diff --git a/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb b/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb
index 85e8196..54bc20e 100644
--- a/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb
+++ b/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 12,
    "id": "805fb727",
    "metadata": {},
    "outputs": [],
@@ -10,12 +10,13 @@
     "import json\n",
     "import pandas as pd\n",
     "import numpy as np\n",
+    "import cv2 as cv\n",
     "from scipy.spatial.transform import Rotation as R"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 13,
    "id": "456ca3a7",
    "metadata": {},
    "outputs": [],
@@ -26,7 +27,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 14,
    "id": "95b5c6ad",
    "metadata": {},
    "outputs": [
@@ -51,95 +52,95 @@
        "  <thead>\n",
        "    <tr style=\"text-align: right;\">\n",
        "      <th></th>\n",
-       "      <th>rwc(0,0)</th>\n",
-       "      <th>rwc(0,1)</th>\n",
-       "      <th>rwc(0,2)</th>\n",
-       "      <th>twc(0)</th>\n",
-       "      <th>rwc(1,0)</th>\n",
-       "      <th>rwc(1,1)</th>\n",
-       "      <th>rwc(1,2)</th>\n",
-       "      <th>twc(1)</th>\n",
-       "      <th>rwc(2,0)</th>\n",
-       "      <th>rwc(2,1)</th>\n",
-       "      <th>rwc(2,2)</th>\n",
-       "      <th>twc(2)</th>\n",
+       "      <th>1.000000000</th>\n",
+       "      <th>-0.000088794</th>\n",
+       "      <th>-0.000174736</th>\n",
+       "      <th>0.003704830</th>\n",
+       "      <th>0.000088759</th>\n",
+       "      <th>1.000000000.1</th>\n",
+       "      <th>-0.000203440</th>\n",
+       "      <th>0.003000986</th>\n",
+       "      <th>0.000174754</th>\n",
+       "      <th>0.000203424</th>\n",
+       "      <th>0.999999940</th>\n",
+       "      <th>-0.002705306</th>\n",
        "    </tr>\n",
        "  </thead>\n",
        "  <tbody>\n",
        "    <tr>\n",
        "      <th>0</th>\n",
-       "      <td>1.000000</td>\n",
-       "      <td>-0.000096</td>\n",
-       "      <td>-0.000134</td>\n",
-       "      <td>0.002967</td>\n",
-       "      <td>0.000096</td>\n",
-       "      <td>1.000000</td>\n",
-       "      <td>-0.000257</td>\n",
-       "      <td>0.003075</td>\n",
-       "      <td>0.000134</td>\n",
-       "      <td>0.000257</td>\n",
-       "      <td>1.000000</td>\n",
-       "      <td>-0.002494</td>\n",
+       "      <td>0.999998</td>\n",
+       "      <td>0.000921</td>\n",
+       "      <td>0.001840</td>\n",
+       "      <td>-0.005423</td>\n",
+       "      <td>-0.000918</td>\n",
+       "      <td>0.999999</td>\n",
+       "      <td>-0.001342</td>\n",
+       "      <td>-0.013499</td>\n",
+       "      <td>-0.001841</td>\n",
+       "      <td>0.001340</td>\n",
+       "      <td>0.999997</td>\n",
+       "      <td>1.208114</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1</th>\n",
-       "      <td>0.999998</td>\n",
-       "      <td>0.000914</td>\n",
-       "      <td>0.001881</td>\n",
-       "      <td>-0.006111</td>\n",
-       "      <td>-0.000911</td>\n",
+       "      <td>0.999995</td>\n",
+       "      <td>0.001285</td>\n",
+       "      <td>0.002990</td>\n",
+       "      <td>-0.005176</td>\n",
+       "      <td>-0.001282</td>\n",
        "      <td>0.999999</td>\n",
-       "      <td>-0.001395</td>\n",
-       "      <td>-0.013490</td>\n",
-       "      <td>-0.001882</td>\n",
-       "      <td>0.001394</td>\n",
-       "      <td>0.999997</td>\n",
-       "      <td>1.208325</td>\n",
+       "      <td>-0.000825</td>\n",
+       "      <td>-0.035608</td>\n",
+       "      <td>-0.002991</td>\n",
+       "      <td>0.000821</td>\n",
+       "      <td>0.999995</td>\n",
+       "      <td>2.407335</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>2</th>\n",
-       "      <td>0.999995</td>\n",
-       "      <td>0.001234</td>\n",
-       "      <td>0.002927</td>\n",
-       "      <td>-0.004074</td>\n",
-       "      <td>-0.001232</td>\n",
-       "      <td>0.999999</td>\n",
-       "      <td>-0.000782</td>\n",
-       "      <td>-0.036465</td>\n",
-       "      <td>-0.002928</td>\n",
-       "      <td>0.000779</td>\n",
-       "      <td>0.999995</td>\n",
-       "      <td>2.407830</td>\n",
+       "      <td>0.999991</td>\n",
+       "      <td>0.000746</td>\n",
+       "      <td>0.004218</td>\n",
+       "      <td>-0.006803</td>\n",
+       "      <td>-0.000744</td>\n",
+       "      <td>1.000000</td>\n",
+       "      <td>-0.000477</td>\n",
+       "      <td>-0.056003</td>\n",
+       "      <td>-0.004219</td>\n",
+       "      <td>0.000474</td>\n",
+       "      <td>0.999991</td>\n",
+       "      <td>3.605217</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>3</th>\n",
-       "      <td>0.999991</td>\n",
-       "      <td>0.000727</td>\n",
-       "      <td>0.004202</td>\n",
-       "      <td>-0.006533</td>\n",
-       "      <td>-0.000725</td>\n",
+       "      <td>0.999987</td>\n",
+       "      <td>0.000619</td>\n",
+       "      <td>0.005148</td>\n",
+       "      <td>-0.005932</td>\n",
+       "      <td>-0.000617</td>\n",
        "      <td>1.000000</td>\n",
-       "      <td>-0.000472</td>\n",
-       "      <td>-0.056512</td>\n",
-       "      <td>-0.004202</td>\n",
-       "      <td>0.000469</td>\n",
-       "      <td>0.999991</td>\n",
-       "      <td>3.606258</td>\n",
+       "      <td>-0.000506</td>\n",
+       "      <td>-0.076681</td>\n",
+       "      <td>-0.005148</td>\n",
+       "      <td>0.000503</td>\n",
+       "      <td>0.999987</td>\n",
+       "      <td>4.807625</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>4</th>\n",
-       "      <td>0.999987</td>\n",
-       "      <td>0.000512</td>\n",
-       "      <td>0.005128</td>\n",
-       "      <td>-0.006541</td>\n",
-       "      <td>-0.000510</td>\n",
+       "      <td>0.999982</td>\n",
+       "      <td>0.000233</td>\n",
+       "      <td>0.005998</td>\n",
+       "      <td>-0.002676</td>\n",
+       "      <td>-0.000231</td>\n",
        "      <td>1.000000</td>\n",
-       "      <td>-0.000432</td>\n",
-       "      <td>-0.077331</td>\n",
-       "      <td>-0.005129</td>\n",
-       "      <td>0.000430</td>\n",
-       "      <td>0.999987</td>\n",
-       "      <td>4.806717</td>\n",
+       "      <td>-0.000369</td>\n",
+       "      <td>-0.099023</td>\n",
+       "      <td>-0.005998</td>\n",
+       "      <td>0.000367</td>\n",
+       "      <td>0.999982</td>\n",
+       "      <td>6.011686</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>...</th>\n",
@@ -157,116 +158,129 @@
        "      <td>...</td>\n",
        "    </tr>\n",
        "    <tr>\n",
+       "      <th>1095</th>\n",
+       "      <td>0.999674</td>\n",
+       "      <td>0.018486</td>\n",
+       "      <td>0.017636</td>\n",
+       "      <td>0.309588</td>\n",
+       "      <td>-0.018451</td>\n",
+       "      <td>0.999827</td>\n",
+       "      <td>-0.002142</td>\n",
+       "      <td>-4.813883</td>\n",
+       "      <td>-0.017673</td>\n",
+       "      <td>0.001816</td>\n",
+       "      <td>0.999842</td>\n",
+       "      <td>298.364136</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
