_rvec": [
            0.0022749088306024783,
            0.3896520814873843,
            0.003028747179083114
        ],
        "refined_raw_rvec": [
            0.0022749088306024783,
            0.3896520814873843,
            0.003028747179083114
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.7838983535766602,
            1.0361926555633545,
            0.5786743760108948,
            0.9211590886116028,
            0.720770001411438,
            0.5883846879005432,
            0.48721566796302795
        ],
        "mean_reprojection_error": 0.8737563490867615,
        "std_reprojection_error": 0.4137493968009949,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.45999667048454285,
            0.19549302756786346,
            0.26471951603889465,
            0.9833391904830933,
            0.26514557003974915,
            0.9647579193115234,
            0.1629149168729782,
            0.42489540576934814
        ],
        "kf_translation_vector": [
            -0.02315567175562076,
            0.0003630754190384433,
            1.157242004210239
        ],
        "kf_rotation_matrix": [
            [
                0.934484785147797,
                -0.007629132430580334,
                0.35592131527295806
            ],
            [
                4.6552557850552255e-05,
                0.9997729621243757,
                0.02130779289159249
            ],
            [
                -0.3560030676274224,
                -0.019895239214654074,
                0.9342729768630026
            ]
        ],
        "kf_euler_angles": [
            -0.021291670862812993,
            0.36398723917335,
            4.981628224656469e-05
        ]
    },
    {
        "frame": 159,
        "object_rotation_in_cam": [
            [
                0.9250368394101124,
                -0.002515046382008467,
                0.37986908307448025
            ],
            [
                0.0033903095269527043,
                0.999992916062085,
                -0.0016351229187464454
            ],
            [
                -0.37986227969549896,
                0.002800422708146448,
                0.9250388132922824
            ]
        ],
        "object_translation_in_cam": [
            -0.02265942685037017,
            0.0002715707557705789,
            1.157104435197627
        ],
        "raw_rvec": [
            0.0022749088306024783,
            0.3896520814873843,
            0.003028747179083114
        ],
        "refined_raw_rvec": [
            0.0022749088306024783,
            0.3896520814873843,
            0.003028747179083114
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7838983535766602,
            1.0361926555633545,
            0.5786743760108948,
            0.9211590886116028,
            0.720770001411438,
            0.5883846879005432,
            0.48721566796302795
        ],
        "mean_reprojection_error": 0.8737563490867615,
        "std_reprojection_error": 0.4137493968009949,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.272471159696579,
            0.10722219198942184,
            0.23335878551006317,
            0.9736177921295166,
            0.24423688650131226,
            0.9580285549163818,
            0.4084637463092804
        ],
        "kf_translation_vector": [
            -0.022901553806127826,
            0.00029847547335609047,
            1.157549050543028
        ],
        "kf_rotation_matrix": [
            [
                0.9298959761596443,
                -0.004729194169219103,
                0.36779220797158324
            ],
            [
                0.00185522950270342,
                0.9999649263062956,
                0.008167268866465119
            ],
            [
                -0.3678179327406357,
                -0.006912371500046538,
                0.929872135013546
            ]
        ],
        "kf_euler_angles": [
            -0.007433542655006143,
            0.376661361828594,
            0.0019950909443157494
        ]
    },
    {
        "frame": 160,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3858793377876282,
            0.1733931303024292,
            0.2629375159740448,
            0.9862642884254456,
            0.25595003366470337,
            0.9291402101516724,
            0.4033468961715698
        ],
        "kf_translation_vector": [
            -0.022627105254949292,
            0.0003096847173443549,
            1.1577252853467792
        ],
        "kf_rotation_matrix": [
            [
                0.9255495623848211,
                -0.004517571197831094,
                0.3785995234013623
            ],
            [
                0.002898027285563493,
                0.9999840518467751,
                0.004847420959469334
            ],
            [
                -0.37861538400746253,
                -0.003389336598613369,
                0.9255478936231787
            ]
        ],
        "kf_euler_angles": [
            -0.003661962251390329,
            0.3882998518734189,
            0.0031311319594265344
        ]
    },
    {
        "frame": 161,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4037240445613861,
            0.21817874908447266,
            0.3309834897518158,
            0.9838785529136658,
            0.2860243618488312,
            0.9665499329566956,
            0.3660646975040436
        ],
        "kf_translation_vector": [
            -0.022457238583517714,
            0.00031824150586860295,
            1.1578136707866846
        ],
        "kf_rotation_matrix": [
            [
                0.9228294884229201,
                -0.0043929065940935185,
                0.3851836414864307
            ],
            [
                0.0035201367542433705,
                0.9999893908928208,
                0.0029709828401936946
            ],
            [
                -0.38519260628200414,
                -0.001385811480999535,
                0.922835161657929
            ]
        ],
        "kf_euler_angles": [
            -0.0015016879469683224,
            0.39541652469841015,
            0.003814485476865209
        ]
    },
    {
        "frame": 162,
        "object_rotation_in_cam": [
            [
                0.9250368394101124,
                -0.002515046382008467,
                0.37986908307448025
            ],
            [
                0.0033903095269527043,
                0.999992916062085,
                -0.0016351229187464454
            ],
            [
                -0.37986227969549896,
                0.002800422708146448,
                0.9250388132922824
            ]
        ],
        "object_translation_in_cam": [
            -0.02265942685037017,
            0.0002715707557705789,
            1.157104435197627
        ],
        "raw_rvec": [
            0.0022749088306024783,
            0.3896520814873843,
            0.003028747179083114
        ],
        "refined_raw_rvec": [
            0.0022749088306024783,
            0.3896520814873843,
            0.003028747179083114
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.7838983535766602,
            1.0361926555633545,
            0.5786743760108948,
            0.9211590886116028,
            0.720770001411438,
            0.5883846879005432,
            0.48721566796302795
        ],
        "mean_reprojection_error": 0.8737563490867615,
        "std_reprojection_error": 0.4137493968009949,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                574,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.47557327151298523,
            0.1646198034286499,
            0.28558602929115295,
            0.9837384223937988,
            0.30111268162727356,
            0.9274092316627502,
            0.352000892162323
        ],
        "kf_translation_vector": [
            -0.022470567797023434,
            0.0002744050091117514,
            1.1578419247176412
        ],
        "kf_rotation_matrix": [
            [
                0.9226700139101074,
                -0.0025652747858163575,
                0.3855819819395032
            ],
            [
                0.003943335414866242,
                0.9999883518791451,
                -0.0027832017240618954
            ],
            [
                -0.3855703509567716,
                0.004088455858171183,
                0.922669382277188
            ]
        ],
        "kf_euler_angles": [
            0.004431087861319879,
            0.3958258898269941,
            0.00427380466094426
        ]
    },
    {
        "frame": 164,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4817069470882416,
