diff --git a/.gitattributes b/.gitattributes index 20f469f50a6ed6b64b7872737478a463fea8c9f8..7f6e8605bf90c483834593d6c64ff44c6c7eb24a 100644 --- a/.gitattributes +++ b/.gitattributes @@ -849,3 +849,42 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 2024-11-14-14-36-02/splats/faba1c90/mesh.ply filter=lfs diff=lfs merge=lfs -text 2024-11-14-14-36-02/splats/faba1c90/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text 2024-11-14-14-36-02/splats/faba1c90/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/09835e69/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/09835e69/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/09835e69/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/42262d78/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/42262d78/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/42262d78/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/43e4474f/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/43e4474f/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/43e4474f/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/4fe14e8e/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/4fe14e8e/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/73430d09/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/73430d09/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/73430d09/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/78ce14c6/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/78ce14c6/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/78ce14c6/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/8ac6a208/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/8ac6a208/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/8ac6a208/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b392c763/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b392c763/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b392c763/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b664e18f/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b664e18f/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b664e18f/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b7a68bb8/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b7a68bb8/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/cd66d8d8/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/cd66d8d8/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/f006f168/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/f006f168/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/f006f168/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/fe5a6668/mesh.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/fe5a6668/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text +2024-11-14-15-22-43/splats/fe5a6668/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text diff --git a/2024-11-14-15-22-43/splats/09835e69/mesh.ply b/2024-11-14-15-22-43/splats/09835e69/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..71d181e0de108cbcc88ed06f16f5a2e10524a3af --- /dev/null +++ b/2024-11-14-15-22-43/splats/09835e69/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b7124e84e6caf4aa0fe8bc65ebcd469b060e19a34fe905598555003e9d52cfc +size 111673982 diff --git a/2024-11-14-15-22-43/splats/09835e69/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/09835e69/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..944ebe74cddda57583b906430bee22141d1455fe --- /dev/null +++ b/2024-11-14-15-22-43/splats/09835e69/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48e79b5dbe4d4038166122ab1d46070bf209993ba9afb3d4e140fcf60e48a20d +size 1515538 diff --git a/2024-11-14-15-22-43/splats/09835e69/splatfacto/config.yml b/2024-11-14-15-22-43/splats/09835e69/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..b0fb67b3cc2c242ed0370d9a5648fa23130cfdb3 --- /dev/null +++ b/2024-11-14-15-22-43/splats/09835e69/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_09835e69 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_09835e69 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/09835e69/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/09835e69/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..508cf689c36cd80a21a0f655f99dfaea59864554 --- /dev/null +++ b/2024-11-14-15-22-43/splats/09835e69/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.94527268409729, + -0.3017495572566986, + 0.12412569671869278, + 45.80405044555664 + ], + [ + -0.3017495572566986, + 0.9531927704811096, + 0.019254304468631744, + 19.6295166015625 + ], + [ + -0.12412569671869278, + -0.019254304468631744, + -0.9920799732208252, + -0.04126548767089844 + ] + ], + "scale": 0.1652283310516616 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/09835e69/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/09835e69/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..de160cd81646b6d4aeac221bd9691d4cb8436403 --- /dev/null +++ b/2024-11-14-15-22-43/splats/09835e69/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8338ae6d0d0b05647e756016159581752c507a459379888695a778ec05d2eb9 +size 387152162 diff --git a/2024-11-14-15-22-43/splats/09835e69/transforms.json b/2024-11-14-15-22-43/splats/09835e69/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e7af0c8354233443a45a3155de114b8dafeaddf6 --- /dev/null +++ b/2024-11-14-15-22-43/splats/09835e69/transforms.json @@ -0,0 +1,19032 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01247.png", + "transform_matrix": [ + [ + -0.16269823908805847, + -0.12065453082323074, + -0.9792709946632385, + 43.37474822998047 + ], + [ + 0.9866355061531067, + -0.02887452021241188, + -0.16036421060562134, + -5.826139450073242 + ], + [ + -0.008927314542233944, + -0.9922746419906616, + 0.12373987585306168, + -5.230911731719971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1247, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_138469934", + "mask_path": "../../mask/hdr_front_01247.png" + }, + { + "file_path": "../../rgb/hdr_front_01248.png", + "transform_matrix": [ + [ + -0.1781895011663437, + -0.11928362399339676, + -0.9767394661903381, + 43.437557220458984 + ], + [ + 0.9839928150177002, + -0.02419079840183258, + -0.1765584945678711, + -5.795004844665527 + ], + [ + -0.0025675722863525152, + -0.9925655126571655, + 0.12168476730585098, + -5.24329137802124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1248, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_238470315", + "mask_path": "../../mask/hdr_front_01248.png" + }, + { + "file_path": "../../rgb/hdr_front_01249.png", + "transform_matrix": [ + [ + -0.19007271528244019, + -0.12008935958147049, + -0.9743977785110474, + 43.50857925415039 + ], + [ + 0.9817397594451904, + -0.015465470030903816, + -0.18959888815879822, + -5.764947414398193 + ], + [ + 0.007699291687458754, + -0.9926426410675049, + 0.12083607912063599, + -5.257026195526123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1249, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_338470458", + "mask_path": "../../mask/hdr_front_01249.png" + }, + { + "file_path": "../../rgb/hdr_front_01250.png", + "transform_matrix": [ + [ + -0.19604000449180603, + -0.12296028435230255, + -0.9728561043739319, + 43.586875915527344 + ], + [ + 0.9805529713630676, + -0.015297695994377136, + -0.19565752148628235, + -5.741126537322998 + ], + [ + 0.009175647050142288, + -0.9922937154769897, + 0.12356803566217422, + -5.268871307373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1250, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_438470125", + "mask_path": "../../mask/hdr_front_01250.png" + }, + { + "file_path": "../../rgb/hdr_front_01251.png", + "transform_matrix": [ + [ + -0.19340021908283234, + -0.12249261140823364, + -0.9734433889389038, + 43.657291412353516 + ], + [ + 0.9810493588447571, + -0.012244066223502159, + -0.19337062537670135, + -5.7239909172058105 + ], + [ + 0.011767571792006493, + -0.9923939108848572, + 0.12253931164741516, + -5.269401550292969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1251, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_538470745", + "mask_path": "../../mask/hdr_front_01251.png" + }, + { + "file_path": "../../rgb/hdr_front_01252.png", + "transform_matrix": [ + [ + -0.1863061487674713, + -0.11593689024448395, + -0.9756273031234741, + 43.72343444824219 + ], + [ + 0.9823904633522034, + -0.00772845558822155, + -0.18667927384376526, + -5.702708721160889 + ], + [ + 0.01410292275249958, + -0.9932265877723694, + 0.11533516645431519, + -5.275018692016602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1252, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_638469457", + "mask_path": "../../mask/hdr_front_01252.png" + }, + { + "file_path": "../../rgb/hdr_front_01253.png", + "transform_matrix": [ + [ + -0.1805499643087387, + -0.10450869798660278, + -0.9779977798461914, + 43.82091522216797 + ], + [ + 0.9835093021392822, + -0.008532185107469559, + -0.18065573275089264, + -5.675292015075684 + ], + [ + 0.010535635985434055, + -0.9944874048233032, + 0.10432575643062592, + -5.284924507141113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1253, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_738469362", + "mask_path": "../../mask/hdr_front_01253.png" + }, + { + "file_path": "../../rgb/hdr_front_01254.png", + "transform_matrix": [ + [ + -0.18239600956439972, + -0.10352911800146103, + -0.9777594208717346, + 43.90364074707031 + ], + [ + 0.9831373691558838, + -0.005914256442338228, + -0.18277300894260406, + -5.647629737854004 + ], + [ + 0.013139606453478336, + -0.9946088790893555, + 