# Text export 
# created by voodoo camera tracker - www.digilab.uni-hannover.de
# Creation date: Tue Feb 12 17:11:59 2013
# The camera (one line per frame) 
#
# Description of the CAHV camera model:
# -------------
# (Cx, Cy, Cz)    : CameraPosition [mm]
# (Ax, Ay, Az)    : RotationAxis2  [unit vector]
# (Hx, Hy, Hz)    : RotationAxis0 [pel] (including FocalLength, PixelSizeX, and Principal Point offset) 
# (Vx, Vy, Vz)    : RotationAxis1 [pel] (including FocalLength, PixelSizeY, and Principal Point offset) 
# (K3, K5)        : Radialdistortion;	K3 [1/(mm)^2]	K5 [1/(mm)^4]
# (sx, sy)        : PixelSize	[mm/pel]
# (Width, Height) : ImageSize	[pel]
# -------------
# (ppx, ppy)      : Principal Point offset [pel]
# f               : Focal Length [mm]
# fov             : Horizontal Field of View [degree] = (2*atan(0.5*Width*sx/f)*180/PI;
# (H0x, H0y, H0z) : RotationAxis0 [unit vector]
# (V0x, V0y, V0z) : RotationAxis1 [unit vector]
# -------------
# (x, y)          : image coordinates [pel]
# (X, Y, Z)       : 3D coordinates [mm]
# -------------
# Projection of 3D coordinates in the camera image:
#  [ x' ] =  [ Hx Hy Hz ] [ 1 0 0 -Cx] [ X ]
#  [ y' ] =  [ Vx Vy Vz ] [ 0 1 0 -Cy] [ Y ]
#  [ z' ] =  [ Ax Ay Az ] [ 0 0 1 -Cz] [ Z ]
#                                      [ 1 ]
# or 
#  [ x' ] =  [f/sx 0    ppx] [ H0x H0y H0z ] [ 1 0 0 -Cx] [ X ]
#  [ y' ] =  [0    f/sy ppy] [ V0x V0y V0z ] [ 0 1 0 -Cy] [ Y ]
#  [ z' ] =  [0    0    1  ] [ Ax  Ay  Az  ] [ 0 0 1 -Cz] [ Z ]
#                                                         [ 1 ]
# then x = x'/z' and y = y'/z' , if the origin of the image coordinates is in the center of the image
# or x = x'/z' + 0.5*(Width-1) and y = y'/z' + 0.5*(Height-1) , if the origin of the image coordinates is in the upper left corner
# -------------
# Cx Cy Cz Ax Ay Az Hx Hy Hz Vx Vy Vz K3 K5 sx sy Width Height ppx ppy f fov H0x H0y H0z V0x V0y V0z
#
#timeindex 190
-0.0147983336	-0.0012784733	0.5001948551	-0.0001301230	0.0030971411	0.9999951954	1258.2572879468	0.0112841000	0.1636940990	-0.0114955329	1342.1346813912	-4.1568019505	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9999999915	0.0000089680	0.0001300959	-0.0000085651	0.9999952038	-0.0030971422	
#timeindex 191
0.6324857138	0.0094733578	0.6344199880	-0.0076977132	0.0039760737	0.9999624673	1258.2181997781	-2.1012732425	9.6941215343	2.2823881788	1342.1286379187	-5.3190328315	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9999689262	-0.0016699869	0.0077044032	0.0017005575	0.9999907009	-0.0039630951	
#timeindex 192
1.3338536092	0.0069866569	0.7854700750	-0.0159496498	0.0050887121	0.9998598470	1258.0862738196	-5.1522207836	20.0950700921	5.6040071582	1342.1124891865	-6.7411869054	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9998640780	-0.0040947275	0.0159705571	0.0041754232	0.9999786689	-0.0050227110	
#timeindex 193
2.0637847932	-0.0171000039	0.9472144459	-0.0240240882	0.0057143564	0.9996950482	1257.8776550935	-6.2689346362	30.2644158930	6.8692955418	1342.1025471893	-7.5065127857	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9996982783	-0.0049822359	0.0240526448	0.0051181619	0.9999712613	-0.0055929385	
#timeindex 194
2.8196908597	-0.0333004560	1.1133396027	-0.0316295986	0.0052948470	0.9994856343	1257.6220394622	-3.5779446152	39.8175057676	4.0393939671	1342.1168783969	-6.9821304905	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9994951278	-0.0028435715	0.0316449631	0.0030096641	0.9999819392	-0.0052022328	
#timeindex 195