            0.15362338721752167,
            0.2946353554725647,
            0.9880842566490173,
            0.22971844673156738,
            0.9577746391296387,
            0.40151894092559814
        ],
        "kf_translation_vector": [
            -0.022367511624833546,
            0.0002987287122675886,
            1.1578428389976838
        ],
        "kf_rotation_matrix": [
            [
                0.9211946321918288,
                -0.0032383528307617544,
                0.3890886308952047
            ],
            [
                0.00410953691931881,
                0.9999905662974129,
                -0.0014067773414684509
            ],
            [
                -0.3890804047073947,
                0.002894889829200881,
                0.9211992500461595
            ]
        ],
        "kf_euler_angles": [
            0.0031425126536576468,
            0.3996331280944948,
            0.004461065570976493
        ]
    },
    {
        "frame": 165,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2974778711795807,
            0.11752031743526459,
            0.22667072713375092,
            0.9800255298614502,
            0.2845225930213928,
            0.9651687145233154,
            0.1010013297200203,
            0.31768396496772766
        ],
        "kf_translation_vector": [
            -0.02230710369927497,
            0.00031549647021361844,
            1.1578224298641067
        ],
        "kf_rotation_matrix": [
            [
                0.9203591120369469,
                -0.0037256128351253787,
                0.3910565492349737
            ],
            [
                0.0041798650666142875,
                0.9999912161411634,
                -0.00031043283001579906
            ],
            [
                -0.3910519576969121,
                0.001920273292998454,
                0.9203666002913691
            ]
        ],
        "kf_euler_angles": [
            0.002086419157301482,
            0.4017742898907194,
            0.004541527621856613
        ]
    },
    {
        "frame": 166,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.28653839230537415,
            0.17232541739940643,
            0.23493421077728271,
            0.9791340827941895,
            0.27240508794784546,
            0.9273757934570312,
            0.10391464829444885,
            0.3503567576408386
        ],
        "kf_translation_vector": [
            -0.02227383854578715,
            0.00032733131126480764,
            1.157789566079806
        ],
        "kf_rotation_matrix": [
            [
                0.9199322788892969,
                -0.004088003894904565,
                0.39205597876030446
            ],
            [
                0.004191040892468134,
                0.9999910417170214,
                0.0005930109139454205
            ],
            [
                -0.39205489084282924,
                0.0010975927576490191,
                0.9199411708671135
            ]
        ],
        "kf_euler_angles": [
            0.0011931113331967544,
            0.40286425061769454,
            0.004555783065083479
        ]
    },
    {
        "frame": 167,
        "object_rotation_in_cam": [
            [
                0.9217600521507834,
                -0.006504976294569625,
                0.3877061922930714
            ],
            [
                0.0032448095374813524,
                0.9999536665325254,
                0.009062891328075081
            ],
            [
                -0.3877471824140705,
                -0.007095778432710233,
                0.9217384512205095
            ]
        ],
        "object_translation_in_cam": [
            -0.022399692386913812,
            0.00038473948818808874,
            1.1571155456981752
        ],
        "raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "refined_raw_rvec": [
            -0.008296964732167131,
            0.39817072795183184,
            0.005006205980583038
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.912829041481018,
            0.9628649353981018,
            0.7773752212524414,
            0.9213619828224182,
            1.2655671834945679,
            0.6316020488739014,
            0.4835287928581238
        ],
        "mean_reprojection_error": 0.9935898780822754,
        "std_reprojection_error": 0.44127726554870605,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3904433250427246,
            0.17252422869205475,
            0.3496131896972656,
            0.9936017990112305,
            0.3151717782020569,
            0.9364332556724548,
            0.4227285087108612
        ],
        "kf_translation_vector": [
            -0.022257733204016777,
            0.00033592703123114915,
            1.1577499068583137
        ],
        "kf_rotation_matrix": [
            [
                0.9197621764261193,
                -0.004366157544616726,
                0.39245187664754955
            ],
            [
                0.004166434240171612,
                0.9999903946917561,
                0.0013606432111182907
            ],
            [
                -0.3924540478089253,
                0.0003836567752863734,
                0.9197715331351958
            ]
        ],
        "kf_euler_angles": [
            0.00041712179515680906,
            0.40329818445914595,
            0.004529872883293764
        ]
    },
    {
        "frame": 168,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.32610997557640076,
            0.11644473671913147,
            0.2773562967777252,
            0.9867300391197205,
            0.29180654883384705,
            0.9206279516220093,
            0.4406742751598358
        ],
        "kf_translation_vector": [
            -0.022191675728052376,
            0.00015297207877947624,
            1.1570645020965347
        ],
        "kf_rotation_matrix": [
            [
                0.9196254213585834,
                -0.0027481435355715196,
                0.3927868787245264
            ],
            [
                0.006022600329820633,
                0.999956627007974,
                -0.0071043921698281855
            ],
            [
                -0.3927503184929519,
                0.008898978028030415,
                0.9196020854226797
            ]
        ],
        "kf_euler_angles": [
            0.009676685607608905,
            0.40362031991933944,
            0.006548877500571316
        ]
    },
    {
        "frame": 169,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.45764392614364624,
            0.1740194410085678,
            0.3653254508972168,
            0.9900236129760742,
            0.3957115709781647,
            0.9483289122581482,
            0.17680644989013672,
            0.4821639060974121
        ],
        "kf_translation_vector": [
            -0.02215472599895773,
            3.879089978359809e-05,
            1.1566163333338557
        ],
        "kf_rotation_matrix": [
            [
                0.9196273718241411,
                -0.001772542672651915,
                0.3927879263474076
            ],
            [
                0.007162447195361954,
                0.9998992270478543,
                -0.012257042843897718
            ],
            [
                -0.39272661781702106,
                0.01408523487830858,
                0.9195473940023028
            ]
        ],
        "kf_euler_angles": [
            0.01531637578237963,
            0.4035945485164104,
            0.007788265765567547
        ]
    },
    {
        "frame": 170,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.48050642013549805,
            0.1631167083978653,
            0.24147222936153412,
            0.9925496578216553,
            0.31527602672576904,
            0.9403859972953796,
            0.1590626835823059,
            0.44874507188796997
        ],
        "kf_translation_vector": [
            -0.022136194120804774,
            -3.125998471471849e-05,
            1.1563216451950373
        ],
        "kf_rotation_matrix": [
            [
                0.9197127619352026,
                -0.0012109992029434764,
                0.3925900775802314
            ],
            [
                0.007844325600675882,
                0.9998522912232087,
                -0.015292556737522672
            ],
            [
                -0.39251356930607156,
                0.017144363990251703,
                0.9195864117601877
            ]
        ],
        "kf_euler_angles": [
            0.01864139990103924,
            0.40336289869703096,