        "      <th>1096</th>\n",
-       "      <td>0.999676</td>\n",
-       "      <td>0.018372</td>\n",
-       "      <td>0.017593</td>\n",
-       "      <td>0.315591</td>\n",
-       "      <td>-0.018334</td>\n",
-       "      <td>0.999829</td>\n",
-       "      <td>-0.002316</td>\n",
-       "      <td>-4.811160</td>\n",
-       "      <td>-0.017633</td>\n",
-       "      <td>0.001993</td>\n",
-       "      <td>0.999843</td>\n",
-       "      <td>298.391571</td>\n",
+       "      <td>0.999723</td>\n",
+       "      <td>0.017207</td>\n",
+       "      <td>0.016026</td>\n",
+       "      <td>0.323237</td>\n",
+       "      <td>-0.017197</td>\n",
+       "      <td>0.999852</td>\n",
+       "      <td>-0.000755</td>\n",
+       "      <td>-4.829275</td>\n",
+       "      <td>-0.016037</td>\n",
+       "      <td>0.000479</td>\n",
+       "      <td>0.999871</td>\n",
+       "      <td>299.153198</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1097</th>\n",
-       "      <td>0.999719</td>\n",
-       "      <td>0.017335</td>\n",
-       "      <td>0.016196</td>\n",
-       "      <td>0.324796</td>\n",
-       "      <td>-0.017322</td>\n",
-       "      <td>0.999850</td>\n",
-       "      <td>-0.000900</td>\n",
-       "      <td>-4.826771</td>\n",
-       "      <td>-0.016209</td>\n",
-       "      <td>0.000619</td>\n",
-       "      <td>0.999868</td>\n",
-       "      <td>299.177399</td>\n",
+       "      <td>0.999747</td>\n",
+       "      <td>0.017154</td>\n",
+       "      <td>0.014546</td>\n",
+       "      <td>0.331380</td>\n",
+       "      <td>-0.017158</td>\n",
+       "      <td>0.999853</td>\n",
+       "      <td>0.000127</td>\n",
+       "      <td>-4.843719</td>\n",
+       "      <td>-0.014542</td>\n",
+       "      <td>-0.000376</td>\n",
+       "      <td>0.999894</td>\n",
+       "      <td>299.964447</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1098</th>\n",
-       "      <td>0.999756</td>\n",
-       "      <td>0.016880</td>\n",
-       "      <td>0.014275</td>\n",
-       "      <td>0.339924</td>\n",
-       "      <td>-0.016880</td>\n",
-       "      <td>0.999858</td>\n",
-       "      <td>-0.000125</td>\n",
-       "      <td>-4.839842</td>\n",
-       "      <td>-0.014275</td>\n",
-       "      <td>-0.000116</td>\n",
-       "      <td>0.999898</td>\n",
-       "      <td>299.979767</td>\n",
+       "      <td>0.999805</td>\n",
+       "      <td>0.015107</td>\n",
+       "      <td>0.012714</td>\n",
+       "      <td>0.345279</td>\n",
+       "      <td>-0.015122</td>\n",
+       "      <td>0.999885</td>\n",
+       "      <td>0.001079</td>\n",
+       "      <td>-4.859191</td>\n",
+       "      <td>-0.012696</td>\n",
+       "      <td>-0.001271</td>\n",
+       "      <td>0.999919</td>\n",
+       "      <td>300.759399</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1099</th>\n",
-       "      <td>0.999804</td>\n",
-       "      <td>0.014992</td>\n",
-       "      <td>0.012966</td>\n",
-       "      <td>0.347605</td>\n",
-       "      <td>-0.015007</td>\n",
-       "      <td>0.999887</td>\n",
-       "      <td>0.001013</td>\n",
-       "      <td>-4.852088</td>\n",
-       "      <td>-0.012949</td>\n",
-       "      <td>-0.001207</td>\n",
-       "      <td>0.999915</td>\n",
-       "      <td>300.784546</td>\n",
-       "    </tr>\n",
-       "    <tr>\n",
-       "      <th>1100</th>\n",
-       "      <td>0.999858</td>\n",
-       "      <td>0.012979</td>\n",
-       "      <td>0.010749</td>\n",
-       "      <td>0.356986</td>\n",
-       "      <td>-0.013000</td>\n",
-       "      <td>0.999914</td>\n",
-       "      <td>0.001834</td>\n",
-       "      <td>-4.867191</td>\n",
-       "      <td>-0.010724</td>\n",
-       "      <td>-0.001974</td>\n",
-       "      <td>0.999941</td>\n",
-       "      <td>301.585327</td>\n",
+       "      <td>0.999848</td>\n",
+       "      <td>0.013595</td>\n",
+       "      <td>0.010893</td>\n",
+       "      <td>0.348502</td>\n",
+       "      <td>-0.013617</td>\n",
+       "      <td>0.999905</td>\n",
+       "      <td>0.001920</td>\n",
+       "      <td>-4.872813</td>\n",
+       "      <td>-0.010865</td>\n",
+       "      <td>-0.002068</td>\n",
+       "      <td>0.999939</td>\n",
+       "      <td>301.564575</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
        "</table>\n",
-       "<p>1101 rows × 12 columns</p>\n",
+       "<p>1100 rows × 12 columns</p>\n",
        "</div>"
       ],
       "text/plain": [
-       "      rwc(0,0)  rwc(0,1)  rwc(0,2)    twc(0)  rwc(1,0)  rwc(1,1)  rwc(1,2)  \\\n",
-       "0     1.000000 -0.000096 -0.000134  0.002967  0.000096  1.000000 -0.000257   \n",
-       "1     0.999998  0.000914  0.001881 -0.006111 -0.000911  0.999999 -0.001395   \n",
-       "2     0.999995  0.001234  0.002927 -0.004074 -0.001232  0.999999 -0.000782   \n",
-       "3     0.999991  0.000727  0.004202 -0.006533 -0.000725  1.000000 -0.000472   \n",
-       "4     0.999987  0.000512  0.005128 -0.006541 -0.000510  1.000000 -0.000432   \n",
-       "...        ...       ...       ...       ...       ...       ...       ...   \n",
-       "1096  0.999676  0.018372  0.017593  0.315591 -0.018334  0.999829 -0.002316   \n",
-       "1097  0.999719  0.017335  0.016196  0.324796 -0.017322  0.999850 -0.000900   \n",
-       "1098  0.999756  0.016880  0.014275  0.339924 -0.016880  0.999858 -0.000125   \n",
-       "1099  0.999804  0.014992  0.012966  0.347605 -0.015007  0.999887  0.001013   \n",
-       "1100  0.999858  0.012979  0.010749  0.356986 -0.013000  0.999914  0.001834   \n",
+       "      1.000000000  -0.000088794  -0.000174736  0.003704830  0.000088759  \\\n",
+       "0        0.999998      0.000921      0.001840    -0.005423    -0.000918   \n",
+       "1        0.999995      0.001285      0.002990    -0.005176    -0.001282   \n",
+       "2        0.999991      0.000746      0.004218    -0.006803    -0.000744   \n",
+       "3        0.999987      0.000619      0.005148    -0.005932    -0.000617   \n",
+       "4        0.999982      0.000233      0.005998    -0.002676    -0.000231   \n",
+       "...           ...           ...           ...          ...          ...   \n",
+       "1095     0.999674      0.018486      0.017636     0.309588    -0.018451   \n",
+       "1096     0.999723      0.017207      0.016026     0.323237    -0.017197   \n",
+       "1097     0.999747      0.017154      0.014546     0.331380    -0.017158   \n",
+       "1098     0.999805      0.015107      0.012714     0.345279    -0.015122   \n",
+       "1099     0.999848      0.013595      0.010893     0.348502    -0.013617   \n",
        "\n",
-       "        twc(1)  rwc(2,0)  rwc(2,1)  rwc(2,2)      twc(2)  \n",
-       "0     0.003075  0.000134  0.000257  1.000000   -0.002494  \n",
-       "1    -0.013490 -0.001882  0.001394  0.999997    1.208325  \n",
-       "2    -0.036465 -0.002928  0.000779  0.999995    2.407830  \n",
-       "3    -0.056512 -0.004202  0.000469  0.999991    3.606258  \n",
-       "4    -0.077331 -0.005129  0.000430  0.999987    4.806717  \n",
-       "...        ...       ...       ...       ...         ...  \n",
-       "1096 -4.811160 -0.017633  0.001993  0.999843  298.391571  \n",