0.10286207497119904, + -5.298353672027588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1254, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_838469982", + "mask_path": "../../mask/hdr_front_01254.png" + }, + { + "file_path": "../../rgb/hdr_front_01255.png", + "transform_matrix": [ + [ + -0.18568983674049377, + -0.10037141293287277, + -0.9774686098098755, + 43.96088409423828 + ], + [ + 0.9824778437614441, + -0.0027487582992762327, + -0.18635918200016022, + -5.622289657592773 + ], + [ + 0.01601831056177616, + -0.9949461817741394, + 0.09912311285734177, + -5.307857990264893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1255, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_938470840", + "mask_path": "../../mask/hdr_front_01255.png" + }, + { + "file_path": "../../rgb/hdr_front_01256.png", + "transform_matrix": [ + [ + -0.1859346330165863, + -0.10197225958108902, + -0.9772563576698303, + 44.03397750854492 + ], + [ + 0.982361912727356, + 0.0007827941444702446, + -0.1869877129793167, + -5.5992865562438965 + ], + [ + 0.01983254961669445, + -0.9947869777679443, + 0.10002811998128891, + -5.319618225097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1256, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_38470029", + "mask_path": "../../mask/hdr_front_01256.png" + }, + { + "file_path": "../../rgb/hdr_front_01257.png", + "transform_matrix": [ + [ + -0.18057666718959808, + -0.11038736999034882, + -0.9773467183113098, + 44.11125946044922 + ], + [ + 0.9834159016609192, + -0.0032013056334108114, + -0.1813364326953888, + -5.58190393447876 + ], + [ + 0.016888465732336044, + -0.9938835501670837, + 0.10913477092981339, + -5.325784683227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1257, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_138470888", + "mask_path": "../../mask/hdr_front_01257.png" + }, + { + "file_path": "../../rgb/hdr_front_01258.png", + "transform_matrix": [ + [ + -0.17091594636440277, + -0.10983321815729141, + -0.9791447520256042, + 44.18193435668945 + ], + [ + 0.9851999878883362, + -0.005952558480203152, + -0.17130522429943085, + -5.567707061767578 + ], + [ + 0.01298658549785614, + -0.99393230676651, + 0.1092250645160675, + -5.326467514038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1258, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_238470077", + "mask_path": "../../mask/hdr_front_01258.png" + }, + { + "file_path": "../../rgb/hdr_front_01259.png", + "transform_matrix": [ + [ + -0.15763093531131744, + -0.10228963196277618, + -0.9821860194206238, + 44.25492477416992 + ], + [ + 0.9874564409255981, + -0.007186249364167452, + -0.15772835910320282, + -5.554931163787842 + ], + [ + 0.009075742214918137, + -0.9947287440299988, + 0.10213931649923325, + -5.3313069343566895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1259, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_338470220", + "mask_path": "../../mask/hdr_front_01259.png" + }, + { + "file_path": "../../rgb/hdr_front_01260.png", + "transform_matrix": [ + [ + -0.14695492386817932, + -0.09651461988687515, + -0.9844232797622681, + 44.35251235961914 + ], + [ + 0.9891411066055298, + -0.01635863445699215, + -0.14605538547039032, + -5.538139820098877 + ], + [ + -0.0020073403138667345, + -0.9951971769332886, + 0.09787057340145111, + -5.346473217010498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1260, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_438470125", + "mask_path": "../../mask/hdr_front_01260.png" + }, + { + "file_path": "../../rgb/hdr_front_01261.png", + "transform_matrix": [ + [ + -0.14827267825603485, + -0.10161938518285751, + -0.9837117195129395, + 44.44570541381836 + ], + [ + 0.9889255166053772, + -0.02172352746129036, + -0.1468144655227661, + -5.521305561065674 + ], + [ + -0.006450492423027754, + -0.994586169719696, + 0.10371500998735428, + -5.3669753074646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1261, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_538470268", + "mask_path": "../../mask/hdr_front_01261.png" + }, + { + "file_path": "../../rgb/hdr_front_01262.png", + "transform_matrix": [ + [ + -0.1492912620306015, + -0.10099554806947708, + -0.9836218953132629, + 44.51686477661133 + ], + [ + 0.9887775778770447, + -0.02084321528673172, + -0.14793364703655243, + -5.5052103996276855 + ], + [ + -0.005561200436204672, + -0.9946685433387756, + 0.10297385603189468, + -5.382375240325928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1262, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_638469457", + "mask_path": "../../mask/hdr_front_01262.png" + }, + { + "file_path": "../../rgb/hdr_front_01263.png", + "transform_matrix": [ + [ + -0.14835655689239502, + -0.10442420840263367, + -0.9834052324295044, + 44.601680755615234 + ], + [ + 0.98893141746521, + -0.017915280535817146, + -0.14728790521621704, + -5.4930596351623535 + ], + [ + -0.0022375599946826696, + -0.9943714737892151, + 0.10592621564865112, + -5.395346164703369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1263, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_738470792", + "mask_path": "../../mask/hdr_front_01263.png" + }, + { + "file_path": "../../rgb/hdr_front_01264.png", + "transform_matrix": [ + [ + -0.14156226813793182, + -0.11443141102790833, + -0.9832932949066162, + 44.687469482421875 + ], + [ + 0.9899282455444336, + -0.01793484576046467, + -0.1404303014278412, + -5.486069202423096 + ], + [ + -0.0015655746683478355, + -0.9932692646980286, + 0.11581777781248093, + -5.403168678283691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1264, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_838470220", + "mask_path": "../../mask/hdr_front_01264.png" + }, + { + "file_path": "../../rgb/hdr_front_01265.png", + "transform_matrix": [ + [ + -0.13087889552116394, + -0.1150604858994484, + -0.9846988916397095, + 44.75996017456055 + ], + [ + 0.9913970232009888, + -0.016845693811774254, + -0.12980079650878906, + -5.481153964996338 + ], + [ + -0.0016529924469068646, + -0.9932156801223755, + 0.1162753626704216, + -5.406667232513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1265, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_938470363", + "mask_path": "../../mask/hdr_front_01265.png" + }, + { + "file_path": "../../rgb/hdr_front_01266.png", + "transform_matrix": [ + [ + -0.11590217798948288, + -0.10955993086099625, + -0.9871996641159058, + 44.82921600341797 + ], + [ + 0.9932586550712585, + -0.014781945385038853, + -0.11497300863265991, + -5.476734161376953 + ], + [ + -0.0019962964579463005, + -0.9938703179359436, + 0.11053460091352463, + -5.415151596069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1266, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_38470506", + "mask_path": "../../mask/hdr_front_01266.png" + }, + { + "file_path": "../../rgb/hdr_front_01267.png", + "transform_matrix": [ + [ + -0.10492902994155884, + -0.10620491951704025, + -0.9887924194335938, + 44.91838073730469 + ], + [ + 0.9944338202476501, + -0.020753376185894012, + -0.1032986044883728, + -5.474987983703613 + ], + [ + -0.009549958631396294, + -0.9941276907920837, + 0.10779139399528503, + -5.429623126983643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1267, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_138471603", + "mask_path": "../../mask/hdr_front_01267.png" + }, + { + "file_path": "../../rgb/hdr_front_01268.png", + "transform_matrix": [ + [ + -0.10486478358507156, + -0.11177320778369904, + -0.9881854057312012, + 45.018863677978516 + ], + [ + 0.9943878054618835, + -0.02578098699450493, + -0.10260692983865738, + -5.46008825302124 + ], + [ + -0.014007686637341976, + -0.9933992624282837, + 0.11384943127632141, + -5.4486260414123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1268, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_238468170", + "mask_path": "../../mask/hdr_front_01268.png" + }, + { + "file_path": "../../rgb/hdr_front_01269.png", + "transform_matrix": [ + [ + -0.10546012222766876, + -0.11211419105529785, + -0.9880833625793457, + 45.086143493652344 + ], + [ + 0.9942932724952698, + -0.02796941250562668, + -0.1029493510723114, + -5.448544502258301 + ], + [ + -0.0160940270870924, + -0.9933016300201416, + 0.11442404985427856, + -5.46260929107666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1269, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_338471412", + "mask_path": "../../mask/hdr_front_01269.png" + }, + { + "file_path": "../../rgb/hdr_front_01270.png", + "transform_matrix": [ + [ + -0.10543656349182129, + -0.11270295828580856, + -0.988018810749054, + 45.1644401550293 + ], + [ + 0.9943107962608337, + -0.027066290378570557, + -0.10302059352397919, + -5.438397407531738 + ], + [ + -0.0151312705129385, + -0.9932600259780884, + 0.11491555720567703, + -5.4731550216674805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1270, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_438471078", + "mask_path": "../../mask/hdr_front_01270.png" + }, + { + "file_path": "../../rgb/hdr_front_01271.png", + "transform_matrix": [ + [ + -0.10071191936731339, + -0.11814183741807938, + -0.987876296043396, + 45.252506256103516 + ], + [ + 0.9948004484176636, + -0.027065685018897057, + -0.09818099439144135, + -5.433053016662598 + ], + [ + -0.015138263814151287, + -0.9926277995109558, + 0.12025339901447296, + -5.487185478210449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1271, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_538470268", + "mask_path": "../../mask/hdr_front_01271.png" + }, + { + "file_path": "../../rgb/hdr_front_01272.png", + "transform_matrix": [ + [ + -0.0899309515953064, + -0.11966991424560547, + -0.9887323379516602, + 45.33195495605469 + ], + [ + 0.9958091974258423, + -0.027377717196941376, + -0.08726101368665695, + -5.4304094314575195 + ], + [ + -0.016626713797450066, + -0.9924362301826477, + 0.12163050472736359, + -5.4938273429870605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1272, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_638470649", + "mask_path": "../../mask/hdr_front_01272.png" + }, + { + "file_path": "../../rgb/hdr_front_01273.png", + "transform_matrix": [ + [ + -0.07561221718788147, + -0.11461722105741501, + -0.9905280470848083, + 45.404659271240234 + ], + [ + 0.996925950050354, + -0.029142359271645546, + -0.07272844761610031, + -5.4309868812561035 + ], + [ + -0.02053038962185383, + -0.9929822087287903, + 0.1164683997631073, + -5.500344753265381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1273, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_738470554", + "mask_path": "../../mask/hdr_front_01273.png" + }, + { + "file_path": "../../rgb/hdr_front_01274.png", + "transform_matrix": [ + [ + -0.06478019058704376, + -0.11257368326187134, + -0.9915295243263245, + 45.49937057495117 + ], + [ + 0.9974585771560669, + -0.03683938458561897, + -0.06098499521613121, + -5.428078651428223 + ], + [ + -0.029662027955055237, + -0.9929602146148682, + 0.11467406898736954, + -5.517649173736572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1274, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_838470697", + "mask_path": "../../mask/hdr_front_01274.png" + }, + { + "file_path": "../../rgb/hdr_front_01275.png", + "transform_matrix": [ + [ + -0.06630916148424149, + -0.11925330013036728, + -0.9906471967697144, + 45.58875274658203 + ], + [ + 0.9971798062324524, + -0.04289459064602852, + -0.061582814902067184, + -5.416055679321289 + ], + [ + -0.03514944761991501, + -0.9919368624687195, + 0.12176129966974258, + -5.539669990539551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1275, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_938470363", + "mask_path": "../../mask/hdr_front_01275.png" + }, + { + "file_path": "../../rgb/hdr_front_01276.png", + "transform_matrix": [ + [ + -0.0691533163189888, + -0.11909887939691544, + -0.9904712438583374, + 45.657562255859375 + ], + [ + 0.9969748854637146, + -0.04355962574481964, + -0.0643695816397667, + -5.404732704162598 + ], + [ + -0.03547821193933487, + -0.9919264912605286, + 0.12175089865922928, + -5.552056789398193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1276, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_38470268", + "mask_path": "../../mask/hdr_front_01276.png" + }, + { + "file_path": "../../rgb/hdr_front_01277.png", + "transform_matrix": [ + [ + -0.07096445560455322, + -0.1198381781578064, + -0.9902539253234863, + 45.734947204589844 + ], + [ + 0.9969677329063416, + -0.040300603955984116, + -0.06656849384307861, + -5.394827842712402 + ], + [ + -0.03193037956953049, + -0.9919751286506653, + 0.12233468890190125, + -5.564006328582764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1277, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_138468980", + "mask_path": "../../mask/hdr_front_01277.png" + }, + { + "file_path": "../../rgb/hdr_front_01278.png", + "transform_matrix": [ + [ + -0.06676570326089859, + -0.12732331454753876, + -0.9896115660667419, + 45.83180618286133 + ], + [ + 0.997356116771698, + -0.03703523799777031, + -0.0625232458114624, + -5.39654541015625 + ], + [ + -0.028689827769994736, + -0.9911696314811707, + 0.12945938110351562, + -5.581113815307617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1278, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_238470077", + "mask_path": "../../mask/hdr_front_01278.png" + }, + { + "file_path": "../../rgb/hdr_front_01279.png", + "transform_matrix": [ + [ + -0.05701214447617531, + -0.13109101355075836, + -0.989729642868042, + 45.907684326171875 + ], + [ + 0.9980218410491943, + -0.03379448875784874, + -0.053013674914836884, + -5.403805732727051 + ], + [ + -0.026497788727283478, + -0.9907942414283752, + 0.13275837898254395, + -5.588073253631592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1279, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_338469982", + "mask_path": "../../mask/hdr_front_01279.png" + }, + { + "file_path": "../../rgb/hdr_front_01280.png", + "transform_matrix": [ + [ + -0.04325611889362335, + -0.1274416744709015, + -0.9909024238586426, + 45.97282028198242 + ], + [ + 0.9987115859985352, + -0.031858425587415695, + -0.03949965536594391, + -5.40101957321167 + ], + [ + -0.026534685865044594, + -0.9913343191146851, + 0.1286555528640747, + -5.597701072692871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1280, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_438470363", + "mask_path": "../../mask/hdr_front_01280.png" + }, + { + "file_path": "../../rgb/hdr_front_01281.png", + "transform_matrix": [ + [ + -0.03108765184879303, + -0.12282194942235947, + -0.9919416904449463, + 46.0661735534668 + ], + [ + 0.9990541934967041, + -0.03400363400578499, + -0.02710024081170559, + -5.3952460289001465 + ], + [ + -0.030401112511754036, + -0.9918460249900818, + 0.12376288324594498, + -5.6135759353637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1281, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_538470029", + "mask_path": "../../mask/hdr_front_01281.png" + }, + { + "file_path": "../../rgb/hdr_front_01282.png", + "transform_matrix": [ + [ + -0.031830381602048874, + -0.12575191259384155, + -0.9915510416030884, + 46.15729904174805 + ], + [ + 0.9990374445915222, + -0.03396257758140564, + -0.027763456106185913, + -5.385171890258789 + ], + [ + -0.030184313654899597, + -0.9914802312850952, + 0.1267118752002716, + -5.63092041015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1282, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_638470172", + "mask_path": "../../mask/hdr_front_01282.png" + }, + { + "file_path": "../../rgb/hdr_front_01283.png", + "transform_matrix": [ + [ + -0.03489341959357262, + -0.12557537853717804, + -0.9914703369140625, + 46.2216911315918 + ], + [ + 0.9990119338035583, + -0.03170699253678322, + -0.031142963096499443, + -5.372829914093018 + ], + [ + -0.02752574533224106, + -0.9915773272514343, + 0.12655766308307648, + -5.642909526824951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1283, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_738469123", + "mask_path": "../../mask/hdr_front_01283.png" + }, + { + "file_path": "../../rgb/hdr_front_01284.png", + "transform_matrix": [ + [ + -0.03715432062745094, + -0.1247120350599289, + -0.9914971590042114, + 46.29804992675781 + ], + [ + 0.9990757703781128, + -0.026097223162651062, + -0.034155767410993576, + -5.361589431762695 + ], + [ + -0.021615684032440186, + -0.9918497204780579, + 0.12556639313697815, + -5.65468692779541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1284, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_838469743", + "mask_path": "../../mask/hdr_front_01284.png" + }, + { + "file_path": "../../rgb/hdr_front_01285.png", + "transform_matrix": [ + [ + -0.035233285278081894, + -0.12937170267105103, + -0.9909700155258179, + 46.39236831665039 + ], + [ + 0.9991939067840576, + -0.023645956069231033, + -0.03243869170546532, + -5.3566365242004395 + ], + [ + -0.019235782325267792, + -0.9913142323493958, + 0.1301005631685257, + -5.671083927154541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1285, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_938470602", + "mask_path": "../../mask/hdr_front_01285.png" + }, + { + "file_path": "../../rgb/hdr_front_01286.png", + "transform_matrix": [ + [ + -0.02562885172665119, + -0.13490964472293854, + -0.9905264377593994, + 46.472164154052734 + ], + [ + 0.9994955658912659, + -0.022049102932214737, + -0.02285783179104328, + -5.356268405914307 + ], + [ + -0.018756477162241936, + -0.9906125664710999, + 0.13540667295455933, + -5.677556991577148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1286, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_38469314", + "mask_path": "../../mask/hdr_front_01286.png" + }, + { + "file_path": "../../rgb/hdr_front_01287.png", + "transform_matrix": [ + [ + -0.013044830411672592, + -0.13106660544872284, + -0.9912878274917603, + 46.53911590576172 + ], + [ + 0.99970942735672, + -0.02180539444088936, + -0.010272577404975891, + -5.356265068054199 + ], + [ + -0.020269030705094337, + -0.9911338090896606, + 0.13131295144557953, + -5.683396816253662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1287, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_138468980", + "mask_path": "../../mask/hdr_front_01287.png" + }, + { + "file_path": "../../rgb/hdr_front_01288.png", + "transform_matrix": [ + [ + -0.0009616021416150033, + -0.12651905417442322, + -0.9919637441635132, + 46.630924224853516 + ], + [ + 0.9995352029800415, + -0.030348699539899826, + 0.0029018549248576164, + -5.355232238769531 + ], + [ + -0.03047194890677929, + -0.9914999008178711, + 0.12648943066596985, + -5.701316833496094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1288, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_238470315", + "mask_path": "../../mask/hdr_front_01288.png" + }, + { + "file_path": "../../rgb/hdr_front_01289.png", + "transform_matrix": [ + [ + -0.0005859726807102561, + -0.13035020232200623, + -0.9914679527282715, + 46.734291076660156 + ], + [ + 0.9993352293968201, + -0.0362190380692482, + 0.00417116517201066, + -5.350198745727539 + ], + [ + -0.036453720182180405, + -0.9908062219619751, + 