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+}
diff --git a/scene_125_FM_Shake/camera_params/0018.json b/scene_125_FM_Shake/camera_params/0018.json
new file mode 100644
index 0000000000000000000000000000000000000000..7389a78d4995c5be8b458a76e2e5c10f4dcecdfc
--- /dev/null
+++ b/scene_125_FM_Shake/camera_params/0018.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
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+      [ 0.0, 2637.578369140625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
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+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_125_FM_Shake/camera_params/0019.json b/scene_125_FM_Shake/camera_params/0019.json
new file mode 100644
index 0000000000000000000000000000000000000000..b75757c20a891aa64d79fbe4ea06d292fdf6b218
--- /dev/null
+++ b/scene_125_FM_Shake/camera_params/0019.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
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+   "intrinsic" : [
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+      [ 0.0, 0.0, 1.0, 0.0 ]
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+   "world2cam" : true
+}
diff --git a/scene_125_FM_Shake/camera_params/0020.json b/scene_125_FM_Shake/camera_params/0020.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cf3a91b7250c7b131e16210dbca00d560040927
--- /dev/null
+++ b/scene_125_FM_Shake/camera_params/0020.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
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+      [ 0.0, 0.0, 1.0, 0.0 ]
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+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
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new file mode 100644
index 0000000000000000000000000000000000000000..eeaea2244a6b5e69688ff12806f26965d8c9007d
--- /dev/null
+++ b/scene_125_FM_Shake/camera_params/0021.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..017d6ec627580c4f9ecee9ee41964a075fc5c69d
--- /dev/null
+++ b/scene_125_FM_Shake/camera_params/0022.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..aef9fa8386fb6c365e81793b24843d2b2a5e16d1
--- /dev/null
+++ b/scene_125_FM_Shake/camera_params/0023.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+}
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..3b5be01d8c7f57201cea4555b0dab01d04e663f0
--- /dev/null
+++ b/scene_126_FM/camera_params/0013.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+}
diff --git a/scene_126_FM/camera_params/0014.json b/scene_126_FM/camera_params/0014.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6fce8c9b7e8982163e6ed1c0e1eb4ce8fbd9ff3
--- /dev/null
+++ b/scene_126_FM/camera_params/0014.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+   "extrinsic_r" : [
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+   "height" : 1080,
+   "intrinsic" : [
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+}
diff --git a/scene_126_FM/camera_params/0015.json b/scene_126_FM/camera_params/0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f7c62ef0493962c97e385ee1c982b0030f846d
--- /dev/null
+++ b/scene_126_FM/camera_params/0015.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+}
diff --git a/scene_126_FM/camera_params/0016.json b/scene_126_FM/camera_params/0016.json
new file mode 100644
index 0000000000000000000000000000000000000000..48911474bcaba2f7262353c6be066207cb7ac5dc
--- /dev/null
+++ b/scene_126_FM/camera_params/0016.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+}
diff --git a/scene_126_FM/camera_params/0017.json b/scene_126_FM/camera_params/0017.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dedfbd5ba15f7cf7cbed66f47d2c67c6f2b1366
--- /dev/null
+++ b/scene_126_FM/camera_params/0017.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
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+      [ 0.0, 0.0, 1.0, 0.0 ]
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+}
diff --git a/scene_126_FM/camera_params/0018.json b/scene_126_FM/camera_params/0018.json
new file mode 100644
index 0000000000000000000000000000000000000000..483069ee1369a37b91b0eb15f1ec3313f6e8ce09
--- /dev/null
+++ b/scene_126_FM/camera_params/0018.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
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+}
diff --git a/scene_126_FM/camera_params/0019.json b/scene_126_FM/camera_params/0019.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4239ed1532752f25662a24d8697d4d21b22b6cd
--- /dev/null
+++ b/scene_126_FM/camera_params/0019.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
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+}
diff --git a/scene_126_FM/camera_params/0020.json b/scene_126_FM/camera_params/0020.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c1cad7bcf45c0a959ed09d38ee34d7db51b16e
--- /dev/null
+++ b/scene_126_FM/camera_params/0020.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
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+}
diff --git a/scene_126_FM/camera_params/0021.json b/scene_126_FM/camera_params/0021.json
new file mode 100644
index 0000000000000000000000000000000000000000..16794cdd57c926d23358680206cea19a00b58e81
--- /dev/null
+++ b/scene_126_FM/camera_params/0021.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