-       "1097 -4.826771 -0.016209  0.000619  0.999868  299.177399  \n",
-       "1098 -4.839842 -0.014275 -0.000116  0.999898  299.979767  \n",
-       "1099 -4.852088 -0.012949 -0.001207  0.999915  300.784546  \n",
-       "1100 -4.867191 -0.010724 -0.001974  0.999941  301.585327  \n",
+       "      1.000000000.1  -0.000203440  0.003000986  0.000174754  0.000203424  \\\n",
+       "0          0.999999     -0.001342    -0.013499    -0.001841     0.001340   \n",
+       "1          0.999999     -0.000825    -0.035608    -0.002991     0.000821   \n",
+       "2          1.000000     -0.000477    -0.056003    -0.004219     0.000474   \n",
+       "3          1.000000     -0.000506    -0.076681    -0.005148     0.000503   \n",
+       "4          1.000000     -0.000369    -0.099023    -0.005998     0.000367   \n",
+       "...             ...           ...          ...          ...          ...   \n",
+       "1095       0.999827     -0.002142    -4.813883    -0.017673     0.001816   \n",
+       "1096       0.999852     -0.000755    -4.829275    -0.016037     0.000479   \n",
+       "1097       0.999853      0.000127    -4.843719    -0.014542    -0.000376   \n",
+       "1098       0.999885      0.001079    -4.859191    -0.012696    -0.001271   \n",
+       "1099       0.999905      0.001920    -4.872813    -0.010865    -0.002068   \n",
        "\n",
-       "[1101 rows x 12 columns]"
+       "      0.999999940  -0.002705306  \n",
+       "0        0.999997      1.208114  \n",
+       "1        0.999995      2.407335  \n",
+       "2        0.999991      3.605217  \n",
+       "3        0.999987      4.807625  \n",
+       "4        0.999982      6.011686  \n",
+       "...           ...           ...  \n",
+       "1095     0.999842    298.364136  \n",
+       "1096     0.999871    299.153198  \n",
+       "1097     0.999894    299.964447  \n",
+       "1098     0.999919    300.759399  \n",
+       "1099     0.999939    301.564575  \n",
+       "\n",
+       "[1100 rows x 12 columns]"
       ]
      },
-     "execution_count": 12,
+     "execution_count": 14,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -277,7 +291,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 15,
    "id": "77d852aa",
    "metadata": {},
    "outputs": [],
@@ -288,7 +302,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 16,
    "id": "2eb4a8c7",
    "metadata": {},
    "outputs": [
@@ -304,7 +318,7 @@
        "   'xyz coords': [1598.4821251839471, 294.28354659765137, -65.4766852385318]}]}"
       ]
      },
-     "execution_count": 14,
+     "execution_count": 16,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -315,8 +329,8 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
-   "id": "3f29fcb8",
+   "execution_count": 24,
+   "id": "b30e79c9",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -332,24 +346,28 @@
     "\n",
     "json_traj = {\"data\": [\n",
     "                ]\n",
-    "            }"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 16,
-   "id": "b30e79c9",
-   "metadata": {},
-   "outputs": [],
-   "source": [
+    "            }\n",
+    "\n",
     "# Fill the first line\n",
     "Twc = traj.loc[0]\n",
+    "# ---- Using SciPy ----\n",
     "Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n",
     "               [Twc[4], Twc[5], Twc[6]], \n",
     "               [Twc[8], Twc[9], Twc[10]]])\n",
-    "euler = Rot.as_euler('xyz', degrees=True)\n",
+    "# \"zxy\" axes in which the data was written.\n",
+    "euler = Rot.as_euler('zxy', degrees=True)\n",
+    "\n",
+    "\n",
+    "# ---- Using OpenCV ----\n",
+    "# mat = np.array([[Twc[0], Twc[1], Twc[2]], \n",
+    "#                [Twc[4], Twc[5], Twc[6]], \n",
+    "#                [Twc[8], Twc[9], Twc[10]]])\n",
+    "# euler, _ = cv.Rodrigues(mat)\n",
+    "# print(euler)\n",
+    "\n",
+    "\n",
     "# Coordinate system in ORB-SLAM3: ZXY. Coordinate system in UE4: XYZ \n",
-    "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n",
+    "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[0], -euler[1], -euler[2]], \n",
     "                             \"xyz_coords\":[-Twc[7], Twc[11], Twc[3]]},\n",
     "                             {\"cube_id\":0, \"euler_angles\":[0.0, 0.0, 0.0], \n",
     "                             \"xyz_coords\":[-33.81, 5.15, 0.82]},\n",
@@ -373,10 +391,11 @@
     "    Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n",
     "                   [Twc[4], Twc[5], Twc[6]], \n",
     "                   [Twc[8], Twc[9], Twc[10]]])\n",
-    "    euler = Rot.as_euler('xyz', degrees=True)\n",
+    "    # \"zxy\" axes in which the data was written.\n",
+    "    euler = Rot.as_euler('zxy', degrees=True)\n",
     "    entry = {\"frame\":i, \"poses\":\n",
     "                 [\n",
-    "                        {\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n",
+    "                        {\"camera_id\":0, \"euler_angles\":[-euler[0], -euler[1], -euler[2]], \n",
     "                        \"xyz_coords\":[Twc[7], Twc[11], Twc[3]]}\n",
     "                ]\n",
     "            }\n",
@@ -385,70 +404,604 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 23,
    "id": "e7426f0a",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "[{'frame': 0,\n",
+       "[{'frame': 300,\n",
        "  'poses': [{'camera_id': 0,\n",
-       "    'euler_angles': [0.007671722302035774,\n",
-       "     -0.005487577406769043,\n",
-       "     -0.014727885522586002],\n",
-       "    'xyz_coords': [-0.003075266, -0.002493523, 0.002967205]},\n",
-       "   {'cube_id': 0,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-33.81, 5.15, 0.82]},\n",
-       "   {'cube_id': 1,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-11.5, 0.7, 0.56]},\n",
-       "   {'cube_id': 2,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-95.0, 5.15, 0.8]},\n",
-       "   {'cube_id': 3,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-130.3, 4.6, 2.1]},\n",
-       "   {'cube_id': 4,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-346.5, 4.1, 5.9]},\n",
-       "   {'cube_id': 5,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-346.5, 25.7, 4.8]}]},\n",
-       " {'frame': 1,\n",
+       "    'euler_angles': [-0.88910850407191, 2.4591441886472722, 80.37741801769594],\n",
+       "    'xyz_coords': [-4.726807594, 301.43762207, -6.798690796]}]},\n",
+       " {'frame': 301,\n",
        "  'poses': [{'camera_id': 0,\n",
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-       "     -0.07984648626708363],\n",
-       "    'xyz_coords': [-0.013490011, 1.208325267, -0.006111192]}]},\n",
-       " {'frame': 2,\n",
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-       "    'xyz_coords': [-0.036465403, 2.407830477, -0.004074253]}]},\n",
-       " {'frame': 3,\n",
+       "    'euler_angles': [-1.0180581709390197,\n",
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+       "     87.84689637875711],\n",
+       "    'xyz_coords': [-4.704548836, 301.407470703, -7.62802124]}]},\n",
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        "  'poses': [{'camera_id': 0,\n",
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-       " {'frame': 4,\n",