            0.008528896977630264
        ]
    },
    {
        "frame": 171,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.451476514339447,
            0.16545787453651428,
            0.26673662662506104,
            0.9954803586006165,
            0.2926366329193115,
            0.9509618282318115,
            0.11945441365242004,
            0.4912116825580597
        ],
        "kf_translation_vector": [
            -0.022129202747873108,
            -7.306367799726524e-05,
            1.1561263951723628
        ],
        "kf_rotation_matrix": [
            [
                0.9198455257064624,
                -0.0009134978430662661,
                0.39227971443791554
            ],
            [
                0.00823440230207448,
                0.9998219154779783,
                -0.016980340063556622
            ],
            [
                -0.39219434398844844,
                0.01884947881606144,
                0.919689237564425
            ]
        ],
        "kf_euler_angles": [
            0.020492617914750644,
            0.4030158446067071,
            0.008951701260467395
        ]
    },
    {
        "frame": 172,
        "object_rotation_in_cam": [
            [
                0.9186361540331456,
                0.0038059127140874093,
                0.39508623303223767
            ],
            [
                0.007296475342106928,
                0.9996196645563303,
                -0.026594880707979912
            ],
            [
                -0.3950371855291257,
                0.027313755887874602,
                0.9182589943956578
            ]
        ],
        "object_translation_in_cam": [
            -0.022118207262478595,
            -1.895507365864133e-06,
            1.1542651447599432
        ],
        "raw_rvec": [
            0.02771364390698492,
            0.40619092685907554,
            0.0017944473430700945
        ],
        "refined_raw_rvec": [
            0.02771364390698492,
            0.40619092685907554,
            0.0017944473430700945
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.4364380836486816,
            1.0437126159667969,
            0.5865285992622375,
            0.9970671534538269,
            1.2596189975738525,
            0.6032497882843018,
            0.6465796828269958
        ],
        "mean_reprojection_error": 1.0818849802017212,
        "std_reprojection_error": 0.6022593975067139,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                351
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.22195519506931305,
            0.21988828480243683,
            0.2131805270910263,
            0.9921108484268188,
            0.27873682975769043,
            0.935792863368988,
            0.45233678817749023
        ],
        "kf_translation_vector": [
            -0.022064179991231597,
            -8.031307917286254e-05,
            1.1553639236915398
        ],
        "kf_rotation_matrix": [
            [
                0.9187247261807803,
                0.0020532074190627754,
                0.3948932284090785
            ],
            [
                0.008344066970219615,
                0.9996622994475836,
                -0.024610233838106548
            ],
            [
                -0.3948104026624005,
                0.025905045888090995,
                0.9183973402330219
            ]
        ],
        "kf_euler_angles": [
            0.02819931832543102,
            0.40586148029007946,
            0.009081977787813946
        ]
    },
    {
        "frame": 173,
        "object_rotation_in_cam": [
            [
                0.9309111923188886,
                -0.014375566581338779,
                0.3649625941119044
            ],
            [
                0.002515530576858961,
                0.9994537939645343,
                0.03295126455563012
            ],
            [
                -0.36523694243784005,
                -0.029756626410998507,
                0.9304388851844565
            ]
        ],
        "object_translation_in_cam": [
            -0.022636717951733398,
            -0.0006330033530522714,
            1.1645089416433037
        ],
        "raw_rvec": [
            -0.032102210104624475,
            0.37381290582861365,
            0.008647102326542205
        ],
        "refined_raw_rvec": [
            -0.032102210104624475,
            0.37381290582861365,
            0.008647102326542205
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.3310086727142334,
            0.9839465022087097,
            0.6775369644165039,
            0.7704166173934937,
            1.1424856185913086,
            0.8485498428344727,
            0.2033998817205429
        ],
        "mean_reprojection_error": 0.9939063191413879,
        "std_reprojection_error": 0.6101620197296143,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                346
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.245476633310318,
            0.24283558130264282,
            0.21599940955638885,
            0.9903358221054077,
            0.26605069637298584,
            0.9506068825721741,
            0.11212805658578873,
            0.38479098677635193
        ],
        "kf_translation_vector": [
            -0.022259382270988337,
            -0.00036439415072206654,
            1.1594569266385861
        ],
        "kf_rotation_matrix": [
            [
                0.9237139049043037,
                -0.00477704223323786,
                0.3830532622938289
            ],
            [
                0.006260185356388383,
                0.9999769582740923,
                -0.0026254523796817226
            ],
            [
                -0.38303189418865197,
                0.004823151293104727,
                0.9237225261115252
            ]
        ],
        "kf_euler_angles": [
            0.005221381232763963,
            0.39307628353499857,
            0.006777087019799032
        ]
    },
    {
        "frame": 174,
        "object_rotation_in_cam": [
            [
                0.9205540706381387,
                -0.0008497504558724039,
                0.3906142354749959
            ],
            [
                0.00647661086489671,
                0.9998933714723306,
                -0.013088131929371817
            ],
            [
                -0.390561463208107,
                0.014578189526092902,
                0.9204614168159814
            ]
        ],
        "object_translation_in_cam": [
            -0.02226481464955981,
            -0.00010034708569198222,
            1.1560793409994112
        ],
        "raw_rvec": [
            0.014212032642523364,
            0.40128553219847524,
            0.003763510317383546
        ],
        "refined_raw_rvec": [
            0.014212032642523364,
            0.40128553219847524,
            0.003763510317383546
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.9810175895690918,
            0.8833602070808411,
            0.5114875435829163,
            0.9323779940605164,
            1.2155659198760986,
            0.6150042414665222,
            0.5618796348571777
        ],
        "mean_reprojection_error": 0.9572418928146362,
        "std_reprojection_error": 0.4770534038543701,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2765730321407318,
            0.3384408950805664,
            0.3171974718570709,
            0.990875780582428,
            0.23751306533813477,
            0.9570319652557373,
            0.4167836308479309
        ],
        "kf_translation_vector": [
            -0.022220414391411585,
            -0.0003025576017996436,
            1.1582623766535944
        ],
        "kf_rotation_matrix": [
            [
                0.9221687933191403,
                -0.0026333896395168144,
                0.3867787247087503
            ],
            [
                0.006659088874905031,
                0.9999367055866656,
                -0.009068701993246504
            ],
            [
                -0.3867303623504067,
                0.010938467876841006,
                0.9221279611620236
            ]
        ],
        "kf_euler_angles": [
            0.011861645371965372,
            0.3970834423246117,
            0.007220991625115482
        ]
    },
    {
        "frame": 175,
        "object_rotation_in_cam": [
            [
                0.9222502319060775,
                0.007565521585268344,
                0.3865194337058996
            ],
            [
                0.00656201712734497,
                0.9993581060235123,