3.5148333251	0.0161170441	1.2945015622	-0.0382268390	0.0032460647	0.9992638149	1257.3215112063	-6.2134443430	48.1190207883	6.7894053917	1342.1176831527	-4.1000817975	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9992562829	-0.0049381350	0.0382425922	0.0050586375	0.9999825388	-0.0030548813	
#timeindex 196
4.1585983944	0.0824260499	1.4926779778	-0.0446066985	0.0011229168	0.9990039947	1256.9456282687	-12.1519450222	56.1377538101	13.0164049564	1342.0776785858	-0.9273463311	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9989575500	-0.0096577584	0.0446154804	0.0096982387	0.9999527323	-0.0006909455	
#timeindex 197
4.8120898471	0.1893988354	1.7056460771	-0.0523401997	-0.0012847271	0.9986284860	1256.3952057648	-18.6928417381	65.8262424363	19.8214778506	1341.9918941647	2.7653461913	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9985201017	-0.0148561361	0.0523154068	0.0147685497	0.9998888162	0.0020603990	
#timeindex 198
5.4760008573	0.2303366383	1.9251236593	-0.0608635003	-0.0024751085	0.9981430299	1255.6961584968	-24.1882610173	76.5082685712	25.5509097362	1341.8889912817	4.8855108418	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9979645338	-0.0192236207	0.0608049472	0.0190374241	0.9998121455	0.0036400873	
#timeindex 199
6.1773161311	0.2328268404	2.1464172183	-0.0701072923	-0.0035055440	0.9975332971	1254.8560104849	-28.0599207988	88.0934923190	29.5273490113	1341.7990929967	6.7905685330	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9972968262	-0.0223006223	0.0700123039	0.0220001821	0.9997451642	0.0050595041	
#timeindex 200
6.9268062020	0.2190185704	2.3751435271	-0.0796149701	-0.0046124791	0.9968150187	1253.8869139059	-31.2819308041	100.0023876463	32.7691088216	1341.7119943266	8.8256396136	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9965266367	-0.0248613148	0.0794768985	0.0244155464	0.9996802689	0.0065757911	
#timeindex 201
7.6731456729	0.2510844484	2.6257788606	-0.0886883604	-0.0061007697	0.9960407398	1252.7508624498	-37.8933776420	111.3139620914	39.5351968579	1341.5073585167	11.7370090908	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9956237598	-0.0301157622	0.0884667724	0.0294568107	0.9995277993	0.0087449888	
#timeindex 202
8.3972375274	0.2885928066	2.8838444249	-0.0968054138	-0.0063659776	0.9952829679	1251.6835396287	-41.7503470932	121.4769720336	43.4987623252	1341.3748658556	12.8105056359	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	-0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9947755050	-0.0331810887	0.0965438247	0.0324099767	0.9994290819	0.0095448276	
#timeindex 203
9.0568865523	0.3218757497	3.1236799219	-0.1043269644	-0.0054593298	0.9945280691	1250.7367939271	-41.4020147426	130.9762386334	43.1577848490	1341.3943487990	11.8906999143	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9940230788	-0.0329042516	0.1040933669	0.0321559218	0.9994435982	0.0088595005	
#timeindex 204
9.7241530208	0.3012653542	3.3557138016	-0.1124176818	-0.0032572345	0.9936557026	1249.7290964220	-37.8541372130	141.2645725103	39.6307706397	1341.5264843613	8.8812106924	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9932222112	-0.0300845759	0.1122700203	0.0295280206	0.9995420495	0.0066171959	
#timeindex 205
10.4372328899	0.2117132815	3.5818699500	-0.1213520220	-0.0005835499	0.9926093623	1248.6738131430	-26.9390715357	152.6414897400	28.4276274142	1341.8332489310	4.2642925014	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9923835248	-0.0214098274	0.1213118254	0.0211808036	0.9997706131	0.0031772311	
#timeindex 206
11.1488891230	0.1302436564	3.8028318655	-0.1301176629	0.0009206878	0.9914981322	1247.4680125845	-15.1523376042	163.7235286635	16.1858695336	1342.0432291831	0.8779287261	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9914252148	-0.0120423205	0.1301192760	0.0120597375	0.9999270648	0.0006541255	
