frame cameraID r1,1 r1,2 r1,3 t1 r2,1 r2,2 r2,3 t2 r3,1 r3,2 r3,3 t3 0 0 0 1
0 0 -0.3399547 0.02612714 0.9400789 4.892228 -0.0348657 0.9985766 -0.0403612 1.268833 -0.9397954 -0.04649748 -0.33856 5.159162 0 0 0 1
1 0 -0.6428895 0.03911898 -0.7649594 2.738021 0.07571334 0.9970495 -0.01264347 0.7770698 0.7622078 -0.06604598 -0.6439544 -6.423017 0 0 0 1
2 0 0.7324587 0.008481275 0.6807586 -3.59518 0.02017208 0.999213 -0.0341528 1.101925 -0.6805125 0.03874784 0.7317112 5.709031 0 0 0 1
3 0 -0.1442159 0.05454056 0.9880422 2.232001 -0.07482207 0.9950205 -0.06584689 1.519922 -0.9867136 -0.08342351 -0.1394169 6.385224 0 0 0 1
4 0 0.902436 -0.08340798 -0.422673 -6.286828 0.06141751 0.9959667 -0.06540799 0.9774044 0.4264238 0.033067 0.9039189 -2.111161 0 0 0 1
5 0 -0.2912757 -0.01698474 0.9564885 2.113101 0.07700786 0.9961813 0.04114048 0.6998674 -0.9535347 0.08564034 -0.2888554 6.406287 0 0 0 1
6 0 -0.3291711 0.004556362 0.9442593 1.599075 0.05621957 0.998309 0.0147811 0.6510644 -0.9425953 0.05795136 -0.3288705 6.230546 0 0 0 1
7 0 -0.8689164 0.04721224 0.4927022 5.618888 0.0439834 0.9988675 -0.01814661 1.111176 -0.4930009 0.005902826 -0.8700088 4.059733 0 0 0 1
8 0 -0.9846723 -0.02398682 0.1727572 6.041367 -0.02359899 0.9997123 0.004298797 1.166628 -0.1728106 0.0001560105 -0.9849551 2.292122 0 0 0 1
9 0 0.1413785 0.03023533 -0.9894937 0.9457417 0.04441242 0.9983334 0.03685107 1.058692 0.9889588 -0.04915576 0.1398001 -6.802509 0 0 0 1