0.13028475642204285, + -5.723949909210205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1289, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_338469266", + "mask_path": "../../mask/hdr_front_01289.png" + }, + { + "file_path": "../../rgb/hdr_front_01290.png", + "transform_matrix": [ + [ + -0.002881061052903533, + -0.13192246854305267, + -0.9912559390068054, + 46.80704879760742 + ], + [ + 0.9993184208869934, + -0.03686156123876572, + 0.0020012708846479654, + -5.345008850097656 + ], + [ + -0.036803245544433594, + -0.9905744194984436, + 0.13193872570991516, + -5.740260601043701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1290, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_438468456", + "mask_path": "../../mask/hdr_front_01290.png" + }, + { + "file_path": "../../rgb/hdr_front_01291.png", + "transform_matrix": [ + [ + -0.0035812032874673605, + -0.13336461782455444, + -0.9910605549812317, + 46.89360809326172 + ], + [ + 0.9994527697563171, + -0.033069223165512085, + 0.0008385171531699598, + -5.349885940551758 + ], + [ + -0.03288542851805687, + -0.9905151724815369, + 0.13341006636619568, + -5.757754325866699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1291, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_538471460", + "mask_path": "../../mask/hdr_front_01291.png" + }, + { + "file_path": "../../rgb/hdr_front_01292.png", + "transform_matrix": [ + [ + -0.0003663107636384666, + -0.1393359750509262, + -0.9902450442314148, + 46.983856201171875 + ], + [ + 0.9995713233947754, + -0.029038213193416595, + 0.0037161645013839006, + -5.362437725067139 + ], + [ + -0.029272738844156265, + -0.9898192882537842, + 0.13928689062595367, + -5.772747039794922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1292, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_638469457", + "mask_path": "../../mask/hdr_front_01292.png" + }, + { + "file_path": "../../rgb/hdr_front_01293.png", + "transform_matrix": [ + [ + 0.0032930653542280197, + -0.14026384055614471, + -0.9901086688041687, + 47.05706024169922 + ], + [ + 0.9995564818382263, + -0.028841184452176094, + 0.0074102794751524925, + -5.371479511260986 + ], + [ + -0.029595300555229187, + -0.9896940588951111, + 0.1401066780090332, + -5.777924537658691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1293, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_738469123", + "mask_path": "../../mask/hdr_front_01293.png" + }, + { + "file_path": "../../rgb/hdr_front_01294.png", + "transform_matrix": [ + [ + 0.007565611507743597, + -0.13462789356708527, + -0.9908673167228699, + 47.1165657043457 + ], + [ + 0.9995189309120178, + -0.028784291818737984, + 0.011542555876076221, + -5.378006935119629 + ], + [ + -0.03007536381483078, + -0.9904780387878418, + 0.13434536755084991, + -5.786903381347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1294, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_838469743", + "mask_path": "../../mask/hdr_front_01294.png" + }, + { + "file_path": "../../rgb/hdr_front_01295.png", + "transform_matrix": [ + [ + 0.010165856219828129, + -0.12979595363140106, + -0.9914886355400085, + 47.1967658996582 + ], + [ + 0.9994718432426453, + -0.02928706258535385, + 0.014081686735153198, + -5.384205341339111 + ], + [ + -0.03086552955210209, + -0.9911081194877625, + 0.1294296681880951, + -5.802512168884277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1295, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_938470125", + "mask_path": "../../mask/hdr_front_01295.png" + }, + { + "file_path": "../../rgb/hdr_front_01296.png", + "transform_matrix": [ + [ + 0.0016107369447126985, + -0.13133500516414642, + -0.9913367629051208, + 47.29288101196289 + ], + [ + 0.9995207786560059, + -0.030432192608714104, + 0.00565577344968915, + -5.38096284866333 + ], + [ + -0.03091135062277317, + -0.9908708333969116, + 0.13122305274009705, + -5.816188335418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1296, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_38469076", + "mask_path": "../../mask/hdr_front_01296.png" + }, + { + "file_path": "../../rgb/hdr_front_01297.png", + "transform_matrix": [ + [ + -0.013474526815116405, + -0.13132062554359436, + -0.9912484288215637, + 47.36156463623047 + ], + [ + 0.9994911551475525, + -0.0304319616407156, + -0.009554949589073658, + -5.367801666259766 + ], + [ + -0.028910869732499123, + -0.9908727407455444, + 0.13166385889053345, + -5.826830863952637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1297, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_138469457", + "mask_path": "../../mask/hdr_front_01297.png" + }, + { + "file_path": "../../rgb/hdr_front_01298.png", + "transform_matrix": [ + [ + -0.030040115118026733, + -0.12941068410873413, + -0.9911359548568726, + 47.429908752441406 + ], + [ + 0.9993879199028015, + -0.02167969010770321, + -0.02745954692363739, + -5.355238914489746 + ], + [ + -0.017933962866663933, + -0.9913541078567505, + 0.12998273968696594, + -5.84060525894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1298, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_238469600", + "mask_path": "../../mask/hdr_front_01298.png" + }, + { + "file_path": "../../rgb/hdr_front_01299.png", + "transform_matrix": [ + [ + -0.045418631285429, + -0.13289982080459595, + -0.9900882840156555, + 47.51646423339844 + ], + [ + 0.9989514946937561, + -0.011735240928828716, + -0.0442499965429306, + -5.346765995025635 + ], + [ + -0.005738107953220606, + -0.9910600185394287, + 0.1332934945821762, + -5.856600761413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1299, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_338469743", + "mask_path": "../../mask/hdr_front_01299.png" + }, + { + "file_path": "../../rgb/hdr_front_01300.png", + "transform_matrix": [ + [ + -0.05787115544080734, + -0.14353300631046295, + -0.9879520535469055, + 47.59520721435547 + ], + [ + 0.9983240365982056, + -0.008022422902286053, + -0.05731319636106491, + -5.339807987213135 + ], + [ + 0.00030056628747843206, + -0.9896130561828613, + 0.14375673234462738, + -5.864737510681152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1300, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_438469171", + "mask_path": "../../mask/hdr_front_01300.png" + }, + { + "file_path": "../../rgb/hdr_front_01301.png", + "transform_matrix": [ + [ + -0.06954237818717957, + -0.14479632675647736, + -0.987014651298523, + 47.64750289916992 + ], + [ + 0.9975454211235046, + -0.0019760315772145987, + -0.0699944719672203, + -5.328946590423584 + ], + [ + 0.008184569887816906, + -0.9894595146179199, + 0.14457832276821136, + -5.873097896575928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1301, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_538469314", + "mask_path": "../../mask/hdr_front_01301.png" + }, + { + "file_path": "../../rgb/hdr_front_01302.png", + "transform_matrix": [ + [ + -0.07841465622186661, + -0.14025472104549408, + -0.9870054721832275, + 47.7189826965332 + ], + [ + 0.9968156814575195, + 0.0033524110913276672, + -0.07967041432857513, + -5.311476230621338 + ], + [ + 0.01448300015181303, + -0.9901098608970642, + 0.13954520225524902, + -5.892002105712891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1302, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_638469219", + "mask_path": "../../mask/hdr_front_01302.png" + }, + { + "file_path": "../../rgb/hdr_front_01303.png", + "transform_matrix": [ + [ + -0.08965089172124863, + -0.13644948601722717, + -0.9865821003913879, + 47.820579528808594 + ], + [ + 0.9959299564361572, + -0.0030361877288669348, + -0.0900803953409195, + -5.28936243057251 + ], + [ + 0.009295975789427757, + -0.9906424283981323, + 0.13616631925106049, + -5.912646293640137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1303, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_738468885", + "mask_path": "../../mask/hdr_front_01303.png" + }, + { + "file_path": "../../rgb/hdr_front_01304.png", + "transform_matrix": [ + [ + -0.09744922071695328, + -0.14084504544734955, + -0.9852239489555359, + 47.9014778137207 + ], + [ + 0.9952152371406555, + -0.006737581454217434, + -0.09747427701950073, + -5.271097660064697 + ], + [ + 0.0070907436311244965, + -0.9900087714195251, + 0.1408277004957199, + -5.925480365753174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1304, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_838469505", + "mask_path": "../../mask/hdr_front_01304.png" + }, + { + "file_path": "../../rgb/hdr_front_01305.png", + "transform_matrix": [ + [ + -0.10042210668325424, + -0.1401013880968094, + -0.9850314259529114, + 47.96806335449219 + ], + [ + 0.9948729276657104, + -0.0022305697202682495, + -0.10110817849636078, + -5.255630016326904 + ], + [ + 0.011968214064836502, + -0.9901346564292908, + 0.13960708677768707, + -5.941580295562744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1305, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_938469409", + "mask_path": "../../mask/hdr_front_01305.png" + }, + { + "file_path": "../../rgb/hdr_front_01306.png", + "transform_matrix": [ + [ + -0.09871829301118851, + -0.14643312990665436, + -0.9842826128005981, + 48.04331588745117 + ], + [ + 0.9949513673782349, + 0.003441468346863985, + -0.10030031204223633, + -5.241506576538086 + ], + [ + 0.01807466335594654, + -0.9892147183418274, + 0.14535407721996307, + -5.956326484680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1306, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_38469076", + "mask_path": "../../mask/hdr_front_01306.png" + }, + { + "file_path": "../../rgb/hdr_front_01307.png", + "transform_matrix": [ + [ + -0.09060962498188019, + -0.16359388828277588, + -0.9823578596115112, + 48.11330795288086 + ], + [ + 0.9957364797592163, + 0.0022344174794852734, + -0.09221573173999786, + -5.235585689544678 + ], + [ + 0.017280928790569305, + -0.9865252375602722, + 0.16269394755363464, + -5.971220016479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1307, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_138469934", + "mask_path": "../../mask/hdr_front_01307.png" + }, + { + "file_path": "../../rgb/hdr_front_01308.png", + "transform_matrix": [ + [ + -0.08269651234149933, + -0.16696606576442719, + -0.9824884533882141, + 48.17228317260742 + ], + [ + 0.9964758157730103, + 3.82917896786239e-05, + -0.08388034254312515, + -5.230407238006592 + ], + [ + 0.014042791910469532, + -0.9859626293182373, + 0.16637445986270905, + -5.98341703414917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1308, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_238468885", + "mask_path": "../../mask/hdr_front_01308.png" + }, + { + "file_path": "../../rgb/hdr_front_01309.png", + "transform_matrix": [ + [ + -0.07225341349840164, + -0.1595897376537323, + -0.984535813331604, + 48.23706817626953 + ], + [ + 0.9973006248474121, + 0.0013753841631114483, + -0.07341315597295761, + -5.223118305206299 + ], + [ + 0.013070101849734783, + -0.9871824979782104, + 0.1590595841407776, + -5.9953532218933105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1309, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_338469982", + "mask_path": "../../mask/hdr_front_01309.png" + }, + { + "file_path": "../../rgb/hdr_front_01310.png", + "transform_matrix": [ + [ + -0.06397853046655655, + -0.1503770500421524, + -0.986556351184845, + 48.33403015136719 + ], + [ + 0.9979290962219238, + -0.003041583579033613, + -0.06425243616104126, + -5.212242603302002 + ], + [ + 0.006661396939307451, + -0.988624095916748, + 0.15026022493839264, + -6.0108723640441895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1310, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_438468933", + "mask_path": "../../mask/hdr_front_01310.png" + }, + { + "file_path": "../../rgb/hdr_front_01311.png", + "transform_matrix": [ + [ + -0.06475900858640671, + -0.14656969904899597, + -0.9870783686637878, + 48.428382873535156 + ], + [ + 0.9978979825973511, + -0.01192426960915327, + -0.06369823962450027, + -5.196567535400391 + ], + [ + -0.0024339533410966396, + -0.9891284108161926, + 0.14703382551670074, + -6.020936965942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1311, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_538469552", + "mask_path": "../../mask/hdr_front_01311.png" + }, + { + "file_path": "../../rgb/hdr_front_01312.png", + "transform_matrix": [ + [ + -0.06664155423641205, + -0.14120787382125854, + -0.9877343773841858, + 48.48881912231445 + ], + [ + 0.9977769255638123, + -0.009776757098734379, + -0.06592141836881638, + -5.184375286102295 + ], + [ + -0.0003482164756860584, + -0.9899317026138306, + 0.14154550433158875, + -6.036525249481201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1312, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_638470411", + "mask_path": "../../mask/hdr_front_01312.png" + }, + { + "file_path": "../../rgb/hdr_front_01313.png", + "transform_matrix": [ + [ + -0.0662543922662735, + -0.13991189002990723, + -0.9879447817802429, + 48.56401443481445 + ], + [ + 0.9977878332138062, + -0.0038795950822532177, + -0.0663650706410408, + -5.171858787536621 + ], + [ + 0.005452435929328203, + -0.990156352519989, + 0.13985943794250488, + -6.057116508483887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1313, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_738469362", + "mask_path": "../../mask/hdr_front_01313.png" + }, + { + "file_path": "../../rgb/hdr_front_01314.png", + "transform_matrix": [ + [ + -0.05872150883078575, + -0.14824508130550385, + -0.9872057437896729, + 48.65357971191406 + ], + [ + 0.998259425163269, + -0.00328796892426908, + -0.05888526886701584, + -5.173155784606934 + ], + [ + 0.005483550019562244, + -0.9889452457427979, + 0.14818011224269867, + -6.0639166831970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1314, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_838467836", + "mask_path": "../../mask/hdr_front_01314.png" + }, + { + "file_path": "../../rgb/hdr_front_01315.png", + "transform_matrix": [ + [ + -0.04806620255112648, + -0.14937371015548706, + -0.9876118898391724, + 48.725685119628906 + ], + [ + 0.9988384246826172, + -0.0038498197682201862, + -0.0480303093791008, + -5.173199653625488 + ], + [ + 0.003372336970642209, + -0.9887734055519104, + 0.1493852585554123, + -6.063525676727295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1315, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_938469886", + "mask_path": "../../mask/hdr_front_01315.png" + }, + { + "file_path": "../../rgb/hdr_front_01316.png", + "transform_matrix": [ + [ + -0.0422527939081192, + -0.14366848766803741, + -0.9887235164642334, + 48.789794921875 + ], + [ + 0.9991067051887512, + -0.0054305982775986195, + -0.0419074185192585, + -5.171435832977295 + ], + [ + 0.0006514163105748594, + -0.9896109700202942, + 0.14376962184906006, + -6.078033924102783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1316, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_38469791", + "mask_path": "../../mask/hdr_front_01316.png" + }, + { + "file_path": "../../rgb/hdr_front_01317.png", + "transform_matrix": [ + [ + -0.04339492693543434, + -0.13617214560508728, + -0.9897343516349792, + 48.87985610961914 + ], + [ + 0.9990506768226624, + -0.00970939639955759, + -0.04246753826737404, + -5.162386894226074 + ], + [ + -0.0038268256466835737, + -0.9906376600265503, + 0.1364642083644867, + -6.094619274139404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1317, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_138470172", + "mask_path": "../../mask/hdr_front_01317.png" + }, + { + "file_path": "../../rgb/hdr_front_01318.png", + "transform_matrix": [ + [ + -0.05515991896390915, + -0.1353614330291748, + -0.989259660243988, + 48.98287582397461 + ], + [ + 0.9984433054924011, + -0.015673896297812462, + -0.053527314215898514, + -5.146955490112305 + ], + [ + -0.008260018192231655, + -0.9906722903251648, + 0.13601531088352203, + -6.102841854095459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1318, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_238470077", + "mask_path": "../../mask/hdr_front_01318.png" + }, + { + "file_path": "../../rgb/hdr_front_01319.png", + "transform_matrix": [ + [ + -0.06755941361188889, + -0.12894918024539948, + -0.9893472194671631, + 49.05473327636719 + ], + [ + 0.9976866245269775, + -0.016247935593128204, + -0.06601116806268692, + -5.1307220458984375 + ], + [ + -0.007562760263681412, + -0.9915181398391724, + 0.12974856793880463, + -6.113407135009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1319, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_338469505", + "mask_path": "../../mask/hdr_front_01319.png" + }, + { + "file_path": "../../rgb/hdr_front_01320.png", + "transform_matrix": [ + [ + -0.07557875663042068, + -0.12310191988945007, + -0.9895119071006775, + 49.13037872314453 + ], + [ + 0.997139573097229, + -0.010017179884016514, + -0.07491515576839447, + -5.116733074188232 + ], + [ + -0.0006899161380715668, + -0.9923436045646667, + 0.12350688129663467, + -6.124267578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1320, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_438469886", + "mask_path": "../../mask/hdr_front_01320.png" + }, + { + "file_path": "../../rgb/hdr_front_01321.png", + "transform_matrix": [ + [ + -0.07845236361026764, + -0.12406454235315323, + -0.9891680479049683, + 49.2262077331543 + ], + [ + 0.9969032406806946, + -0.004394372459501028, + -0.0785147026181221, + -5.110300064086914 + ], + [ + 0.005394119303673506, + -0.992264449596405, + 0.12402509897947311, + -6.132643699645996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1321, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_538469552", + "mask_path": "../../mask/hdr_front_01321.png" + }, + { + "file_path": "../../rgb/hdr_front_01322.png", + "transform_matrix": [ + [ + -0.07705209404230118, + -0.1253490149974823, + -0.9891161322593689, + 49.29972839355469 + ], + [ + 0.9970138669013977, + -0.004603509325534105, + -0.07708395272493362, + -5.10590124130249 + ], + [ + 0.005108992103487253, + -0.9921020269393921, + 0.1253294199705124, + -6.134667873382568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1322, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_638470649", + "mask_path": "../../mask/hdr_front_01322.png" + }, + { + "file_path": "../../rgb/hdr_front_01323.png", + "transform_matrix": [ + [ + -0.07568138837814331, + -0.12094604223966599, + -0.9897698760032654, + 49.35625457763672 + ], + [ + 0.9970945119857788, + -0.0005681489128619432, + -0.07617203891277313, + -5.092930793762207 + ], + [ + 0.008650369942188263, + -0.9926589727401733, + 0.12063764780759811, + -6.142463684082031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1323, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_738470554", + "mask_path": "../../mask/hdr_front_01323.png" + }, + { + "file_path": "../../rgb/hdr_front_01324.png", + "transform_matrix": [ + [ + -0.07583243399858475, + -0.11193590611219406, + -0.9908177852630615, + 49.4333381652832 + ], + [ + 0.9970695376396179, + 0.0015326569555327296, + -0.0764840766787529, + -5.080615997314453 + ], + [ + 0.01007989700883627, + -0.9937142729759216, + 