                -0.03521811829610874
            ],
            [
                -0.3865377726437701,
                0.03501626490991175,
                0.9216085999551827
            ]
        ],
        "object_translation_in_cam": [
            -0.021961059978397167,
            -0.0001362470938304406,
            1.1567796789177551
        ],
        "raw_rvec": [
            0.036064597134148293,
            0.3969565252231205,
            -0.0005152886997123371
        ],
        "refined_raw_rvec": [
            0.036064597134148293,
            0.3969565252231205,
            -0.0005152886997123371
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.021610736846924,
            0.7926962375640869,
            0.6736898422241211,
            1.0214931964874268,
            1.1289756298065186,
            0.479288250207901,
            0.5745590925216675
        ],
        "mean_reprojection_error": 0.9560447335243225,
        "std_reprojection_error": 0.4853356182575226,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                351
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.24168644845485687,
            0.30083292722702026,
            0.2969142198562622,
            0.9975243210792542,
            0.25993257761001587,
            0.9787235260009766,
            0.5126219987869263
        ],
        "kf_translation_vector": [
            -0.022063354410381507,
            -0.0002759091084104654,
            1.1578015920871674
        ],
        "kf_rotation_matrix": [
            [
                0.921984983739884,
                0.002480542046799087,
                0.3872176864107836
            ],
            [
                0.006921477638093157,
                0.9997141526950422,
                -0.02288462471921501
            ],
            [
                -0.3871637675525323,
                0.023779398907205204,
                0.9217042678007631
            ]
        ],
        "kf_euler_angles": [
            0.025793658469635748,
            0.3975534610874187,
            0.007507006881197226
        ]
    },
    {
        "frame": 176,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.42885053157806396,
            0.2330142855644226,
            0.2714143991470337,
            0.9964830875396729,
            0.2679428458213806,
            0.9859181642532349,
            0.3985205292701721
        ],
        "kf_translation_vector": [
            -0.022103159149171634,
            -0.00021232543877875007,
            1.1570041941661084
        ],
        "kf_rotation_matrix": [
            [
                0.9215689358251117,
                0.0011679256488950271,
                0.3882129988445129
            ],
            [
                0.007482090153331906,
                0.9997562980573097,
                -0.020769275906519707
            ],
            [
                -0.38814264755255706,
                0.022044964151079482,
                0.9213356091601308
            ]
        ],
        "kf_euler_angles": [
            0.02392261667623713,
            0.3986153773968503,
            0.008118682686376152
        ]
    },
    {
        "frame": 177,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 9,
        "inlier_ratio": 0.7777777777777778,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            8
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                342
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                350
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4415160119533539,
            0.13005559146404266,
            0.14789512753486633,
            0.27973484992980957,
            0.9974343776702881,
            0.4038534462451935,
            0.9902219176292419,
            0.10489378124475479,
            0.38194793462753296
        ],
        "kf_translation_vector": [
            -0.022132053515621853,
            -0.00016930496672313064,
            1.1564902710911242
        ],
        "kf_rotation_matrix": [
            [
                0.9213470943213435,
                0.00027828448105172364,
                0.38874085756884996
            ],
            [
                0.007808252496727278,
                0.9997847518373506,
                -0.01922189341544093
            ],
            [
                -0.38866253096814546,
                0.02074542241736294,
                0.9211466031366345
            ]
        ],
        "kf_euler_angles": [
            0.022517497205390185,
            0.3991795544861164,
            0.008474618975368374
        ]
    },
    {
        "frame": 178,
        "object_rotation_in_cam": [
            [
                0.9214829085117391,
                -0.0024946552572569654,
                0.3884108984257436
            ],
            [
                0.007507078575626495,
                0.999906974342488,
                -0.011387995104953802
            ],
            [
                -0.3883463571246746,
                0.013409673985542015,
                0.9214159145313241
            ]
        ],
        "object_translation_in_cam": [
            -0.022263950494655613,
            -3.889683609737001e-05,
            1.1556784019369553
        ],
        "raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "refined_raw_rvec": [
            0.012734241009428042,
            0.3988848331632906,
            0.005136147622395016
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            2.0106732845306396,
            0.8666393756866455,
            0.4739398658275604,
            0.2900887727737427,
            1.2188739776611328,
            0.4206843078136444,
            0.3848503828048706
        ],
        "mean_reprojection_error": 0.8093928694725037,
        "std_reprojection_error": 0.5766358971595764,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5220543742179871,
            0.28753596544265747,
            0.258545458316803,
            0.9925773739814758,
            0.2522687315940857,
            0.9715206623077393,
            0.33588171005249023
        ],
        "kf_translation_vector": [
            -0.02215367820486512,
            -0.00013968812480912444,
            1.1561593169638331
        ],
        "kf_rotation_matrix": [
            [
                0.9212466955803803,
                -0.00033455075629637657,
                0.3889786805957641
            ],
            [
                0.00798590838779391,
                0.9998051255226652,
                -0.01805370449047344
            ],
            [
                -0.38889683869819747,
                0.019738263712876052,
                0.9210698398037735
            ]
        ],
        "kf_euler_angles": [
            0.02142643500758123,
            0.3994338689440079,
            0.00866837124405486
        ]
    },
    {
        "frame": 179,
        "object_rotation_in_cam": [
            [
                0.9205540706381387,
                -0.0008497504558724039,
                0.3906142354749959
            ],
            [
                0.00647661086489671,
                0.9998933714723306,
                -0.013088131929371817
            ],
            [
                -0.390561463208107,
                0.014578189526092902,
                0.9204614168159814
            ]
        ],
        "object_translation_in_cam": [
            -0.02226481464955981,
            -0.00010034708569198222,
            1.1560793409994112
        ],
        "raw_rvec": [
            0.014212032642523364,
            0.40128553219847524,
            0.003763510317383546
        ],
        "refined_raw_rvec": [
            0.014212032642523364,
            0.40128553219847524,
            0.003763510317383546
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            1.9810175895690918,
            0.8833602070808411,
            0.5114875435829163,
            0.9323779940605164,
            1.2155659198760986,
            0.6150042414665222,
            0.5618796348571777
        ],
        "mean_reprojection_error": 0.9572418928146362,
        "std_reprojection_error": 0.4770534038543701,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.41392794251441956,
            0.28543713688850403,
            0.2662757933139801,
            0.9088179469108582,
            0.24305886030197144,
            0.9687248468399048,
            0.33468136191368103
        ],
        "kf_translation_vector": [
            -0.022170780367251692,
            -0.00014631783480371325,
            1.156125711766647
        ],
        "kf_rotation_matrix": [
            [