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+       " {'frame': 304,\n",
        "  'poses': [{'camera_id': 0,\n",
-       "    'euler_angles': [-0.29384561979999074,\n",
-       "     0.02919373907146133,\n",
-       "     -0.02462359471720489],\n",
-       "    'xyz_coords': [-0.077330925, 4.806717396, -0.006540779]}]}]"
+       "    'euler_angles': [-1.2483647821382053,\n",
+       "     3.5282054825867815,\n",
+       "     95.51383269144806],\n",
+       "    'xyz_coords': [-4.676095963, 301.247314453, -8.476318359]}]},\n",
+       " {'frame': 305,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-1.3944193515192362,\n",
+       "     3.8252643707501646,\n",
+       "     99.37892243230165],\n",
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+       " {'frame': 306,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-1.6252226301653023,\n",
+       "     4.07476760408856,\n",
+       "     103.29682799509975],\n",
+       "    'xyz_coords': [-4.636759758, 300.98538208, -9.359649658]}]},\n",
+       " {'frame': 307,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-1.895529216479995,\n",
+       "     4.205610716493375,\n",
+       "     107.17038907787398],\n",
+       "    'xyz_coords': [-4.604392052, 300.812744141, -9.811004639]}]},\n",
+       " {'frame': 308,\n",
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+       " {'frame': 332,\n",
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+       " {'frame': 333,\n",
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+       " {'frame': 334,\n",
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+       " {'frame': 363,\n",
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+       " {'frame': 364,\n",
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+       " {'frame': 365,\n",
+       "  'poses': [{'camera_id': 0,\n",
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+       "     1.8466756784884633,\n",
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+       " {'frame': 366,\n",
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+       "    'euler_angles': [-3.04155898799163, 1.8267508136411397, 179.9827913350745],\n",
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+       " {'frame': 367,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1295470399937337,\n",
+       "     1.7302127928598974,\n",
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+       " {'frame': 368,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1957724823298244,\n",
+       "     1.6237891717950745,\n",
+       "     -179.93617446785066],\n",
+       "    'xyz_coords': [-3.057740211, 238.283950806, -16.901191711]}]},\n",
+       " {'frame': 369,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.2981600855575612,\n",
+       "     1.69469916299058,\n",
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+       "    'xyz_coords': [-3.039555311, 236.877319336, -16.896366119]}]},\n",
+       " {'frame': 370,\n",
+       "  'poses': [{'camera_id': 0,\n",
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+       "     1.8451011992633712,\n",
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+       "    'xyz_coords': [-3.012426138, 235.470108032, -16.880634308]}]},\n",
+       " {'frame': 371,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.2707046753367552,\n",
+       "     1.9013847319630055,\n",
+       "     -179.73429469646308],\n",
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+       " {'frame': 372,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1789366655366216,\n",
+       "     1.9340672546183582,\n",
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+       " {'frame': 373,\n",
+       "  'poses': [{'camera_id': 0,\n",
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+       " {'frame': 374,\n",
+       "  'poses': [{'camera_id': 0,\n",
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+       " {'frame': 375,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0036801082526705,\n",
+       "     1.7857902192882888,\n",
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+       " {'frame': 376,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0183910472121385,\n",
+       "     1.6704598641882262,\n",
+       "     -179.594671096647],\n",
+       "    'xyz_coords': [-2.861954689, 227.012237549, -16.796977997]}]},\n",
+       " {'frame': 377,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0864291073612358,\n",
+       "     1.7297329326047912,\n",
+       "     -179.57794871727472],\n",
+       "    'xyz_coords': [-2.848429203, 225.596588135, -16.786281586]}]},\n",
+       " {'frame': 378,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0790967357348276,\n",
+       "     1.773533025425639,\n",
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+       "    'xyz_coords': [-2.828167439, 224.175094604, -16.766901016]}]},\n",
+       " {'frame': 379,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.050839729147161,\n",
+       "     1.8114464519979965,\n",
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+       "    'xyz_coords': [-2.800728083, 222.733047485, -16.746273041]}]},\n",
+       " {'frame': 380,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0035783985991444,\n",
+       "     1.8848953661580772,\n",
+       "     -179.56399614320313],\n",
+       "    'xyz_coords': [-2.784346342, 221.302505493, -16.72195816]}]},\n",
+       " {'frame': 381,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0771637283075846,\n",
+       "     1.8473614368215372,\n",
+       "     -179.58099391056456],\n",
+       "    'xyz_coords': [-2.75673604, 219.85899353, -16.705783844]}]},\n",
+       " {'frame': 382,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0422919896551357,\n",
+       "     1.7733421101685622,\n",
+       "     -179.579230120223],\n",
+       "    'xyz_coords': [-2.728898048, 218.421051025, -16.684505463]}]},\n",
+       " {'frame': 383,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.16673568935943,\n",
+       "     1.8075873287730495,\n",
+       "     -179.54589320543218],\n",
+       "    'xyz_coords': [-2.708491802, 216.970916748, -16.671417236]}]},\n",
+       " {'frame': 384,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.195458906527444,\n",
+       "     1.9312694968116353,\n",
+       "     -179.54140109068337],\n",
+       "    'xyz_coords': [-2.687223673, 215.521942139, -16.653297424]}]},\n",
+       " {'frame': 385,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.220762780018301,\n",
+       "     1.8608463960627044,\n",
+       "     -179.53926771335975],\n",
+       "    'xyz_coords': [-2.660978317, 214.072937012, -16.63571167]}]},\n",
+       " {'frame': 386,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.2074211057239954,\n",
+       "     1.7185395250537594,\n",
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+       "    'xyz_coords': [-2.639802694, 212.618713379, -16.614379883]}]},\n",
+       " {'frame': 387,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.216999367702726,\n",
+       "     1.7355711386901986,\n",
+       "     -179.56367561448818],\n",
+       "    'xyz_coords': [-2.61591959, 211.154800415, -16.598270416]}]},\n",
