Transform pairs

%YAML:1.0 --- frameCount: 82 T1_0: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ -5.4273425480902260e-01, 2.0218502550528294e-01, 8.1520595196448542e-01, 1.2259708256907098e-01, -7.5258208213086097e-01, 3.1386564164208630e-01, -5.7888562657245135e-01, -1.6301460492863867e-01, -3.7290714435697364e-01, -9.2769045185235655e-01, -1.8184807656326463e-02, 7.4753230032448736e-01, 0., 0., 0., 1. ] T2_0: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ 9.0935091156135361e-01, -3.5159747687569315e-01, -2.2239634416325668e-01, -3.3597552479418716e-02, 3.4223305483701988e-01, 9.3614718218405968e-01, -8.0653514900259710e-02, 1.4790670914031545e-01, 2.3655328325655653e-01, -2.7690329523981580e-03, 9.7161457205882407e-01, 1.2313431006014315e+00, 0., 0., 0., 1. ] T1_1: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ -4.5137149117548248e-01, -5.2740248180040161e-01, 7.1979886019970740e-01, -4.6240986732517479e-03, -6.3333470021882154e-01, -3.7890063601744406e-01, -6.7477512218835645e-01, 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d data: [ -7.8443716539774178e-01, 1.5799196118297221e-01, 5.9974734159003473e-01, 5.3554898010311713e-01, -5.7864071307190756e-01, 1.6162416401716306e-01, -7.9940762742257321e-01, 1.5861521085547101e-01, -2.2323364154712438e-01, -9.7412328265333614e-01, -3.5363420002858970e-02, 4.1422362401876189e-01, 0., 0., 0., 1. ] T2_4: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ 9.7741337043923904e-01, -2.0600421447791850e-01, 4.7173794673979183e-02, -9.7957629767760589e-03, 2.1032673902705740e-01, 9.6999407665802684e-01, -1.2195964126950390e-01, -2.2112038620346655e-01, -2.0634101309508903e-02, 1.2912689443209632e-01, 9.9141337442939070e-01, 1.1966019354375756e+00, 0., 0., 0., 1. ] T1_5: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ -7.8440344648075522e-01, 1.5804076944912993e-01, 5.9977858276287210e-01, 5.3553239365864269e-01, -5.7864994370549805e-01, 1.6171490986349657e-01, -7.9938259336657114e-01, -3.0617180884697948e-01, -2.2332817958944737e-01, -9.7410030444496221e-01, 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!!opencv-matrix rows: 4 cols: 4 dt: d data: [ 9.9861226196455477e-01, 2.1287698437957421e-02, -4.8170365882459015e-02, -2.4921752916122850e-01, -3.4633582831475808e-02, 9.5450978361395467e-01, -2.9616142207501750e-01, -1.5391684280801712e-01, 3.9674490472981383e-02, 2.9741873996178514e-01, 9.5392244334917153e-01, 6.6237573548462492e-01, 0., 0., 0., 1. ] T1_10: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ -5.1716414118177823e-01, 8.2570899323335334e-02, 8.5189394742576363e-01, 4.4230333086085746e-02, -7.9487073301174416e-01, 3.2273927818788306e-01, -5.1382864470184719e-01, -6.2638696492962975e-01, -3.1736693097593949e-01, -9.4287931619041254e-01, -1.0127599035908519e-01, 3.5877417983010351e-01, 0., 0., 0., 1. ] T2_10: !!opencv-matrix rows: 4 cols: 4 dt: d data: [ 9.2661934080530928e-01, -2.7323415940074758e-01, -2.5830155125763576e-01, -4.9457526536364205e-01, 2.7471635787797166e-01, 9.6102301831090942e-01, -3.1075408136527007e-02, -2.1738125503397293e-01, 2.5672459944422232e-01, 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