                0.9208059732743884,
                -2.4852543172809464e-05,
                0.3900209724675807
            ],
            [
                0.007609220228904647,
                0.9998108089870689,
                -0.017901005562004885
            ],
            [
                -0.38994673911922156,
                0.019451108322509524,
                0.9206319541680659
            ]
        ],
        "kf_euler_angles": [
            0.02112485313477985,
            0.4005737523786865,
            0.008263464020477432
        ]
    },
    {
        "frame": 180,
        "object_rotation_in_cam": [
            [
                0.9128897395893389,
                0.0002591121426620338,
                0.40820614426219326
            ],
            [
                0.012300270748322498,
                0.9995282513116073,
                -0.02814210669936512
            ],
            [
                -0.40802086551060956,
                0.03071168655183258,
                0.9124558979025316
            ]
        ],
        "object_translation_in_cam": [
            -0.021712194116910315,
            -0.0004483608182664487,
            1.1521803174395597
        ],
        "raw_rvec": [
            0.030317057581543683,
            0.4204589014216122,
            0.006202701281091674
        ],
        "refined_raw_rvec": [
            0.030317057581543683,
            0.4204589014216122,
            0.006202701281091674
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.1360719203948975,
            0.8293828964233398,
            0.6387538909912109,
            0.4066690504550934,
            0.8185254335403442,
            0.629338264465332,
            0.5783904194831848
        ],
        "mean_reprojection_error": 0.8624473810195923,
        "std_reprojection_error": 0.5369148850440979,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                634,
                345
            ],
            [
                624,
                362
            ],
            [
                556,
                344
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4325317442417145,
            0.17248378694057465,
            0.18554814159870148,
            0.23697888851165771,
            0.9896564483642578,
            0.33709651231765747,
            0.9637690782546997,
            0.46121978759765625
        ],
        "kf_translation_vector": [
            -0.021937348387237036,
            -0.0003041150603320395,
            1.1543591477237771
        ],
        "kf_rotation_matrix": [
            [
                0.9171802796560187,
                0.0005869041211770003,
                0.3984720694774729
            ],
            [
                0.009958153694930059,
                0.999652836264183,
                -0.024393485277072368
            ],
            [
                -0.39834805106225335,
                0.026341269759203728,
                0.9168560234422727
            ]
        ],
        "kf_euler_angles": [
            0.02872209507331407,
            0.40971512940783805,
            0.010856930362679177
        ]
    },
    {
        "frame": 182,
        "object_rotation_in_cam": [
            [
                0.9205540706381387,
                -0.0008497504558724039,
                0.3906142354749959
            ],
            [
                0.00647661086489671,
                0.9998933714723306,
                -0.013088131929371817
            ],
            [
                -0.390561463208107,
                0.014578189526092902,
                0.9204614168159814
            ]
        ],
        "object_translation_in_cam": [
            -0.02226481464955981,
            -0.00010034708569198222,
            1.1560793409994112
        ],
        "raw_rvec": [
            0.014212032642523364,
            0.40128553219847524,
            0.003763510317383546
        ],
        "refined_raw_rvec": [
            0.014212032642523364,
            0.40128553219847524,
            0.003763510317383546
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.9810175895690918,
            0.8833602070808411,
            0.5114875435829163,
            0.9323779940605164,
            1.2155659198760986,
            0.6150042414665222,
            0.5618796348571777
        ],
        "mean_reprojection_error": 0.9572418928146362,
        "std_reprojection_error": 0.4770534038543701,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                795,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                349
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.13140352070331573,
            0.10786767303943634,
            0.2141312211751938,
            0.801501989364624,
            0.3180498778820038,
            0.8922311067581177,
            0.12534400820732117,
            0.37917107343673706
        ],
        "kf_translation_vector": [
            -0.022040019345272395,
            -0.00024601096735103647,
            1.1549879724915086
        ],
        "kf_rotation_matrix": [
            [
                0.9183219303547889,
                0.00045978486035477546,
                0.39583408244785645
            ],
            [
                0.008803327209731721,
                0.9997282647884337,
                -0.02158467079077165
            ],
            [
                -0.3957364446945626,
                0.023306333495206454,
                0.9180683423141861
            ]
        ],
        "kf_euler_angles": [
            0.02538082152231891,
            0.4068696218979635,
            0.009586025625270866
        ]
    },
    {
        "frame": 189,
        "object_rotation_in_cam": [
            [
                0.9996897502837082,
                0.02103871459613311,
                -0.01333325413541613
            ],
            [
                -0.02015903143893891,
                0.9978104864812671,
                0.06299084472731695
            ],
            [
                0.014629307199625295,
                -0.0627025163463121,
                0.9979250361699016
            ]
        ],
        "object_translation_in_cam": [
            -0.023047647911766087,
            -0.0005303848073608256,
            1.1495021670785213
        ],
        "raw_rvec": [
            -0.06289464215701601,
            -0.01399195052100507,
            -0.02061459310514934
        ],
        "refined_raw_rvec": [
            -0.06289464215701601,
            -0.01399195052100507,
            -0.02061459310514934
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            5.782984733581543,
            2.9338743686676025,
            1.553399920463562,
            2.099618434906006,
            2.5313613414764404,
            1.1632143259048462,
            3.4740982055664062
        ],
        "mean_reprojection_error": 2.7912216186523438,
        "std_reprojection_error": 1.422561526298523,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                845,
                349
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.7143262624740601,
            0.28586822748184204,
            0.9974333643913269,
            0.4268520176410675,
            0.988394558429718,
            0.1239316463470459,
            0.420625239610672
        ],
        "kf_translation_vector": [
            -0.02245810796611213,
            -0.00039914088912770617,
            1.1524504848694537
        ],
        "kf_rotation_matrix": [
            [
                0.9760952911944519,
                0.0007909996230332293,
                0.21734156718772063
            ],
            [
                -0.0033261792004648134,
                0.9999306331611829,
                0.011298911354732794
            ],
            [
                -0.217317553455639,
                -0.011751731169154428,
                0.9760302135562112
            ]
        ],
        "kf_euler_angles": [
            -0.012039753661077436,
            0.21906550173888426,
            -0.003407624599805738
        ]
    },
    {
        "frame": 191,
        "object_rotation_in_cam": [
            [
                0.9366417043486244,
                -0.0007384683958905306,
                0.35028812760259564
            ],
            [
                0.003081526407675092,
                0.9999764534129842,
                -0.006131624139533031
            ],
            [
                -0.3502753515020759,
                0.006822556999979848,
                0.9366219252430935
            ]
        ],
        "object_translation_in_cam": [