+       " {'frame': 388,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1930913887795507,\n",
+       "     1.7256498620364127,\n",
+       "     -179.5558431722488],\n",
+       "    'xyz_coords': [-2.601182222, 209.684906006, -16.582042694]}]},\n",
+       " {'frame': 389,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1868768027737677,\n",
+       "     1.639683646350878,\n",
+       "     -179.56407156173285],\n",
+       "    'xyz_coords': [-2.57765007, 208.228973389, -16.562082291]}]},\n",
+       " {'frame': 390,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1263388271258927,\n",
+       "     1.723627893751499,\n",
+       "     -179.54794233563123],\n",
+       "    'xyz_coords': [-2.555302858, 206.760681152, -16.544754028]}]},\n",
+       " {'frame': 391,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.078237775897662,\n",
+       "     1.8294545526730455,\n",
+       "     -179.5596114902977],\n",
+       "    'xyz_coords': [-2.533575535, 205.28314209, -16.521953583]}]},\n",
+       " {'frame': 392,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0238827362322227,\n",
+       "     1.835506201764444,\n",
+       "     -179.55914947264662],\n",
+       "    'xyz_coords': [-2.508204937, 203.806381226, -16.496244431]}]},\n",
+       " {'frame': 393,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0838118926527187,\n",
+       "     1.785753740132584,\n",
+       "     -179.54746539777227],\n",
+       "    'xyz_coords': [-2.488462925, 202.318557739, -16.481742859]}]},\n",
+       " {'frame': 394,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.0851195711853046,\n",
+       "     1.7808260813959795,\n",
+       "     -179.545634704041],\n",
+       "    'xyz_coords': [-2.465270996, 200.845108032, -16.462884903]}]},\n",
+       " {'frame': 395,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1344294649994167,\n",
+       "     1.88001781024324,\n",
+       "     -179.56864550021783],\n",
+       "    'xyz_coords': [-2.446104288, 199.37286377, -16.448390961]}]},\n",
+       " {'frame': 396,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.1221836161758083,\n",
+       "     2.035542389299365,\n",
+       "     -179.61367801315038],\n",
+       "    'xyz_coords': [-2.424544096, 197.889984131, -16.428527832]}]},\n",
+       " {'frame': 397,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-3.046007500095521,\n",
+       "     2.059107249386814,\n",
+       "     -179.6853840612038],\n",
+       "    'xyz_coords': [-2.399994612, 196.441604614, -16.409934998]}]},\n",
+       " {'frame': 398,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-2.999390812693269, 2.0454763891517165, -179.73245683146],\n",
+       "    'xyz_coords': [-2.372132778, 194.966171265, -16.398878098]}]},\n",
+       " {'frame': 399,\n",
+       "  'poses': [{'camera_id': 0,\n",
+       "    'euler_angles': [-2.9739802615108935,\n",
+       "     2.092353575494336,\n",
+       "     -179.78260116458497],\n",
+       "    'xyz_coords': [-2.349857807, 193.513824463, -16.387588501]}]}]"
       ]
      },
-     "execution_count": 17,
+     "execution_count": 23,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
-    "json_traj[\"data\"][:5]"
+    "json_traj[\"data\"][300:400]"
    ]
   },
   {
diff --git a/cameraTraj_UE4_format.json b/cameraTraj_UE4_format.json
index e01a301..5b57fd5 100644
--- a/cameraTraj_UE4_format.json
+++ b/cameraTraj_UE4_format.json
@@ -6,14 +6,14 @@
         {
           "camera_id": 0,
           "euler_angles": [
-            0.007671722302035774,
-            -0.005487577406769043,
-            -0.014727885522586002
+            0.05261276876069949,
+            -0.07687314961056652,
+            -0.10541745829216746
           ],
           "xyz_coords": [
-            -0.003075266,
-            -0.002493523,
-            0.002967205
+            0.013499299,
+            1.208114028,
+            -0.005423159
           ]
         },
         {
@@ -102,14 +102,14 @@
         {
           "camera_id": 0,
           "euler_angles": [
-            -0.10783204884531329,
-            0.05220453371332025,
-            -0.07984648626708363
+            0.07346384017557031,
+            -0.0472554491588306,
+            -0.17131772930429318
           ],
           "xyz_coords": [
-            -0.013490011,
-            1.208325267,
-            -0.006111192
+            -0.035608478,
+            2.407334805,
+            -0.005176307
           ]
         }
       ]
@@ -120,14 +120,14 @@
         {
           "camera_id": 0,
           "euler_angles": [
-            -0.16774521663570027,
-            0.07056213422363951,
-            -0.04462317100084628
+            0.04264054207543731,
+            -0.02731658681444654,
+            -0.24169244529461328
           ],
           "xyz_coords": [
-            -0.036465403,
-            2.407830477,
-            -0.004074253
+            -0.05600277,
+            3.605217218,
+            -0.006803132
           ]
         }
       ]
@@ -138,14 +138,14 @@
         {
           "camera_id": 0,
           "euler_angles": [
-            -0.24075229907512063,
-            0.04155419931766713,
-            -0.026881656776181453
+            0.035333285286543,
+            -0.028992339845531876,
+            -0.29496529116778025
           ],
           "xyz_coords": [
-            -0.056511778,
-            3.606258154,
-            -0.006532952
+            -0.076680847,
+            4.807625294,
+            -0.005932052
           ]
         }
       ]
@@ -156,14 +156,14 @@
         {
           "camera_id": 0,
           "euler_angles": [
-            -0.29384561979999074,
-            0.02919373907146133,
-            -0.02462359471720489
+            0.0132341810297534,
+            -0.0211320020233763,
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@@ -19416,14 +19416,14 @@
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@@ -19434,14 +19434,14 @@
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@@ -19452,14 +19452,14 @@
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@@ -19470,14 +19470,14 @@
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@@ -19488,14 +19488,14 @@
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@@ -19506,14 +19506,14 @@
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@@ -19524,14 +19524,14 @@
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@@ -19542,14 +19542,14 @@
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@@ -19560,14 +19560,14 @@
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@@ -19578,14 +19578,14 @@
         {
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@@ -19596,14 +19596,14 @@
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@@ -19614,14 +19614,14 @@
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@@ -19668,14 +19668,14 @@
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@@ -19686,14 +19686,14 @@
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@@ -19704,14 +19704,14 @@
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@@ -19722,14 +19722,14 @@
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@@ -19740,14 +19740,14 @@
         {
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@@ -19758,14 +19758,14 @@
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@@ -19776,14 +19776,14 @@