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+      [ -0.99931973218917847, -0.01815042644739151, 0.032103173434734344 ]
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+   "height" : 1080,
+   "intrinsic" : [
+      [ 2500.885498046875, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2500.885498046875, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_126_FM/camera_params/0022.json b/scene_126_FM/camera_params/0022.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c5995b2ae377f157797b3cdd5f04fa46142432
--- /dev/null
+++ b/scene_126_FM/camera_params/0022.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.03210846334695816, 0.0, 0.99948441982269287 ],
+      [ -0.018141068518161774, 0.99983525276184082, 0.00058278231881558895 ],
+      [ -0.99931973218917847, -0.01815042644739151, 0.032103173434734344 ]
+   ],
+   "extrinsic_t" : [ 222.48941040039062, 6.4709334373474121, 176.84803771972656 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2500.885498046875, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2500.885498046875, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_126_FM/camera_params/0023.json b/scene_126_FM/camera_params/0023.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5320e95fb314eefa183185ec90070dc2b117c1f
--- /dev/null
+++ b/scene_126_FM/camera_params/0023.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.03210846334695816, 0.0, 0.99948441982269287 ],
+      [ -0.018141068518161774, 0.99983525276184082, 0.00058278231881558895 ],
+      [ -0.99931973218917847, -0.01815042644739151, 0.032103173434734344 ]
+   ],
+   "extrinsic_t" : [ 222.56027221679688, 6.4709334373474121, 176.84803771972656 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2500.885498046875, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2500.885498046875, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0000.json b/scene_127_FM/camera_params/0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..accbacff424dba4fdb8e3d52b9eee59742ccb01d
--- /dev/null
+++ b/scene_127_FM/camera_params/0000.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.8139863014221191, 3.7400367259979248, -6.8126606941223145 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0001.json b/scene_127_FM/camera_params/0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf778c11c806c200edbe816e17cd08daf1b82b8
--- /dev/null
+++ b/scene_127_FM/camera_params/0001.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.7772514820098877, 3.7400307655334473, -6.8124861717224121 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0002.json b/scene_127_FM/camera_params/0002.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3cc85fa2accb0a5f1596ac230651ceeaa526719
--- /dev/null
+++ b/scene_127_FM/camera_params/0002.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.7405167818069458, 3.7400245666503906, -6.8123116493225098 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0003.json b/scene_127_FM/camera_params/0003.json
new file mode 100644
index 0000000000000000000000000000000000000000..168fba0d0884f978be60412bb90f5d7f891dca7c
--- /dev/null
+++ b/scene_127_FM/camera_params/0003.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.7037820816040039, 3.7400186061859131, -6.8121366500854492 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0004.json b/scene_127_FM/camera_params/0004.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3612b6b66159c7f07621e2aa107947f48e14e4b
--- /dev/null
+++ b/scene_127_FM/camera_params/0004.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.6670476198196411, 3.7400124073028564, -6.8119626045227051 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0005.json b/scene_127_FM/camera_params/0005.json
new file mode 100644
index 0000000000000000000000000000000000000000..114b020c22dc88e2e52fea2cd9a0cb9128660ba2
--- /dev/null
+++ b/scene_127_FM/camera_params/0005.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.6303129196166992, 3.7400062084197998, -6.8117876052856445 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0006.json b/scene_127_FM/camera_params/0006.json
new file mode 100644
index 0000000000000000000000000000000000000000..189adbc597951d0ade749a02f46c2d4f7dc121d7
--- /dev/null
+++ b/scene_127_FM/camera_params/0006.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.5935782194137573, 3.7400002479553223, -6.8116130828857422 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0007.json b/scene_127_FM/camera_params/0007.json
new file mode 100644
index 0000000000000000000000000000000000000000..737db732c44ce36c2c2bf181d09736a9d3a09481
--- /dev/null
+++ b/scene_127_FM/camera_params/0007.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.5568435192108154, 3.7399940490722656, -6.8114385604858398 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0008.json b/scene_127_FM/camera_params/0008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4496d2776f04bc128edd8764b3028b87ee65380
--- /dev/null
+++ b/scene_127_FM/camera_params/0008.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.5201090574264526, 3.7399880886077881, -6.8112640380859375 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0009.json b/scene_127_FM/camera_params/0009.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db81bd0d588fdb77ac8128c5f68c4e5051c3479