#timeindex 207
11.8834712474	0.0758500176	4.0243259799	-0.1389258092	0.0016425183	0.9903014297	1246.0041853026	-11.1531473182	174.8159234955	12.0875904865	1342.0865810750	-0.5302662483	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9902618381	-0.0088639639	0.1389349569	0.0090061994	0.9999593653	-0.0003950898	
#timeindex 208
12.6346466220	0.0938950895	4.2753446797	-0.1475606792	0.0015611857	0.9890517725	1244.4120545776	-13.1574964372	185.6796927612	14.1902140297	1342.0661011856	-0.0013111332	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9889964921	-0.0104569204	0.1475689376	0.0105728182	0.9999441062	-0.0000009769	
#timeindex 209
13.4124325682	0.1575186524	4.5356471501	-0.1555442439	0.0017712484	0.9878273386	1242.8367062771	-16.1009273683	195.7271347122	17.3350587695	1342.0291253856	0.3232363760	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	0.0000000000	13.4214111856	31.9327109927	0.9877444841	-0.0127962122	0.1555541422	0.0129159732	0.9999165563	0.0002408364	
#timeindex 210
14.1943918604	0.2300618588	4.7728628944	-0.1624099183	0.0023841987	0.9867204944	1241.4636843737	-14.5043709664	204.3745903938	15.7856317037	1342.0481289978	-0.6445252173	0.0000000000	0.0000000000	0.0106666667	0.0100000000	720	576	0.0000000000	-0.0000000000	13.4214111856	31.9327109927	0.9866532749	-0.0115273490	0.1624267076	0.0117615290	0.9999307155	-0.0004802216	
#
# 3D Feature Points
# X		Y		Z
-10.9493270248	-12.4970140413	78.1778492627
-0.7531478703	-14.3257407401	75.9351905581
13.4670537886	3.7486721819	86.4617793760
-3.0812429846	-8.5229215118	74.0388318496
-10.0607578033	-13.4392863420	76.4537042853
0.7262629450	-14.0881319572	75.6518417992
-14.4620701641	-8.3755746685	79.6706390937
1.8326050986	1.6548197110	65.9924637602
-9.1559852459	-13.4781126648	75.6573264519
14.5839030031	3.7489906095	86.2021628823
2.4607447468	-13.5598281445	77.4910221122
2.7542131674	1.6155177717	66.8590311245
-9.1676142713	-3.5450269405	74.5148603838
1.7807920284	-0.1289550185	65.9090069883
3.4280944778	-2.0048987193	68.6866660134
5.5100845142	-2.0538581839	70.5001876021
2.5027072710	-5.4603330662	78.5032955769
-8.1188292256	-14.0877319095	73.9708228332
12.8046747963	3.2492506848	86.5921028001
-2.7778278728	-7.9642916208	73.8536488659
2.7007354246	-0.1750321203	66.8303575132
-9.2794151316	-2.0203246896	74.2105425245
-14.0270560608	-11.8740248338	77.7413868324
1.6008631294	-5.0309585621	69.5479884267
7.0908902975	-2.0952942254	71.2332314367
-2.1246156452	-8.1359340563	75.0129320456
12.1491281600	3.7099840925	86.8074779694
-1.2804476832	-5.6895143533	75.0040748614
-2.4131243610	-8.6664347400	74.8099126175
-21.9200407506	-18.0678588588	95.9646568492
-9.9334844262	0.6191679271	75.3054881201
-1.5360729205	-8.4530214012	75.3389634822
2.0074889848	-14.0367122529	76.6531024227
-12.8803804457	-3.6163844907	79.6178269374
13.7883276129	3.1102408710	86.3253435020
-2.1816934147	-5.5201526087	74.9677634747
8.7218366960	0.3551100345	71.6269533693
-4.1186892356	6.2729814538	65.3041429269
-3.1315919287	-13.6591828335	73.4396270165
-2.5975881990	-14.1755963350	74.7595310569
-3.7897916729	-7.8672437059	74.0248890400
0.2813545415	-7.6338602833	73.7196006019
10.6556868673	5.0315050199	73.3099511158
0.9055663132	-13.1935453893	76.0154972117
-8.6422525572	-4.2497304239	74.1303818125
12.8145936240	3.9517638157	86.6374623764
14.4488867253	-10.2634387982	85.9203578414
-5.6772707672	-6.5382048647	72.7424804134
10.5124249631	3.6515280676	84.0369221814