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@@ -19794,14 +19794,14 @@
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@@ -19812,14 +19812,14 @@
         {
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@@ -19830,14 +19830,14 @@
         {
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@@ -19848,14 +19848,14 @@
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@@ -19866,32 +19866,14 @@
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diff --git a/txt2jsonTraj.ipynb b/txt2jsonTraj.ipynb
index 85e8196..54bc20e 100644
--- a/txt2jsonTraj.ipynb
+++ b/txt2jsonTraj.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 12,
    "id": "805fb727",
    "metadata": {},
    "outputs": [],
@@ -10,12 +10,13 @@
     "import json\n",
     "import pandas as pd\n",
     "import numpy as np\n",
+    "import cv2 as cv\n",
     "from scipy.spatial.transform import Rotation as R"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 13,
    "id": "456ca3a7",
    "metadata": {},
    "outputs": [],
@@ -26,7 +27,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 14,
    "id": "95b5c6ad",
    "metadata": {},
    "outputs": [
@@ -51,95 +52,95 @@
        "  <thead>\n",
        "    <tr style=\"text-align: right;\">\n",
        "      <th></th>\n",
-       "      <th>rwc(0,0)</th>\n",
-       "      <th>rwc(0,1)</th>\n",
-       "      <th>rwc(0,2)</th>\n",
-       "      <th>twc(0)</th>\n",
-       "      <th>rwc(1,0)</th>\n",
-       "      <th>rwc(1,1)</th>\n",
-       "      <th>rwc(1,2)</th>\n",
-       "      <th>twc(1)</th>\n",
-       "      <th>rwc(2,0)</th>\n",
-       "      <th>rwc(2,1)</th>\n",
-       "      <th>rwc(2,2)</th>\n",
-       "      <th>twc(2)</th>\n",
+       "      <th>1.000000000</th>\n",
+       "      <th>-0.000088794</th>\n",
+       "      <th>-0.000174736</th>\n",
+       "      <th>0.003704830</th>\n",
+       "      <th>0.000088759</th>\n",
+       "      <th>1.000000000.1</th>\n",
+       "      <th>-0.000203440</th>\n",
+       "      <th>0.003000986</th>\n",
+       "      <th>0.000174754</th>\n",
+       "      <th>0.000203424</th>\n",
+       "      <th>0.999999940</th>\n",
+       "      <th>-0.002705306</th>\n",
        "    </tr>\n",
        "  </thead>\n",
        "  <tbody>\n",
        "    <tr>\n",
        "      <th>0</th>\n",
-       "      <td>1.000000</td>\n",
-       "      <td>-0.000096</td>\n",
-       "      <td>-0.000134</td>\n",
-       "      <td>0.002967</td>\n",
-       "      <td>0.000096</td>\n",
-       "      <td>1.000000</td>\n",
-       "      <td>-0.000257</td>\n",
-       "      <td>0.003075</td>\n",
-       "      <td>0.000134</td>\n",
-       "      <td>0.000257</td>\n",
-       "      <td>1.000000</td>\n",
-       "      <td>-0.002494</td>\n",
+       "      <td>0.999998</td>\n",
+       "      <td>0.000921</td>\n",
+       "      <td>0.001840</td>\n",
+       "      <td>-0.005423</td>\n",
+       "      <td>-0.000918</td>\n",
+       "      <td>0.999999</td>\n",
+       "      <td>-0.001342</td>\n",
+       "      <td>-0.013499</td>\n",
+       "      <td>-0.001841</td>\n",
+       "      <td>0.001340</td>\n",
+       "      <td>0.999997</td>\n",
+       "      <td>1.208114</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1</th>\n",
-       "      <td>0.999998</td>\n",
-       "      <td>0.000914</td>\n",
-       "      <td>0.001881</td>\n",
-       "      <td>-0.006111</td>\n",
-       "      <td>-0.000911</td>\n",
+       "      <td>0.999995</td>\n",
+       "      <td>0.001285</td>\n",
+       "      <td>0.002990</td>\n",
+       "      <td>-0.005176</td>\n",
+       "      <td>-0.001282</td>\n",
        "      <td>0.999999</td>\n",
-       "      <td>-0.001395</td>\n",
-       "      <td>-0.013490</td>\n",
-       "      <td>-0.001882</td>\n",
-       "      <td>0.001394</td>\n",
-       "      <td>0.999997</td>\n",
-       "      <td>1.208325</td>\n",
+       "      <td>-0.000825</td>\n",
+       "      <td>-0.035608</td>\n",
+       "      <td>-0.002991</td>\n",
+       "      <td>0.000821</td>\n",
+       "      <td>0.999995</td>\n",
+       "      <td>2.407335</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>2</th>\n",
-       "      <td>0.999995</td>\n",
-       "      <td>0.001234</td>\n",
-       "      <td>0.002927</td>\n",
-       "      <td>-0.004074</td>\n",
-       "      <td>-0.001232</td>\n",
-       "      <td>0.999999</td>\n",
-       "      <td>-0.000782</td>\n",
-       "      <td>-0.036465</td>\n",
-       "      <td>-0.002928</td>\n",
-       "      <td>0.000779</td>\n",
-       "      <td>0.999995</td>\n",
-       "      <td>2.407830</td>\n",
+       "      <td>0.999991</td>\n",
+       "      <td>0.000746</td>\n",
+       "      <td>0.004218</td>\n",
+       "      <td>-0.006803</td>\n",
+       "      <td>-0.000744</td>\n",
+       "      <td>1.000000</td>\n",
+       "      <td>-0.000477</td>\n",
+       "      <td>-0.056003</td>\n",
+       "      <td>-0.004219</td>\n",
+       "      <td>0.000474</td>\n",
+       "      <td>0.999991</td>\n",
+       "      <td>3.605217</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>3</th>\n",
-       "      <td>0.999991</td>\n",
-       "      <td>0.000727</td>\n",
-       "      <td>0.004202</td>\n",
-       "      <td>-0.006533</td>\n",
-       "      <td>-0.000725</td>\n",
+       "      <td>0.999987</td>\n",
+       "      <td>0.000619</td>\n",
+       "      <td>0.005148</td>\n",
+       "      <td>-0.005932</td>\n",
+       "      <td>-0.000617</td>\n",
        "      <td>1.000000</td>\n",
-       "      <td>-0.000472</td>\n",
-       "      <td>-0.056512</td>\n",
-       "      <td>-0.004202</td>\n",
-       "      <td>0.000469</td>\n",
-       "      <td>0.999991</td>\n",
-       "      <td>3.606258</td>\n",
+       "      <td>-0.000506</td>\n",
+       "      <td>-0.076681</td>\n",
+       "      <td>-0.005148</td>\n",
+       "      <td>0.000503</td>\n",
+       "      <td>0.999987</td>\n",
+       "      <td>4.807625</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>4</th>\n",
-       "      <td>0.999987</td>\n",
-       "      <td>0.000512</td>\n",
-       "      <td>0.005128</td>\n",
-       "      <td>-0.006541</td>\n",
-       "      <td>-0.000510</td>\n",
+       "      <td>0.999982</td>\n",
+       "      <td>0.000233</td>\n",
+       "      <td>0.005998</td>\n",
+       "      <td>-0.002676</td>\n",
+       "      <td>-0.000231</td>\n",
        "      <td>1.000000</td>\n",
-       "      <td>-0.000432</td>\n",
-       "      <td>-0.077331</td>\n",
-       "      <td>-0.005129</td>\n",
-       "      <td>0.000430</td>\n",
-       "      <td>0.999987</td>\n",
-       "      <td>4.806717</td>\n",
+       "      <td>-0.000369</td>\n",
+       "      <td>-0.099023</td>\n",
+       "      <td>-0.005998</td>\n",
+       "      <td>0.000367</td>\n",
+       "      <td>0.999982</td>\n",
+       "      <td>6.011686</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>...</th>\n",
@@ -157,116 +158,129 @@
        "      <td>...</td>\n",
        "    </tr>\n",
        "    <tr>\n",
+       "      <th>1095</th>\n",
+       "      <td>0.999674</td>\n",
+       "      <td>0.018486</td>\n",