--- /dev/null
+++ b/scene_127_FM/camera_params/0009.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.4833743572235107, 3.7399818897247314, -6.8110899925231934 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0010.json b/scene_127_FM/camera_params/0010.json
new file mode 100644
index 0000000000000000000000000000000000000000..a81c70b28f431463866a31b7436c23d6cb72949a
--- /dev/null
+++ b/scene_127_FM/camera_params/0010.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.4466396570205688, 3.7399759292602539, -6.8109149932861328 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0011.json b/scene_127_FM/camera_params/0011.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a452582f182bbbb8d464020533aaba8088509ff
--- /dev/null
+++ b/scene_127_FM/camera_params/0011.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.409904956817627, 3.7399697303771973, -6.8107404708862305 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0012.json b/scene_127_FM/camera_params/0012.json
new file mode 100644
index 0000000000000000000000000000000000000000..a72e975a25e471ba722bd6d00d9e3872c5d7c10e
--- /dev/null
+++ b/scene_127_FM/camera_params/0012.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.3731703758239746, 3.7399637699127197, -6.8105659484863281 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0013.json b/scene_127_FM/camera_params/0013.json
new file mode 100644
index 0000000000000000000000000000000000000000..abe0e86ec9b2318e46a297e330984545d57349c5
--- /dev/null
+++ b/scene_127_FM/camera_params/0013.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.3364357948303223, 3.7399575710296631, -6.8103914260864258 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0014.json b/scene_127_FM/camera_params/0014.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a041a01da02dd9f87b055fd7838a6aadd106e36
--- /dev/null
+++ b/scene_127_FM/camera_params/0014.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.2997010946273804, 3.7399513721466064, -6.8102164268493652 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0015.json b/scene_127_FM/camera_params/0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b3fe0e9d1d5ee54932a7f3da0c0640cb8cb12a
--- /dev/null
+++ b/scene_127_FM/camera_params/0015.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.262966513633728, 3.7399454116821289, -6.8100423812866211 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0016.json b/scene_127_FM/camera_params/0016.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a59110f54879b679dcc704821d31a40f1773fe2
--- /dev/null
+++ b/scene_127_FM/camera_params/0016.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.2262318134307861, 3.7399392127990723, -6.8098673820495605 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0017.json b/scene_127_FM/camera_params/0017.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a69d52cc418d99c55b7551401ab5f702228a18
--- /dev/null
+++ b/scene_127_FM/camera_params/0017.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.1894971132278442, 3.7399332523345947, -6.8096933364868164 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0018.json b/scene_127_FM/camera_params/0018.json
new file mode 100644
index 0000000000000000000000000000000000000000..741b737104c6cbb9da4cbe3294db82998b59bf90
--- /dev/null
+++ b/scene_127_FM/camera_params/0018.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.1527625322341919, 3.7399270534515381, -6.8095183372497559 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0019.json b/scene_127_FM/camera_params/0019.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb46992c85ce7732006f104a436f1e5e3e6ac3b
--- /dev/null
+++ b/scene_127_FM/camera_params/0019.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.1160279512405396, 3.7399208545684814, -6.8093438148498535 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0020.json b/scene_127_FM/camera_params/0020.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e78b81cce144048e916949abf128d3cc5dae44
--- /dev/null
+++ b/scene_127_FM/camera_params/0020.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.0792931318283081, 3.7399148941040039, -6.8091697692871094 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0021.json b/scene_127_FM/camera_params/0021.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d4e16b11c82cdebb28af18caaeba041e7dd36a
--- /dev/null
+++ b/scene_127_FM/camera_params/0021.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.0425586700439453, 3.7399086952209473, -6.8089947700500488 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0022.json b/scene_127_FM/camera_params/0022.json
new file mode 100644
index 0000000000000000000000000000000000000000..c48cb0412216b78bcd98bfbaba7ebf301dfdd5ef
--- /dev/null
+++ b/scene_127_FM/camera_params/0022.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 1.0058239698410034, 3.7399027347564697, -6.8088197708129883 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_127_FM/camera_params/0023.json b/scene_127_FM/camera_params/0023.json
new file mode 100644
index 0000000000000000000000000000000000000000..c214d067c5d44c459abb6091954496e1c2de4b32
--- /dev/null
+++ b/scene_127_FM/camera_params/0023.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ -0.98480772972106934, 4.2735260126604726e-19, -0.17364828288555145 ],
