{
  "1": {
    "cam_K": [734.028, 0.0, 400, 0.0, 734.028, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [-0.000128171, 0, -1, 0.899986, -0.435918, -0.000115352, -0.435918, -0.899986, 5.5872e-05],
    "cam_t_w2c": [23.5, 0.00270562, 799.984]
  },
  "2": {
    "cam_K": [734.319, 0.0, 400, 0.0, 734.319, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [-0.675548, 0, 0.737316, -0.516121, -0.714143, -0.472883, 0.526549, -0.699999, 0.482438],
    "cam_t_w2c": [-17.3269, 11.1127, 788.696]
  },
  "3": {
    "cam_K": [727.228, 0.0, 400, 0.0, 727.228, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [0.996167, 0, -0.087468, 0.0437335, -0.866028, 0.498078, -0.0757498, -0.499995, -0.862709],
    "cam_t_w2c": [2.0555, -11.7049, 820.332]
  },
  "4": {
    "cam_K": [740.041, 0.0, 400, 0.0, 740.041, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [-0.793561, 0, -0.60849, 0.18257, -0.953927, -0.238098, -0.580455, -0.300038, 0.757],
    "cam_t_w2c": [14.2995, 5.59532, 782.238]
  },
  "5": {
    "cam_K": [738.914, 0.0, 400, 0.0, 738.914, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [0.174164, -0, 0.984717, -0.0984704, -0.994988, 0.0174162, 0.979781, -0.0999987, -0.173291],
    "cam_t_w2c": [-23.1408, -0.409287, 804.029]
  },
  "6": {
    "cam_K": [734.237, 0.0, 400, 0.0, 734.237, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [0.536735, 0, -0.843751, -0.0843877, -0.994986, -0.0536815, -0.83952, 0.100015, -0.534044],
    "cam_t_w2c": [19.8282, 1.26152, 812.519]
  },
  "7": {
    "cam_K": [726.544, 0.0, 400, 0.0, 726.544, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [-0.965709, 0, 0.259626, 0.0778869, -0.95394, 0.28971, 0.247667, 0.299997, 0.921229],
    "cam_t_w2c": [-6.1012, -6.80818, 778.327]
  },
  "8": {
    "cam_K": [707.981, 0.0, 400, 0.0, 707.981, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [0.887432, -0, 0.460939, 0.230499, -0.865988, -0.443773, 0.399168, 0.500064, -0.768505],
    "cam_t_w2c": [-10.8321, 10.4287, 818.046]
  },
  "9": {
    "cam_K": [713.711, 0.0, 400, 0.0, 713.711, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [-0.343105, 0, -0.939297, -0.657519, -0.714131, 0.240178, -0.670781, 0.700012, 0.245022],
    "cam_t_w2c": [22.0735, -5.64417, 794.238]
  },
  "10": {
    "cam_K": [702.953, 0.0, 400, 0.0, 702.953, 300, 0.0, 0.0, 1.0],
    "depth_scale": 1,
    "model_unit": "mm",
    "cam_R_w2c": [-0.381545, 0, 0.92435, 0.831935, -0.435846, 0.343399, 0.402874, 0.900021, 0.166295],
    "cam_t_w2c": [-21.7222, -8.06989, 796.123]
  }
}