+       "      <td>0.017636</td>\n",
+       "      <td>0.309588</td>\n",
+       "      <td>-0.018451</td>\n",
+       "      <td>0.999827</td>\n",
+       "      <td>-0.002142</td>\n",
+       "      <td>-4.813883</td>\n",
+       "      <td>-0.017673</td>\n",
+       "      <td>0.001816</td>\n",
+       "      <td>0.999842</td>\n",
+       "      <td>298.364136</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
        "      <th>1096</th>\n",
-       "      <td>0.999676</td>\n",
-       "      <td>0.018372</td>\n",
-       "      <td>0.017593</td>\n",
-       "      <td>0.315591</td>\n",
-       "      <td>-0.018334</td>\n",
-       "      <td>0.999829</td>\n",
-       "      <td>-0.002316</td>\n",
-       "      <td>-4.811160</td>\n",
-       "      <td>-0.017633</td>\n",
-       "      <td>0.001993</td>\n",
-       "      <td>0.999843</td>\n",
-       "      <td>298.391571</td>\n",
+       "      <td>0.999723</td>\n",
+       "      <td>0.017207</td>\n",
+       "      <td>0.016026</td>\n",
+       "      <td>0.323237</td>\n",
+       "      <td>-0.017197</td>\n",
+       "      <td>0.999852</td>\n",
+       "      <td>-0.000755</td>\n",
+       "      <td>-4.829275</td>\n",
+       "      <td>-0.016037</td>\n",
+       "      <td>0.000479</td>\n",
+       "      <td>0.999871</td>\n",
+       "      <td>299.153198</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1097</th>\n",
-       "      <td>0.999719</td>\n",
-       "      <td>0.017335</td>\n",
-       "      <td>0.016196</td>\n",
-       "      <td>0.324796</td>\n",
-       "      <td>-0.017322</td>\n",
-       "      <td>0.999850</td>\n",
-       "      <td>-0.000900</td>\n",
-       "      <td>-4.826771</td>\n",
-       "      <td>-0.016209</td>\n",
-       "      <td>0.000619</td>\n",
-       "      <td>0.999868</td>\n",
-       "      <td>299.177399</td>\n",
+       "      <td>0.999747</td>\n",
+       "      <td>0.017154</td>\n",
+       "      <td>0.014546</td>\n",
+       "      <td>0.331380</td>\n",
+       "      <td>-0.017158</td>\n",
+       "      <td>0.999853</td>\n",
+       "      <td>0.000127</td>\n",
+       "      <td>-4.843719</td>\n",
+       "      <td>-0.014542</td>\n",
+       "      <td>-0.000376</td>\n",
+       "      <td>0.999894</td>\n",
+       "      <td>299.964447</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1098</th>\n",
-       "      <td>0.999756</td>\n",
-       "      <td>0.016880</td>\n",
-       "      <td>0.014275</td>\n",
-       "      <td>0.339924</td>\n",
-       "      <td>-0.016880</td>\n",
-       "      <td>0.999858</td>\n",
-       "      <td>-0.000125</td>\n",
-       "      <td>-4.839842</td>\n",
-       "      <td>-0.014275</td>\n",
-       "      <td>-0.000116</td>\n",
-       "      <td>0.999898</td>\n",
-       "      <td>299.979767</td>\n",
+       "      <td>0.999805</td>\n",
+       "      <td>0.015107</td>\n",
+       "      <td>0.012714</td>\n",
+       "      <td>0.345279</td>\n",
+       "      <td>-0.015122</td>\n",
+       "      <td>0.999885</td>\n",
+       "      <td>0.001079</td>\n",
+       "      <td>-4.859191</td>\n",
+       "      <td>-0.012696</td>\n",
+       "      <td>-0.001271</td>\n",
+       "      <td>0.999919</td>\n",
+       "      <td>300.759399</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>1099</th>\n",
-       "      <td>0.999804</td>\n",
-       "      <td>0.014992</td>\n",
-       "      <td>0.012966</td>\n",
-       "      <td>0.347605</td>\n",
-       "      <td>-0.015007</td>\n",
-       "      <td>0.999887</td>\n",
-       "      <td>0.001013</td>\n",
-       "      <td>-4.852088</td>\n",
-       "      <td>-0.012949</td>\n",
-       "      <td>-0.001207</td>\n",
-       "      <td>0.999915</td>\n",
-       "      <td>300.784546</td>\n",
-       "    </tr>\n",
-       "    <tr>\n",
-       "      <th>1100</th>\n",
-       "      <td>0.999858</td>\n",
-       "      <td>0.012979</td>\n",
-       "      <td>0.010749</td>\n",
-       "      <td>0.356986</td>\n",
-       "      <td>-0.013000</td>\n",
-       "      <td>0.999914</td>\n",
-       "      <td>0.001834</td>\n",
-       "      <td>-4.867191</td>\n",
-       "      <td>-0.010724</td>\n",
-       "      <td>-0.001974</td>\n",
-       "      <td>0.999941</td>\n",
-       "      <td>301.585327</td>\n",
+       "      <td>0.999848</td>\n",
+       "      <td>0.013595</td>\n",
+       "      <td>0.010893</td>\n",
+       "      <td>0.348502</td>\n",
+       "      <td>-0.013617</td>\n",
+       "      <td>0.999905</td>\n",
+       "      <td>0.001920</td>\n",
+       "      <td>-4.872813</td>\n",
+       "      <td>-0.010865</td>\n",
+       "      <td>-0.002068</td>\n",
+       "      <td>0.999939</td>\n",
+       "      <td>301.564575</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
        "</table>\n",
-       "<p>1101 rows × 12 columns</p>\n",
+       "<p>1100 rows × 12 columns</p>\n",
        "</div>"
       ],
       "text/plain": [
-       "      rwc(0,0)  rwc(0,1)  rwc(0,2)    twc(0)  rwc(1,0)  rwc(1,1)  rwc(1,2)  \\\n",
-       "0     1.000000 -0.000096 -0.000134  0.002967  0.000096  1.000000 -0.000257   \n",
-       "1     0.999998  0.000914  0.001881 -0.006111 -0.000911  0.999999 -0.001395   \n",
-       "2     0.999995  0.001234  0.002927 -0.004074 -0.001232  0.999999 -0.000782   \n",
-       "3     0.999991  0.000727  0.004202 -0.006533 -0.000725  1.000000 -0.000472   \n",
-       "4     0.999987  0.000512  0.005128 -0.006541 -0.000510  1.000000 -0.000432   \n",
-       "...        ...       ...       ...       ...       ...       ...       ...   \n",
-       "1096  0.999676  0.018372  0.017593  0.315591 -0.018334  0.999829 -0.002316   \n",
-       "1097  0.999719  0.017335  0.016196  0.324796 -0.017322  0.999850 -0.000900   \n",
-       "1098  0.999756  0.016880  0.014275  0.339924 -0.016880  0.999858 -0.000125   \n",
-       "1099  0.999804  0.014992  0.012966  0.347605 -0.015007  0.999887  0.001013   \n",
-       "1100  0.999858  0.012979  0.010749  0.356986 -0.013000  0.999914  0.001834   \n",
+       "      1.000000000  -0.000088794  -0.000174736  0.003704830  0.000088759  \\\n",
+       "0        0.999998      0.000921      0.001840    -0.005423    -0.000918   \n",
+       "1        0.999995      0.001285      0.002990    -0.005176    -0.001282   \n",
+       "2        0.999991      0.000746      0.004218    -0.006803    -0.000744   \n",
+       "3        0.999987      0.000619      0.005148    -0.005932    -0.000617   \n",
+       "4        0.999982      0.000233      0.005998    -0.002676    -0.000231   \n",
+       "...           ...           ...           ...          ...          ...   \n",
+       "1095     0.999674      0.018486      0.017636     0.309588    -0.018451   \n",
+       "1096     0.999723      0.017207      0.016026     0.323237    -0.017197   \n",
+       "1097     0.999747      0.017154      0.014546     0.331380    -0.017158   \n",
+       "1098     0.999805      0.015107      0.012714     0.345279    -0.015122   \n",
+       "1099     0.999848      0.013595      0.010893     0.348502    -0.013617   \n",
        "\n",
-       "        twc(1)  rwc(2,0)  rwc(2,1)  rwc(2,2)      twc(2)  \n",
-       "0     0.003075  0.000134  0.000257  1.000000   -0.002494  \n",