-4.0343602310	7.0898916930	65.4729315379
-12.6382696050	0.4386146616	78.3846263570
-0.9350185382	-8.3913691788	75.3886957787
12.1456976793	3.0688439105	86.7878564281
16.9012518571	-20.8113245950	116.9485293184
-11.1792172207	-14.2353456717	77.9403125360
11.1513563012	2.1716647930	87.0298597476
-20.8581806243	-13.1902866985	98.1484248320
0.3394808245	-5.0169360513	69.4905174404
15.2007544909	-12.0542153698	85.5631748190
-12.0437481929	-11.3058945371	79.3513982136
-4.3527387994	-7.8077129375	73.5745479013
21.2180722981	-15.4363546671	83.3848138513
-1.5642878256	1.0236235942	66.2058842563
-9.6396066270	-0.6967499239	74.1599148405
15.1422880075	0.3486398198	85.9486165022
-1.1364622917	-10.3029816238	82.9796359097
7.9710220048	-10.2809633313	87.7114432872
14.8295325624	1.1862461934	86.0478644197
-9.8605077384	-1.4492005363	74.8412541309
-18.9196927152	-5.9347265585	100.6421466981
-3.0635198390	-0.2610035074	66.9517988760
-8.8449953039	-13.9901035896	75.0913829165
-2.3064373752	1.0515790660	66.5468187108
-5.8862292636	5.0215852467	66.0588931735
-5.7082326155	-12.1778307256	77.7535369781
10.0240883519	6.9613281469	72.0686961412
14.0343850621	1.0010099644	86.1875859863
-9.3530243676	-12.0348772534	75.4156664555
1.7388954037	-11.3401236643	69.8754726699
8.7707396746	4.6238778619	72.0441926987
-0.5535903443	7.7465066634	64.2429632868
-15.3733637095	-1.8535841611	85.7799758350
-0.6016725355	5.7855004844	64.0783804145
-15.0982842552	-4.2785189891	83.5492549587
4.8983529404	-2.0369799411	69.5833614351
8.7749357045	-0.1787766340	72.3741168810
-2.3009826427	0.5750447511	66.5384413577
19.9037651802	10.2946675764	85.0755036149
6.7630511566	-4.2877496744	88.2090742267
17.4132738624	10.1304953832	85.7173894902
13.2824134615	5.5581482664	86.5863597436
-17.6077152156	-6.3904906036	94.4161532221
-13.8323989044	-10.1471772123	79.6533237160
7.1438902733	-11.9663705114	87.7875681320
14.6615581825	6.0414163243	86.2530120175
-22.2657732342	-13.2343274078	98.5505692383
-3.4902608953	7.1568401453	65.0986107263
3.2567778713	6.2347861265	66.3052222712
-9.1477285853	-3.0023875996	74.2568828478
-8.5787453491	-1.4168944826	73.8320606733
-14.4414813933	-4.8372815261	84.4199745472
-9.9916831560	-11.3294195158	77.1563737805
-13.2701495157	-13.1048358529	78.9281379666
-1.1575165872	-12.8948640643	82.6035186871
14.7660709372	3.1084210464	86.0795240521
-8.0463413107	-7.6735533564	73.9373054931
-22.1713481399	-0.4164311883	98.8584711876
-22.9578737174	-12.6740554511	98.2430350159
2.6940536431	1.0215138764	66.7785990329
-0.3354356891	-8.0766295219	75.1356482399
1.7899154234	-12.8981771768	75.8526719167
1.8355683627	1.0529945272	66.0205796242
-1.0716682503	-7.8766964690	75.7255196120
20.9495649813	10.7322737227	85.2436732377
-20.1419249827	-13.1474574527	98.4188437140
-9.1102579654	1.0334958577	73.6747199893
-2.4633916193	-0.2164134894	66.7216891322
-9.9023269112	-4.1202536857	75.5544228125
7.9685698329	5.9658346137	69.9780856709
-1.9832272663	-10.7503068194	86.0174481036
-9.8945164893	-2.7845652196	74.7343834771
2.5973704132	-13.3603003441	80.0668302568
-4.6396431480	0.8862510801	67.6754521472
-8.7186427852	-11.7792319350	75.0842235800
11.2933047949	0.7338215304	87.0531882323
-11.4979799370	2.0500750204	72.5279870950
-1.1570328985	-10.8237525565	81.8089936435
-12.9064560335	1.5483457796	81.3482346805
-18.6220061275	1.1466476790	82.5689583317
-15.8051983491	0.1169042518	86.9530924241
0.8404188032	-0.9500140359	65.8978120433
0.6833814784	4.8592602157	65.6971568563
4.7634395772	6.5626185019	67.7255448707
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