0.11149165779352188, + -6.151245594024658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1324, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_838469982", + "mask_path": "../../mask/hdr_front_01324.png" + }, + { + "file_path": "../../rgb/hdr_front_01325.png", + "transform_matrix": [ + [ + -0.08684338629245758, + -0.10803323984146118, + -0.9903469681739807, + 49.518001556396484 + ], + [ + 0.9962214231491089, + -0.008331761695444584, + -0.08644963055849075, + -5.059500694274902 + ], + [ + 0.0010881009511649609, + -0.9941124320030212, + 0.10834858566522598, + -6.159574031829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1325, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_938469171", + "mask_path": "../../mask/hdr_front_01325.png" + }, + { + "file_path": "../../rgb/hdr_front_01326.png", + "transform_matrix": [ + [ + -0.1075630933046341, + -0.10523645579814911, + -0.988612949848175, + 49.572486877441406 + ], + [ + 0.994198203086853, + -0.01173371635377407, + -0.10692174732685089, + -5.037814140319824 + ], + [ + -0.00034803638118319213, + -0.9943780303001404, + 0.1058880165219307, + -6.169921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1326, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_38469791", + "mask_path": "../../mask/hdr_front_01326.png" + }, + { + "file_path": "../../rgb/hdr_front_01327.png", + "transform_matrix": [ + [ + -0.13161396980285645, + -0.10201085358858109, + -0.9860383868217468, + 49.6311149597168 + ], + [ + 0.9912760853767395, + -0.006484582554548979, + -0.13164223730564117, + -5.015421390533447 + ], + [ + 0.00703488988801837, + -0.9947621822357178, + 0.10197437554597855, + -6.181498050689697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1327, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_138471364", + "mask_path": "../../mask/hdr_front_01327.png" + }, + { + "file_path": "../../rgb/hdr_front_01328.png", + "transform_matrix": [ + [ + -0.15103185176849365, + -0.10590893030166626, + -0.9828391671180725, + 49.705604553222656 + ], + [ + 0.9884313344955444, + -0.002208944410085678, + -0.1516532003879547, + -4.994260311126709 + ], + [ + 0.013890392147004604, + -0.9943734407424927, + 0.10501732677221298, + -6.194858551025391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1328, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_238469839", + "mask_path": "../../mask/hdr_front_01328.png" + }, + { + "file_path": "../../rgb/hdr_front_01329.png", + "transform_matrix": [ + [ + -0.15994292497634888, + -0.11522386223077774, + -0.9803783893585205, + 49.774105072021484 + ], + [ + 0.98702073097229, + -0.004151880741119385, + -0.1605386584997177, + -4.9807353019714355 + ], + [ + 0.01442746538668871, + -0.9933308959007263, + 0.11439241468906403, + -6.193840980529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1329, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_338469743", + "mask_path": "../../mask/hdr_front_01329.png" + }, + { + "file_path": "../../rgb/hdr_front_01331.png", + "transform_matrix": [ + [ + -0.18204431235790253, + -0.1081467717885971, + -0.9773249626159668, + 49.88373565673828 + ], + [ + 0.9831690788269043, + -0.004411094356328249, + -0.1826447695493698, + -4.955994129180908 + ], + [ + 0.015441368333995342, + -0.9941251873970032, + 0.10712956637144089, + -6.207247257232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1331, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_538469314", + "mask_path": "../../mask/hdr_front_01331.png" + }, + { + "file_path": "../../rgb/hdr_front_01332.png", + "transform_matrix": [ + [ + -0.19662581384181976, + -0.10245813429355621, + -0.975110650062561, + 49.97077178955078 + ], + [ + 0.9804441928863525, + -0.01220979355275631, + -0.1964183896780014, + -4.937161445617676 + ], + [ + 0.008218762464821339, + -0.9946624040603638, + 0.10285525023937225, + -6.219577789306641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1332, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_638470411", + "mask_path": "../../mask/hdr_front_01332.png" + }, + { + "file_path": "../../rgb/hdr_front_01333.png", + "transform_matrix": [ + [ + -0.2162984311580658, + -0.10165197402238846, + -0.9710210561752319, + 50.050960540771484 + ], + [ + 0.9763272404670715, + -0.02276824600994587, + -0.21509690582752228, + -4.919105052947998 + ], + [ + -0.0002434205962345004, + -0.9945594668388367, + 0.10417032986879349, + -6.2276082038879395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1333, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_738469123", + "mask_path": "../../mask/hdr_front_01333.png" + }, + { + "file_path": "../../rgb/hdr_front_01334.png", + "transform_matrix": [ + [ + -0.23478204011917114, + -0.09767275303602219, + -0.9671284556388855, + 50.110721588134766 + ], + [ + 0.9720460176467896, + -0.02152840606868267, + -0.23380163311958313, + -4.89827823638916 + ], + [ + 0.0020153147634118795, + -0.9949857592582703, + 0.09999687969684601, + -6.234966278076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1334, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_838469028", + "mask_path": "../../mask/hdr_front_01334.png" + }, + { + "file_path": "../../rgb/hdr_front_01335.png", + "transform_matrix": [ + [ + -0.250707745552063, + -0.10283723473548889, + -0.9625851511955261, + 50.17841720581055 + ], + [ + 0.9679574966430664, + -0.011959818191826344, + -0.25082927942276, + -4.878169059753418 + ], + [ + 0.014282242394983768, + -0.9946262836456299, + 0.10254047811031342, + -6.244600296020508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1335, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_938469409", + "mask_path": "../../mask/hdr_front_01335.png" + }, + { + "file_path": "../../rgb/hdr_front_01336.png", + "transform_matrix": [ + [ + -0.2598283588886261, + -0.11841960996389389, + -0.958366334438324, + 50.24837112426758 + ], + [ + 0.9653337597846985, + -0.0062624248676002026, + -0.2609435021877289, + -4.859678268432617 + ], + [ + 0.024899132549762726, + -0.9929439425468445, + 0.1159416064620018, + -6.258755683898926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1336, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_38469076", + "mask_path": "../../mask/hdr_front_01336.png" + }, + { + "file_path": "../../rgb/hdr_front_01337.png", + "transform_matrix": [ + [ + -0.26589256525039673, + -0.12187724560499191, + -0.9562672972679138, + 50.30057907104492 + ], + [ + 0.9637736678123474, + -0.011987501755356789, + -0.2664519250392914, + -4.84081506729126 + ], + [ + 0.021011171862483025, + -0.9924728274345398, + 0.12064945697784424, + -6.268650531768799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1337, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_138469219", + "mask_path": "../../mask/hdr_front_01337.png" + }, + { + "file_path": "../../rgb/hdr_front_01339.png", + "transform_matrix": [ + [ + -0.27518007159233093, + -0.11720434576272964, + -0.9542217254638672, + 50.42582702636719 + ], + [ + 0.9609048962593079, + -0.0019169041188433766, + -0.2768719792366028, + -4.794322490692139 + ], + [ + 0.030621444806456566, + -0.9931060075759888, + 0.1131497174501419, + -6.289073467254639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1339, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_338469505", + "mask_path": "../../mask/hdr_front_01339.png" + }, + { + "file_path": "../../rgb/hdr_front_01340.png", + "transform_matrix": [ + [ + -0.2887006998062134, + -0.11682336777448654, + -0.9502652883529663, + 50.51102828979492 + ], + [ + 0.957145631313324, + -0.011484017595648766, + -0.28937920928001404, + -4.755650043487549 + ], + [ + 0.02289338782429695, + -0.9930863380432129, + 0.11513242870569229, + -6.294816017150879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1340, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_438469171", + "mask_path": "../../mask/hdr_front_01340.png" + }, + { + "file_path": "../../rgb/hdr_front_01341.png", + "transform_matrix": [ + [ + -0.3049098551273346, + -0.11276621371507645, + -0.945681631565094, + 50.565528869628906 + ], + [ + 0.9521069526672363, + -0.012261837720870972, + -0.30551931262016296, + -4.719964981079102 + ], + [ + 0.022856464609503746, + -0.9935459494590759, + 0.11110424250364304, + -6.306318283081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1341, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_538470268", + "mask_path": "../../mask/hdr_front_01341.png" + }, + { + "file_path": "../../rgb/hdr_front_01342.png", + "transform_matrix": [ + [ + -0.31729286909103394, + -0.11163187772035599, + -0.9417343735694885, + 50.621925354003906 + ], + [ + 0.9478631615638733, + -0.00625563831999898, + -0.31861627101898193, + -4.683627605438232 + ], + [ + 0.02967658080160618, + -0.9937300086021423, + 0.10779661685228348, + -6.323247909545898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1342, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_638469934", + "mask_path": "../../mask/hdr_front_01342.png" + }, + { + "file_path": "../../rgb/hdr_front_01343.png", + "transform_matrix": [ + [ + -0.3243008553981781, + -0.11859656870365143, + -0.9384901523590088, + 50.700279235839844 + ], + [ + 0.9453200697898865, + -0.004316526465117931, + -0.3261154592037201, + -4.651905059814453 + ], + [ + 0.034625161439180374, + -0.9929331541061401, + 0.1135115697979927, + -6.335011005401611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1343, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_738470077", + "mask_path": "../../mask/hdr_front_01343.png" + }, + { + "file_path": "../../rgb/hdr_front_01344.png", + "transform_matrix": [ + [ + -0.3208024799823761, + -0.12826098501682281, + -0.9384214878082275, + 50.76808547973633 + ], + [ + 0.9466478228569031, + -0.011284957639873028, + -0.3220723271369934, + -4.630875110626221 + ], + [ + 0.03071926347911358, + -0.9916762709617615, + 0.12503822147846222, + -6.333604335784912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1344, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_838469743", + "mask_path": "../../mask/hdr_front_01344.png" + }, + { + "file_path": "../../rgb/hdr_front_01345.png", + "transform_matrix": [ + [ + -0.3112924098968506, + -0.12856842577457428, + -0.9415770173072815, + 50.8234977722168 + ], + [ + 0.9498096704483032, + -0.009809266775846481, + -0.31267476081848145, + -4.611234188079834 + ], + [ + 0.030963923782110214, + -0.9916521906852722, + 0.1251690685749054, + -6.3399338722229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1345, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_938470125", + "mask_path": "../../mask/hdr_front_01345.png" + }, + { + "file_path": "../../rgb/hdr_front_01346.png", + "transform_matrix": [ + [ + -0.30110934376716614, + -0.12207935750484467, + -0.9457429647445679, + 50.898075103759766 + ], + [ + 0.9531027674674988, + -0.0068418406881392, + -0.3025693893432617, + -4.58598518371582 + ], + [ + 0.030466850847005844, + -0.9924967885017395, + 0.11841431260108948, + -6.355242729187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1346, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_38468360", + "mask_path": "../../mask/hdr_front_01346.png" + }, + { + "file_path": "../../rgb/hdr_front_01347.png", + "transform_matrix": [ + [ + -0.2965843081474304, + -0.11552168428897858, + -0.9479939341545105, + 50.99702072143555 + ], + [ + 0.9548613429069519, + -0.018552841618657112, + -0.2964719831943512, + -4.555665016174316 + ], + [ + 0.016660960391163826, + -0.993131697177887, + 0.11580966413021088, + -6.369444370269775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1347, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_138469457", + "mask_path": "../../mask/hdr_front_01347.png" + }, + { + "file_path": "../../rgb/hdr_front_01348.png", + "transform_matrix": [ + [ + -0.2987278997898102, + -0.1150265634059906, + -0.9473809599876404, + 51.08041000366211 + ], + [ + 0.9543089866638184, + -0.028228066861629486, + -0.2974851727485657, + -4.520034313201904 + ], + [ + 0.007475957740098238, + -0.9929614067077637, + 0.11820338666439056, + -6.378353118896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1348, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_238471508", + "mask_path": "../../mask/hdr_front_01348.png" + }, + { + "file_path": "../../rgb/hdr_front_01349.png", + "transform_matrix": [ + [ + -0.30004623532295227, + -0.1122000589966774, + -0.9473032355308533, + 51.148963928222656 + ], + [ + 0.9538803100585938, + -0.02570856548845768, + -0.2990844249725342, + -4.4910054206848145 + ], + [ + 0.009203481487929821, + -0.993353009223938, + 0.11473915725946426, + -6.396120548248291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1349, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_338470220", + "mask_path": "../../mask/hdr_front_01349.png" + }, + { + "file_path": "../../rgb/hdr_front_01350.png", + "transform_matrix": [ + [ + -0.298348993062973, + -0.11430549621582031, + -0.9475876092910767, + 51.23522186279297 + ], + [ + 0.9543685913085938, + -0.022229403257369995, + -0.297802597284317, + -4.464374542236328 + ], + [ + 0.012976166792213917, + -0.9931969046592712, + 0.1157217025756836, + -6.409095764160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1350, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_438470602", + "mask_path": "../../mask/hdr_front_01350.png" + }, + { + "file_path": "../../rgb/hdr_front_01351.png", + "transform_matrix": [ + [ + -0.2883378565311432, + -0.123270183801651, + -0.949560821056366, + 51.31617736816406 + ], + [ + 0.9574779868125916, + -0.026910122483968735, + -0.28724855184555054, + -4.44584321975708 + ], + [ + 0.009856382384896278, + -0.9920082688331604, + 0.12578770518302917, + -6.4129557609558105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1351, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_538470029", + "mask_path": "../../mask/hdr_front_01351.png" + }, + { + "file_path": "../../rgb/hdr_front_01352.png", + "transform_matrix": [ + [ + -0.2771035134792328, + -0.12201161682605743, + -0.9530618190765381, + 51.37871551513672 + ], + [ + 0.9607898592948914, + -0.02504979446530342, + -0.2761435806751251, + -4.4298601150512695 + ], + [ + 0.00981872621923685, + -0.9922125339508057, + 0.12416891008615494, + -6.417866230010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1352, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_638470649", + "mask_path": "../../mask/hdr_front_01352.png" + }, + { + "file_path": "../../rgb/hdr_front_01353.png", + "transform_matrix": [ + [ + -0.264819473028183, + -0.1172560304403305, + -0.9571424126625061, + 51.4491081237793 + ], + [ + 0.964268147945404, + -0.02439524605870247, + -0.2638024687767029, + -4.407721996307373 + ], + [ + 0.00758269801735878, + -0.992802083492279, + 0.11952658742666245, + -6.432591438293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1353, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_738469839", + "mask_path": "../../mask/hdr_front_01353.png" + }, + { + "file_path": "../../rgb/hdr_front_01354.png", + "transform_matrix": [ + [ + -0.25637286901474, + -0.11503703147172928, + -0.959708034992218, + 51.55095672607422 + ], + [ + 0.9665760397911072, + -0.03248842805624008, + -0.25431331992149353, + -4.383701324462891 + ], + [ + -0.001923954812809825, + -0.9928297996520996, + 0.11952119320631027, + -6.449466705322266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1354, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_838470458", + "mask_path": "../../mask/hdr_front_01354.png" + }, + { + "file_path": "../../rgb/hdr_front_01355.png", + "transform_matrix": [ + [ + -0.2554077208042145, + -0.11788228899240494, + -0.9596201181411743, + 51.63443374633789 + ], + [ + 0.966819703578949, + -0.036422256380319595, + -0.2528497576713562, + -4.3597092628479 + ], + [ + -0.00514502078294754, + -0.9923595190048218, + 0.12327344715595245, + -6.459517955780029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1355, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_938469648", + "mask_path": "../../mask/hdr_front_01355.png" + }, + { + "file_path": "../../rgb/hdr_front_01356.png", + "transform_matrix": [ + [ + -0.2544097304344177, + -0.1164722740650177, + -0.960057258605957, + 51.70200729370117 + ], + [ + 0.9670804142951965, + -0.03636108338832855, + -0.251859575510025, + -4.338275909423828 + ], + [ + -0.005574060138314962, + -0.9925281405448914, + 0.1218886747956276, + -6.471539497375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1356, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_38470506", + "mask_path": "../../mask/hdr_front_01356.png" + }, + { + "file_path": "../../rgb/hdr_front_01357.png", + "transform_matrix": [ + [ + -0.2523021101951599, + -0.11824032664299011, + -0.9603972434997559, + 51.78937911987305 + ], + [ + 0.9676425457000732, + -0.03430281579494476, + -0.24998228251934052, + -4.316938400268555 + ], + [ + -0.003386340569704771, + -0.992392361164093, + 0.12306903302669525, + -6.4846673011779785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1357, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_138470649", + "mask_path": "../../mask/hdr_front_01357.png" + }, + { + "file_path": "../../rgb/hdr_front_01358.png", + "transform_matrix": [ + [ + -0.24374158680438995, + -0.12335925549268723, + -0.961962878704071, + 51.87604522705078 + ], + [ + 0.9698171019554138, + -0.03784065321087837, + -0.2408791482448578, + -4.300631523132324 + ], + [ + -0.00668663065880537, + -0.9916403293609619, + 0.1288592517375946, + -6.4926886558532715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1358, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_238470077", + "mask_path": "../../mask/hdr_front_01358.png" + }, + { + "file_path": "../../rgb/hdr_front_01359.png", + "transform_matrix": [ + [ + -0.23179209232330322, + -0.12263023108243942, + -0.9650048613548279, + 51.94600296020508 + ], + [ + 0.9727413654327393, + -0.03618203476071358, + -0.22905249893665314, + -4.2915215492248535 + ], + [ + -0.006827075500041246, + -0.9917927384376526, + 0.12767422199249268, + -6.497933387756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1359, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_338470458", + "mask_path": "../../mask/hdr_front_01359.png" + }, + { + "file_path": "../../rgb/hdr_front_01360.png", + "transform_matrix": [ + [ + -0.2181335836648941, + -0.11613979190587997, + -0.9689837098121643, + 52.02005386352539 + ], + [ + 0.975851833820343, + -0.037594933062791824, + -0.21517367660999298, + -4.278814315795898 + ], + [ + -0.011438647285103798, + -0.9925211668014526, + 0.12153594940900803, + -6.511603355407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1360, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_438469648", + "mask_path": "../../mask/hdr_front_01360.png" + }, + { + "file_path": "../../rgb/hdr_front_01361.png", + "transform_matrix": [ + [ + -0.2080758512020111, + -0.11260730028152466, + -0.9716090559959412, + 52.12144470214844 + ], + [ + 0.9778690934181213, + -0.046117402613162994, + -0.20407158136367798, + -4.257207870483398 + ], + [ + -0.02182813361287117, + -0.9925687909126282, + 