+      [ -0.006060237530618906, 0.99939084053039551, 0.034369293600320816 ],
+      [ 0.17354249954223633, 0.034899495542049408, -0.98420780897140503 ]
+   ],
+   "extrinsic_t" : [ 0.9690893292427063, 3.7398965358734131, -6.8086457252502441 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2058.7265625, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2058.7265625, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_128_FM/camera_params/0000.json b/scene_128_FM/camera_params/0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8865430755156d15dc83c04a9a8d276be43b4c
--- /dev/null
+++ b/scene_128_FM/camera_params/0000.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.87074071168899536, 0.0, 0.49174246191978455 ],
+      [ 0.061103127896785736, 0.99224990606307983, -0.10819683969020844 ],
+      [ -0.48793140053749084, 0.12425839155912399, 0.86399239301681519 ]
+   ],
+   "extrinsic_t" : [ 253.80780029296875, -272.4300537109375, -1545.7105712890625 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2317.64501953125, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2317.64501953125, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_128_FM/camera_params/0001.json b/scene_128_FM/camera_params/0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..c958466209286a89349c434b120f92a02adc4c46
--- /dev/null
+++ b/scene_128_FM/camera_params/0001.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.87115472555160522, 0.0, 0.49100863933563232 ],
+      [ 0.064235977828502655, 0.99140554666519165, -0.11396840959787369 ],
+      [ -0.48678869009017944, 0.13082453608512878, 0.86366760730743408 ]
+   ],
+   "extrinsic_t" : [ 255.0677490234375, -262.16702270507812, -1547.3736572265625 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2317.64501953125, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2317.64501953125, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_128_FM/camera_params/0002.json b/scene_128_FM/camera_params/0002.json
new file mode 100644
index 0000000000000000000000000000000000000000..f707458a8f42882dbdde0633175cdbd235c0a06f
--- /dev/null
+++ b/scene_128_FM/camera_params/0002.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.87156808376312256, -6.1056132479269284e-18, 0.49027445912361145 ],
+      [ 0.067356325685977936, 0.99051773548126221, -0.1197403222322464 ],
+      [ -0.48562553524971008, 0.13738493621349335, 0.86330366134643555 ]
+   ],
+   "extrinsic_t" : [ 256.32766723632812, -251.89407348632812, -1548.967529296875 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2317.64501953125, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2317.64501953125, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_128_FM/camera_params/0003.json b/scene_128_FM/camera_params/0003.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d88f643cbddaf85db0606676a93444eafc1a0cb
--- /dev/null
+++ b/scene_128_FM/camera_params/0003.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.87198090553283691, -6.1142535630153511e-18, 0.48953986167907715 ],
+      [ 0.070464029908180237, 0.98958653211593628, -0.12551233172416687 ],
+      [ -0.48444205522537231, 0.1439393162727356, 0.86290055513381958 ]
+   ],
+   "extrinsic_t" : [ 257.5877685546875, -241.61166381835938, -1550.4921875 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2317.64501953125, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2317.64501953125, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_128_FM/camera_params/0004.json b/scene_128_FM/camera_params/0004.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea227049e0e3819ae89344ad1e493f818bb27b59
--- /dev/null
+++ b/scene_128_FM/camera_params/0004.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.87239307165145874, 6.1231738787411229e-18, 0.48880505561828613 ],
+      [ 0.073558993637561798, 0.98861193656921387, -0.13128414750099182 ],
+      [ -0.48323851823806763, 0.15048737823963165, 0.86245822906494141 ]
+   ],
+   "extrinsic_t" : [ 258.84765625, -231.32025146484375, -1551.9476318359375 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2317.64501953125, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2317.64501953125, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}
diff --git a/scene_128_FM/camera_params/0005.json b/scene_128_FM/camera_params/0005.json
new file mode 100644
index 0000000000000000000000000000000000000000..c517418c774f5db6b2a8819f0109137de99bcd85
--- /dev/null
+++ b/scene_128_FM/camera_params/0005.json
@@ -0,0 +1,20 @@
+{
+   "class_name" : "PinholeCameraParameter",
+   "convention" : "opencv",
+   "extrinsic_r" : [
+      [ 0.87280464172363281, -6.1323766766460816e-18, 0.48806977272033691 ],
+      [ 0.076641038060188293, 0.98759400844573975, -0.13705551624298096 ],
+      [ -0.48201477527618408, 0.15702885389328003, 0.86197662353515625 ]
+   ],
+   "extrinsic_t" : [ 260.10781860351562, -221.02032470703125, -1553.3336181640625 ],
+   "height" : 1080,
+   "intrinsic" : [
+      [ 2317.64501953125, 0.0, 960.0, 0.0 ],
+      [ 0.0, 2317.64501953125, 540.0, 0.0 ],
+      [ 0.0, 0.0, 0.0, 1.0 ],
+      [ 0.0, 0.0, 1.0, 0.0 ]
+   ],
+   "name" : "default",
+   "width" : 1920,
+   "world2cam" : true
+}