-       "1    -0.013490 -0.001882  0.001394  0.999997    1.208325  \n",
-       "2    -0.036465 -0.002928  0.000779  0.999995    2.407830  \n",
-       "3    -0.056512 -0.004202  0.000469  0.999991    3.606258  \n",
-       "4    -0.077331 -0.005129  0.000430  0.999987    4.806717  \n",
-       "...        ...       ...       ...       ...         ...  \n",
-       "1096 -4.811160 -0.017633  0.001993  0.999843  298.391571  \n",
-       "1097 -4.826771 -0.016209  0.000619  0.999868  299.177399  \n",
-       "1098 -4.839842 -0.014275 -0.000116  0.999898  299.979767  \n",
-       "1099 -4.852088 -0.012949 -0.001207  0.999915  300.784546  \n",
-       "1100 -4.867191 -0.010724 -0.001974  0.999941  301.585327  \n",
+       "      1.000000000.1  -0.000203440  0.003000986  0.000174754  0.000203424  \\\n",
+       "0          0.999999     -0.001342    -0.013499    -0.001841     0.001340   \n",
+       "1          0.999999     -0.000825    -0.035608    -0.002991     0.000821   \n",
+       "2          1.000000     -0.000477    -0.056003    -0.004219     0.000474   \n",
+       "3          1.000000     -0.000506    -0.076681    -0.005148     0.000503   \n",
+       "4          1.000000     -0.000369    -0.099023    -0.005998     0.000367   \n",
+       "...             ...           ...          ...          ...          ...   \n",
+       "1095       0.999827     -0.002142    -4.813883    -0.017673     0.001816   \n",
+       "1096       0.999852     -0.000755    -4.829275    -0.016037     0.000479   \n",
+       "1097       0.999853      0.000127    -4.843719    -0.014542    -0.000376   \n",
+       "1098       0.999885      0.001079    -4.859191    -0.012696    -0.001271   \n",
+       "1099       0.999905      0.001920    -4.872813    -0.010865    -0.002068   \n",
        "\n",
-       "[1101 rows x 12 columns]"
+       "      0.999999940  -0.002705306  \n",
+       "0        0.999997      1.208114  \n",
+       "1        0.999995      2.407335  \n",
+       "2        0.999991      3.605217  \n",
+       "3        0.999987      4.807625  \n",
+       "4        0.999982      6.011686  \n",
+       "...           ...           ...  \n",
+       "1095     0.999842    298.364136  \n",
+       "1096     0.999871    299.153198  \n",
+       "1097     0.999894    299.964447  \n",
+       "1098     0.999919    300.759399  \n",
+       "1099     0.999939    301.564575  \n",
+       "\n",
+       "[1100 rows x 12 columns]"
       ]
      },
-     "execution_count": 12,
+     "execution_count": 14,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -277,7 +291,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 15,
    "id": "77d852aa",
    "metadata": {},
    "outputs": [],
@@ -288,7 +302,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 16,
    "id": "2eb4a8c7",
    "metadata": {},
    "outputs": [
@@ -304,7 +318,7 @@
        "   'xyz coords': [1598.4821251839471, 294.28354659765137, -65.4766852385318]}]}"
       ]
      },
-     "execution_count": 14,
+     "execution_count": 16,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -315,8 +329,8 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
-   "id": "3f29fcb8",
+   "execution_count": 24,
+   "id": "b30e79c9",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -332,24 +346,28 @@
     "\n",
     "json_traj = {\"data\": [\n",
     "                ]\n",
-    "            }"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 16,
-   "id": "b30e79c9",
-   "metadata": {},
-   "outputs": [],
-   "source": [
+    "            }\n",
+    "\n",
     "# Fill the first line\n",
     "Twc = traj.loc[0]\n",
+    "# ---- Using SciPy ----\n",
     "Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n",
     "               [Twc[4], Twc[5], Twc[6]], \n",
     "               [Twc[8], Twc[9], Twc[10]]])\n",
-    "euler = Rot.as_euler('xyz', degrees=True)\n",
+    "# \"zxy\" axes in which the data was written.\n",
+    "euler = Rot.as_euler('zxy', degrees=True)\n",
+    "\n",
+    "\n",
+    "# ---- Using OpenCV ----\n",
+    "# mat = np.array([[Twc[0], Twc[1], Twc[2]], \n",
+    "#                [Twc[4], Twc[5], Twc[6]], \n",
+    "#                [Twc[8], Twc[9], Twc[10]]])\n",
+    "# euler, _ = cv.Rodrigues(mat)\n",
+    "# print(euler)\n",
+    "\n",
+    "\n",
     "# Coordinate system in ORB-SLAM3: ZXY. Coordinate system in UE4: XYZ \n",
-    "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n",
+    "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[0], -euler[1], -euler[2]], \n",
     "                             \"xyz_coords\":[-Twc[7], Twc[11], Twc[3]]},\n",
     "                             {\"cube_id\":0, \"euler_angles\":[0.0, 0.0, 0.0], \n",
     "                             \"xyz_coords\":[-33.81, 5.15, 0.82]},\n",
@@ -373,10 +391,11 @@
     "    Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n",
     "                   [Twc[4], Twc[5], Twc[6]], \n",
     "                   [Twc[8], Twc[9], Twc[10]]])\n",
-    "    euler = Rot.as_euler('xyz', degrees=True)\n",
+    "    # \"zxy\" axes in which the data was written.\n",
+    "    euler = Rot.as_euler('zxy', degrees=True)\n",
     "    entry = {\"frame\":i, \"poses\":\n",
     "                 [\n",
-    "                        {\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n",
+    "                        {\"camera_id\":0, \"euler_angles\":[-euler[0], -euler[1], -euler[2]], \n",
     "                        \"xyz_coords\":[Twc[7], Twc[11], Twc[3]]}\n",
     "                ]\n",
     "            }\n",
@@ -385,70 +404,604 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 23,
    "id": "e7426f0a",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "[{'frame': 0,\n",
+       "[{'frame': 300,\n",
        "  'poses': [{'camera_id': 0,\n",
-       "    'euler_angles': [0.007671722302035774,\n",
-       "     -0.005487577406769043,\n",
-       "     -0.014727885522586002],\n",
-       "    'xyz_coords': [-0.003075266, -0.002493523, 0.002967205]},\n",
-       "   {'cube_id': 0,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-33.81, 5.15, 0.82]},\n",
-       "   {'cube_id': 1,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-11.5, 0.7, 0.56]},\n",
-       "   {'cube_id': 2,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-95.0, 5.15, 0.8]},\n",
-       "   {'cube_id': 3,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-130.3, 4.6, 2.1]},\n",
-       "   {'cube_id': 4,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-346.5, 4.1, 5.9]},\n",
-       "   {'cube_id': 5,\n",
-       "    'euler_angles': [0.0, 0.0, 0.0],\n",
-       "    'xyz_coords': [-346.5, 25.7, 4.8]}]},\n",
-       " {'frame': 1,\n",
+       "    'euler_angles': [-0.88910850407191, 2.4591441886472722, 80.37741801769594],\n",
+       "    'xyz_coords': [-4.726807594, 301.43762207, -6.798690796]}]},\n",
+       " {'frame': 301,\n",
        "  'poses': [{'camera_id': 0,\n",
-       "    'euler_angles': [-0.10783204884531329,\n",
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      },
-     "execution_count": 17,
+     "execution_count": 23,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
-    "json_traj[\"data\"][:5]"
+    "json_traj[\"data\"][300:400]"
    ]
   },
   {