            -0.02228808527108,
            -0.0008345795198668694,
            1.1656481132009104
        ],
        "raw_rvec": [
            0.006617495924869812,
            0.35787487593076145,
            0.0019514008468288202
        ],
        "refined_raw_rvec": [
            0.006617495924869812,
            0.35787487593076145,
            0.0019514008468288202
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.00069522857666,
            0.9418262243270874,
            0.5228250622749329,
            0.5530004501342773,
            1.0499542951583862,
            0.5764294862747192,
            0.17668397724628448
        ],
        "mean_reprojection_error": 0.8316306471824646,
        "std_reprojection_error": 0.5468870997428894,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                635,
                345
            ],
            [
                625,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.560351550579071,
            0.13772942125797272,
            0.19945655763149261,
            0.27611950039863586,
            0.9896447658538818,
            0.31710007786750793,
            0.8971908688545227,
            0.426546186208725
        ],
        "kf_translation_vector": [
            -0.022384579847104596,
            -0.000629385377418057,
            1.1580738899247245
        ],
        "kf_rotation_matrix": [
            [
                0.9644960925052988,
                -4.44694849693714e-05,
                0.2640971138889535
            ],
            [
                -0.0010906935248873619,
                0.9999907870535344,
                0.004151649754908358
            ],
            [
                -0.2640948653981079,
                -0.004292298978119815,
                0.964487158151853
            ]
        ],
        "kf_euler_angles": [
            -0.00445031393632997,
            0.26726534881360803,
            -0.0011308423833281652
        ]
    },
    {
        "frame": 192,
        "object_rotation_in_cam": [
            [
                0.9377801698307171,
                -0.007857197549252399,
                0.3471406307520677
            ],
            [
                0.0004273055736883913,
                0.9997693053435418,
                0.021474484926036083
            ],
            [
                -0.34722927653384594,
                -0.01999001099459123,
                0.9375671863809111
            ]
        ],
        "object_translation_in_cam": [
            -0.022445814910016265,
            -0.0002403983694442787,
            1.1666702903491821
        ],
        "raw_rvec": [
            -0.021174841245731,
            0.35459667906580766,
            0.0042306805987424615
        ],
        "refined_raw_rvec": [
            -0.021174841245731,
            0.35459667906580766,
            0.0042306805987424615
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.1635549068450928,
            0.960033118724823,
            0.9527912735939026,
            0.22142553329467773,
            0.9678862690925598,
            0.4222324788570404,
            0.23221267759799957
        ],
        "mean_reprojection_error": 0.8457337617874146,
        "std_reprojection_error": 0.6235407590866089,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                635,
                345
            ],
            [
                625,
                362
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.6955617070198059,
            0.15949106216430664,
            0.20916441082954407,
            0.1994331181049347,
            0.9934684038162231,
            0.3357434570789337,
            0.9456636309623718,
            0.42545443773269653
        ],
        "kf_translation_vector": [
            -0.022409447773675286,
            -0.0005059750253542182,
            1.162085775768603
        ],
        "kf_rotation_matrix": [
            [
                0.9562268116399917,
                -0.002709335007949636,
                0.2926139849778725
            ],
            [
                -0.0008873444201679654,
                0.9999256935970463,
                0.01215812092167631
            ],
            [
                -0.2926251823078388,
                -0.011885570591301242,
                0.956153353751909
            ]
        ],
        "kf_euler_angles": [
            -0.01242997100299591,
            0.2969710430039895,
            -0.0009279641133922247
        ]
    },
    {
        "frame": 193,
        "object_rotation_in_cam": [
            [
                0.9327839447233145,
                -0.016102517168665252,
                0.36007613279311557
            ],
            [
                0.0008356976960037458,
                0.9990955038921603,
                0.042514417693662536
            ],
            [
                -0.36043503447330627,
                -0.03935585144934808,
                0.9319537021123546
            ]
        ],
        "object_translation_in_cam": [
            -0.02265279191445125,
            -0.0003204045609123841,
            1.1640790959542775
        ],
        "raw_rvec": [
            -0.04189019705865349,
            0.3686607494477447,
            0.008666701183837172
        ],
        "refined_raw_rvec": [
            -0.04189019705865349,
            0.3686607494477447,
            0.008666701183837172
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.7040762901306152,
            0.8316548466682434,
            0.47852635383605957,
            0.4716329872608185,
            1.081695795059204,
            0.4530828297138214,
            0.15808738768100739
        ],
        "mean_reprojection_error": 0.7398223280906677,
        "std_reprojection_error": 0.48046594858169556,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                635,
                345
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                307
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.47921836376190186,
            0.15009021759033203,
            0.2151205837726593,
            0.2249123901128769,
            0.9966146349906921,
            0.2464226633310318,
            0.9604536294937134,
            0.46292778849601746
        ],
        "kf_translation_vector": [
            -0.022518543809907324,
            -0.00046035941983498825,
            1.1634402609101089
        ],
        "kf_rotation_matrix": [
            [
                0.9484357925467417,
                -0.007913705655029291,
                0.3168705109015977
            ],
            [
                -0.0005491123841801244,
                0.999645759268501,
                0.026609292589093936
            ],
            [
                -0.316968840569264,
                -0.025411203027562997,
                0.9480954724440301
            ]
        ],
        "kf_euler_angles": [
            -0.02679595202347883,
            0.322531817371972,
            -0.0005789662591192762
        ]
    },
    {
        "frame": 194,
        "object_rotation_in_cam": [
            [
                0.9400064793638458,
                -0.01193293611105567,
                0.34094783147830277
            ],
            [
                -0.003068902284739386,
                0.9990518805243385,
                0.04342720183882072
            ],
            [
                -0.3411427862241182,
                -0.041868186688133704,
                0.9390786198986181
            ]
        ],
        "object_translation_in_cam": [
            -0.022574749248198505,
            -8.424449191392304e-05,
            1.167703937597662
        ],
        "raw_rvec": [
            -0.043535568505939065,
            0.3481454663267988,
            0.004524286231049926
        ],
        "refined_raw_rvec": [
            -0.043535568505939065,
            0.3481454663267988,
            0.004524286231049926
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.108830213546753,
            1.0592529773712158,
            0.798724889755249,
            0.5280559659004211,
            0.9878594279289246,
            0.21891656517982483,
            0.10745559632778168
        ],
        "mean_reprojection_error": 0.8298707604408264,
        "std_reprojection_error": 0.6211193203926086,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                636,
                345
            ],
            [
                625,
                362
            ],
            [
                555,
                346
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                307
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.3977016806602478,
            0.22349677979946136,
            0.2506348490715027,
            0.30027350783348083,
            0.9969613552093506,
            0.3376878798007965,
            0.965873658657074,
            0.5307949781417847
        ],
        "kf_translation_vector": [
            -0.022553048053589018,
            -0.00032317992363872745,
            1.1658817825924963
        ],
        "kf_rotation_matrix": [
            [
                0.9461060090084791,
                -0.009738014976742076,
                0.32371065904965257
            ],
            [
                -0.0020778747849571483,
                0.9993447307252635,
                0.0361357386534245
            ],
            [
                -0.32385043176507533,
                -0.034860869696026024,
                0.9454658204343566
            ]
        ],
        "kf_euler_angles": [
            -0.03685493841316846,
            0.3297964256908116,
            -0.0021962353312735355
        ]
    },
    {
        "frame": 195,
        "object_rotation_in_cam": [
            [
                0.9346623326019188,
                -0.02663052594346673,
                0.35453792336379825
            ],
            [
                -0.0033562336960262975,
                0.9964855701305542,
                0.08369733697652457
            ],
            [
                -0.35552082879982966,
                -0.07941866033596004,
                0.9312881491138624
            ]
        ],
        "object_translation_in_cam": [
            -0.022901850730582526,
            -0.00010223778511975068,
            1.1655835945541104
        ],
        "raw_rvec": [
            -0.08348091611482739,
            0.36340001043805603,
            0.011911518617137138
        ],
        "refined_raw_rvec": [
            -0.08348091611482739,
            0.36340001043805603,
            0.011911518617137138
        ],
        "num_inliers": 7,
        "total_matches": 7,
        "inlier_ratio": 1.0,
        "reprojection_errors": [
            3.1954541206359863,
            1.3078690767288208,
            1.1261694431304932,
            0.3412091135978699,
            1.045309066772461,
            0.9970569014549255,
            0.17230458557605743
        ],
        "mean_reprojection_error": 1.1693388223648071,
        "std_reprojection_error": 0.9142630100250244,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                345
            ],
            [
                624,
                362
            ],
            [
                555,
                346
            ],
            [
                796,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.2712242007255554,
            0.24851930141448975,
            0.1982036828994751,
            0.9312515258789062,
            0.27463990449905396,
            0.8675668835639954,
            0.4674643278121948
        ],
        "kf_translation_vector": [
            -0.02272109439808041,
            -0.000242356370231226,
            1.1664343584914232
        ],
        "kf_rotation_matrix": [
            [
                0.9422580834118982,
                -0.017145807420119515,
                0.33444838993908804
            ],
            [
                -0.003146590840797098,
                0.99819111821151,
                0.060038241894111846
            ],
            [
                -0.3348728164706964,
                -0.057623890979067435,
                0.9404996990841707
            ]
        ],
        "kf_euler_angles": [
            -0.061192946027729615,
            0.34147025023442273,
            -0.003339402653757716
        ]
    },
    {
        "frame": 196,
        "object_rotation_in_cam": [
            [
                0.9996446927840796,
                0.023303719506900248,
                -0.012939275318453746
            ],
            [
                -0.02253490418562259,
                0.9981379109490774,
                0.05668235015907809
            ],
            [
                0.014236090824655441,
                -0.0563706251815185,
                0.9983084124330902
            ]
        ],
        "object_translation_in_cam": [
            -0.022669196151143534,
            -0.0007355561197450804,
            1.1515031159529407
        ],
        "raw_rvec": [
            -0.05656334333996522,
            -0.013596542336997459,
            -0.02293425539965051
        ],
        "refined_raw_rvec": [
            -0.05656334333996522,
            -0.013596542336997459,
            -0.02293425539965051
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            6.097398281097412,
            3.4888134002685547,
            1.363850474357605,
            1.7036982774734497,
            2.246110200881958,
            1.2082600593566895,
            3.1791224479675293
        ],
        "mean_reprojection_error": 2.755321979522705,
        "std_reprojection_error": 1.584834098815918,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                634,
                345
            ],
            [
                556,
                345
            ],
            [
                796,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                307
            ],
            [
                845,
                349
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.39286527037620544,
            0.14769992232322693,
            0.29613733291625977,
            0.9962969422340393,
            0.37580159306526184,
            0.972278892993927,
            0.11849358677864075,
            0.5251416563987732
        ],
        "kf_translation_vector": [
            -0.02272277645090837,
            -0.00047285416172736136,
            1.1604419527696046
        ],
        "kf_rotation_matrix": [
            [
                0.9837330309975822,
                0.0010949426719460264,
                0.17963330655770676
            ],
            [
                -0.012297983978979288,
                0.9980458058555978,
                0.06126441874451372
            ],
            [
                -0.17921518717553675,
                -0.06247695986998333,
                0.9818240912561892
            ]
        ],
        "kf_euler_angles": [
            -0.06354787671210424,
            0.18018866506784476,
            -0.012500691746562473
        ]
    },
    {
        "frame": 198,
        "object_rotation_in_cam": [
            [
                0.9314493844942494,
                -0.017292689542366346,
                0.3634597735839213
            ],
            [
                -0.0005899959175413496,
                0.9987969963159984,
                0.04903276511636769
            ],
            [
                -0.36387043852187456,
                -0.045885978670296805,
                0.9303186448370084
            ]
        ],
        "object_translation_in_cam": [
            -0.02263230981322412,
            3.2934067180802e-05,
            1.1631414559088442
        ],
        "raw_rvec": [
            -0.04859399335218317,
            0.37235932632387636,
            0.00855100426521163
        ],
        "refined_raw_rvec": [
            -0.04859399335218317,
            0.37235932632387636,
            0.00855100426521163
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.8508317470550537,
            0.6965261697769165,
            0.539278507232666,
            0.5378273725509644,
            1.3870048522949219,
            0.6710051894187927,
            0.21130813658237457
        ],
        "mean_reprojection_error": 0.8419688940048218,
        "std_reprojection_error": 0.5274069905281067,
        "inliers": [
            0,
            1,
            2,
            3,
            4,
            5,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                834,
                225
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                624,
                362
            ],
            [
                555,
                345
            ],
            [
                796,
                292
            ],
            [
                575,
                346
            ],
            [
                796,
                308
            ],
            [
                845,
                349
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.23000000417232513,
                -0.0,
                -0.11299999803304672
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.625443160533905,
            0.1938786655664444,
            0.2532486617565155,
            0.990348756313324,
            0.32004448771476746,
            0.9480898976325989,
            0.1321156769990921,
            0.4298842251300812
        ],
        "kf_translation_vector": [
            -0.022706405918845936,
            -0.00027320964099607453,
            1.1618256752232254
        ],
        "kf_rotation_matrix": [
            [
                0.9684697305805903,
                -0.006897027830623662,
                0.24903576441198644
            ],
            [
                -0.008176825728207989,
                0.9981981693718466,
                0.059443706005805855
            ],
            [
                -0.24899702903884077,
                -0.05960575198584248,
                0.9666683163629771
            ]
        ],
        "kf_euler_angles": [
            -0.06158304857439628,
            0.251644529490952,
            -0.008442836346526282
        ]
    },
    {
        "frame": 200,
        "object_rotation_in_cam": [
            [
                0.9315426064188167,
                -0.0026495856562526875,
                0.3636225407236022
            ],
            [
                0.004428418177452633,
                0.9999819591257446,
                -0.004058390750444121
            ],
            [
                -0.3636052276011487,
                0.005390836566606644,
                0.9315375340490736
            ]
        ],
        "object_translation_in_cam": [
            -0.021914776865372413,
            -0.001129238665446073,
            1.1650098026996998
        ],
        "raw_rvec": [
            0.004835486014272986,
            0.37214679940865647,
            0.0036220515602470383
        ],
        "refined_raw_rvec": [
            0.004835486014272986,
            0.37214679940865647,
            0.0036220515602470383
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            1.9305052757263184,
            1.0782195329666138,
            0.35427409410476685,
            0.34034377336502075,
            0.8891424536705017,
            0.3004888892173767,
            0.5080628395080566
        ],
        "mean_reprojection_error": 0.7715767025947571,
        "std_reprojection_error": 0.5480399131774902,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                624,
                347
            ],
            [
                636,
                345
            ],
            [
                625,
                362
            ],
            [
                556,
                344
            ],
            [
                796,
                292
            ],
            [
                575,
                345
            ],
            [
                796,
                307
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.5488786697387695,
            0.1637832522392273,
            0.21035902202129364,
            0.40500608086586,
            0.9976969957351685,
            0.29680365324020386,
            0.9755341410636902,
            0.6090839505195618
        ],
        "kf_translation_vector": [
            -0.022374436949935964,
            -0.0006647752471183022,
            1.1635162916494957
        ],
        "kf_rotation_matrix": [
            [
                0.9560943895780619,
                -0.006988173893040724,
                0.2929755683380336
            ],
            [
                -0.0032556289578063906,
                0.9994006884460608,
                0.034462513164724935
            ],
            [
                -0.293040814729693,
                -0.033903235231764695,
                0.955498640262443
            ]
        ],
        "kf_euler_angles": [
            -0.0354673639518978,
            0.29740573056677444,
            -0.0034051202584682175
        ]
    },
    {
        "frame": 201,
        "object_rotation_in_cam": [
            [
                0.9189378974414727,
                0.006630558677963281,
                0.394346518099835
            ],
            [
                0.011929983289206317,
                0.9989338535613909,
                -0.04459631944128302
            ],
            [
                -0.3942217854768616,
                0.04568579539208861,
                0.9178790726205863
            ]
        ],
        "object_translation_in_cam": [
            -0.022025168512120892,
            -0.0006532361843652794,
            1.1534176328794068
        ],
        "raw_rvec": [
            0.046418864114557284,
            0.4054451426656575,
            0.0027247176405719585
        ],
        "refined_raw_rvec": [
            0.046418864114557284,
            0.4054451426656575,
            0.0027247176405719585
        ],
        "num_inliers": 7,
        "total_matches": 8,
        "inlier_ratio": 0.875,
        "reprojection_errors": [
            2.062753200531006,
            0.8037753701210022,
            0.7726916670799255,
            0.359917551279068,
            1.254874348640442,
            0.5172148942947388,
            0.4738715887069702
        ],
        "mean_reprojection_error": 0.8921569585800171,
        "std_reprojection_error": 0.5506834387779236,
        "inliers": [
            0,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "mkpts0": [
            [
                591,
                284
            ],
            [
                610,
                269
            ],
            [
                598,
                298
            ],
            [
                519,
                327
            ],
            [
                727,
                126
            ],
            [
                539,
                313
            ],
            [
                727,
                143
            ],
            [
                752,
                77
            ]
        ],
        "mkpts1": [
            [
                623,
                350
            ],
            [
                635,
                342
            ],
            [
                624,
                362
            ],
            [
                555,
                344
            ],
            [
                796,
                293
            ],
            [
                575,
                345
            ],
            [
                796,
                308
            ],
            [
                833,
                258
            ]
        ],
        "mpts3D": [
            [
                0.02500000037252903,
                -0.014000000432133675,
                -0.010999999940395355
            ],
            [
                0.04899999871850014,
                -0.01600000075995922,
                -0.010999999940395355
            ],
            [
                0.02500000037252903,
                0.0,
                -0.014999999664723873
            ],
            [
                -0.05700000002980232,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.07000000029802322,
                -0.0020000000949949026
            ],
            [
                -0.03500000014901161,
                -0.017999999225139618,
                -0.009999999776482582
            ],
            [
                0.20600000023841858,
                -0.054999999701976776,
                -0.0020000000949949026
            ],
            [
                0.24300000071525574,
                -0.10400000214576721,
                0.0
            ]
        ],
        "mconf": [
            0.4744631350040436,
            0.11076456308364868,
            0.20566686987876892,
            0.3068290650844574,
            0.9710330963134766,
            0.33183765411376953,
            0.9556277394294739,
            0.4177044928073883
        ],
        "kf_translation_vector": [
            -0.022213994596594046,
            -0.0006973077114093749,
            1.1593776230235358
        ],
        "kf_rotation_matrix": [
            [
                0.9422402943559903,
                -0.0032095133784525555,
                0.33492226966239547
            ],
            [
                0.0032940627558863717,
                0.9999945247626849,
                0.00031558709123226554
            ],
            [
                -0.3349214487644784,
                0.0008058961008741883,
                0.9422457077052553
            ]
        ],
        "kf_euler_angles": [
            0.0008552927307311727,
            0.34152186291838055,
            0.0034959758734186505
        ]
    }
]