0.11971110850572586, + -6.5279130935668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1361, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_538470745", + "mask_path": "../../mask/hdr_front_01361.png" + }, + { + "file_path": "../../rgb/hdr_front_01362.png", + "transform_matrix": [ + [ + -0.20970046520233154, + -0.11709139496088028, + -0.9707292914390564, + 52.21073913574219 + ], + [ + 0.9774246215820312, + -0.05132227763533592, + -0.20495624840259552, + -4.234617710113525 + ], + [ + -0.025821423158049583, + -0.9917941093444824, + 0.12521031498908997, + -6.538841247558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1362, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_638470411", + "mask_path": "../../mask/hdr_front_01362.png" + }, + { + "file_path": "../../rgb/hdr_front_01363.png", + "transform_matrix": [ + [ + -0.21207427978515625, + -0.11497735232114792, + -0.9704662561416626, + 52.28199768066406 + ], + [ + 0.9770002365112305, + -0.04755575209856033, + -0.20786792039871216, + -4.210621356964111 + ], + [ + -0.022251149639487267, + -0.992229163646698, + 0.12241825461387634, + -6.557125091552734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1363, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_738470792", + "mask_path": "../../mask/hdr_front_01363.png" + }, + { + "file_path": "../../rgb/hdr_front_01364.png", + "transform_matrix": [ + [ + -0.21248117089271545, + -0.11509764939546585, + -0.9703629612922668, + 52.369102478027344 + ], + [ + 0.9769759178161621, + -0.0445634201169014, + -0.20864342153072357, + -4.189781188964844 + ], + [ + -0.019228322431445122, + -0.992354154586792, + 0.1219165250658989, + -6.571298599243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1364, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_838470458", + "mask_path": "../../mask/hdr_front_01364.png" + }, + { + "file_path": "../../rgb/hdr_front_01365.png", + "transform_matrix": [ + [ + -0.20469936728477478, + -0.11886519938707352, + -0.9715808033943176, + 52.46034240722656 + ], + [ + 0.9785022139549255, + -0.050333064049482346, + -0.19999977946281433, + -4.175124168395996 + ], + [ + -0.02512962557375431, + -0.9916338920593262, + 0.12661299109458923, + -6.575695991516113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1365, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_938470840", + "mask_path": "../../mask/hdr_front_01365.png" + }, + { + "file_path": "../../rgb/hdr_front_01366.png", + "transform_matrix": [ + [ + -0.19159138202667236, + -0.11606108397245407, + -0.9745885133743286, + 52.5302619934082 + ], + [ + 0.9811330437660217, + -0.048851128667593, + -0.1870604306459427, + -4.1656928062438965 + ], + [ + -0.025899304077029228, + -0.9920400381088257, + 0.12323081493377686, + -6.578767776489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1366, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_38470983", + "mask_path": "../../mask/hdr_front_01366.png" + }, + { + "file_path": "../../rgb/hdr_front_01367.png", + "transform_matrix": [ + [ + -0.17645353078842163, + -0.10867585986852646, + -0.9782912731170654, + 52.60441207885742 + ], + [ + 0.9838817119598389, + -0.04875612631440163, + -0.17204569280147552, + -4.159350395202637 + ], + [ + -0.029000483453273773, + -0.9928808808326721, + 0.11552737653255463, + -6.592466831207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1367, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_138470888", + "mask_path": "../../mask/hdr_front_01367.png" + }, + { + "file_path": "../../rgb/hdr_front_01368.png", + "transform_matrix": [ + [ + -0.1664751023054123, + -0.1055847778916359, + -0.9803764224052429, + 52.70887756347656 + ], + [ + 0.9853290915489197, + -0.05571027845144272, + -0.16131621599197388, + -4.144677639007568 + ], + [ + -0.03758449852466583, + -0.9928485751152039, + 0.11331012845039368, + -6.607507705688477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1368, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_238469600", + "mask_path": "../../mask/hdr_front_01368.png" + }, + { + "file_path": "../../rgb/hdr_front_01369.png", + "transform_matrix": [ + [ + -0.1696532964706421, + -0.11138199269771576, + -0.979189395904541, + 52.800071716308594 + ], + [ + 0.9846476912498474, + -0.060564085841178894, + -0.16370990872383118, + -4.1215338706970215 + ], + [ + -0.04106936976313591, + -0.9919304847717285, + 0.1199469119310379, + -6.618538856506348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1369, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_338470458", + "mask_path": "../../mask/hdr_front_01369.png" + }, + { + "file_path": "../../rgb/hdr_front_01370.png", + "transform_matrix": [ + [ + -0.17309193313121796, + -0.1104491576552391, + -0.9786930680274963, + 52.869476318359375 + ], + [ + 0.9842002391815186, + -0.05699833482503891, + -0.16763348877429962, + -4.105642795562744 + ], + [ + -0.03726889193058014, + -0.9922460913658142, + 0.11857005208730698, + -6.63351583480835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1370, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_438470125", + "mask_path": "../../mask/hdr_front_01370.png" + }, + { + "file_path": "../../rgb/hdr_front_01371.png", + "transform_matrix": [ + [ + -0.17429183423519135, + -0.11285676062107086, + -0.9782053828239441, + 52.9556770324707 + ], + [ + 0.9841629862785339, + -0.052585419267416, + -0.16928651928901672, + -4.092743396759033 + ], + [ + -0.032334212213754654, + -0.9922187924385071, + 0.1202346533536911, + -6.646728515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1371, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_538471698", + "mask_path": "../../mask/hdr_front_01371.png" + }, + { + "file_path": "../../rgb/hdr_front_01372.png", + "transform_matrix": [ + [ + -0.16675345599651337, + -0.12092951685190201, + -0.9785547256469727, + 53.04885482788086 + ], + [ + 0.9854605793952942, + -0.053221773356199265, + -0.16135315597057343, + -4.082090854644775 + ], + [ + -0.032568059861660004, + -0.9912333488464355, + 0.1280461847782135, + -6.655896186828613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1372, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_638470649", + "mask_path": "../../mask/hdr_front_01372.png" + }, + { + "file_path": "../../rgb/hdr_front_01373.png", + "transform_matrix": [ + [ + -0.15367315709590912, + -0.12066353112459183, + -0.9807267785072327, + 53.11724090576172 + ], + [ + 0.9876336455345154, + -0.049946803599596024, + -0.1486102193593979, + -4.073156833648682 + ], + [ + -0.031052328646183014, + -0.9914361834526062, + 0.12684686481952667, + -6.663939476013184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1373, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_738469839", + "mask_path": "../../mask/hdr_front_01373.png" + }, + { + "file_path": "../../rgb/hdr_front_01374.png", + "transform_matrix": [ + [ + -0.1379006952047348, + -0.11659026890993118, + -0.9835600256919861, + 53.18635940551758 + ], + [ + 0.9898971319198608, + -0.049283821135759354, + -0.1329471617937088, + -4.065767288208008 + ], + [ + -0.03297324478626251, + -0.9919565320014954, + 0.12220863252878189, + -6.678421974182129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1374, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_838470935", + "mask_path": "../../mask/hdr_front_01374.png" + }, + { + "file_path": "../../rgb/hdr_front_01375.png", + "transform_matrix": [ + [ + -0.12751013040542603, + -0.11772819608449936, + -0.9848254323005676, + 53.29135513305664 + ], + [ + 0.9910680055618286, + -0.05422287434339523, + -0.12183646112680435, + -4.054865837097168 + ], + [ + -0.03905647620558739, + -0.9915643930435181, + 0.1235906183719635, + -6.698571681976318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1375, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_938470125", + "mask_path": "../../mask/hdr_front_01375.png" + }, + { + "file_path": "../../rgb/hdr_front_01376.png", + "transform_matrix": [ + [ + -0.12742970883846283, + -0.12480463832616806, + -0.983964204788208, + 53.37882614135742 + ], + [ + 0.990992546081543, + -0.05720428749918938, + -0.12108423560857773, + -4.042613506317139 + ], + [ + -0.04117508977651596, + -0.9905309081077576, + 0.13097000122070312, + -6.713655471801758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1376, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_38472175", + "mask_path": "../../mask/hdr_front_01376.png" + }, + { + "file_path": "../../rgb/hdr_front_01377.png", + "transform_matrix": [ + [ + -0.12729285657405853, + -0.12334694713354111, + -0.9841656684875488, + 53.44709396362305 + ], + [ + 0.991107702255249, + -0.054588645696640015, + -0.12134908884763718, + -4.030891418457031 + ], + [ + -0.038756225258111954, + -0.9908610582351685, + 0.1291988492012024, + -6.72917366027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1377, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_138469934", + "mask_path": "../../mask/hdr_front_01377.png" + }, + { + "file_path": "../../rgb/hdr_front_01378.png", + "transform_matrix": [ + [ + -0.12486065924167633, + -0.12742088735103607, + -0.9839582443237305, + 53.53123474121094 + ], + [ + 0.9916406869888306, + -0.04854678362607956, + -0.11954881995916367, + -4.017488479614258 + ], + [ + -0.03253498300909996, + -0.9906600117683411, + 0.13241732120513916, + -6.745084285736084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1378, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_238470315", + "mask_path": "../../mask/hdr_front_01378.png" + }, + { + "file_path": "../../rgb/hdr_front_01379.png", + "transform_matrix": [ + [ + -0.11247566342353821, + -0.14069879055023193, + -0.9836427569389343, + 53.619781494140625 + ], + [ + 0.9932202100753784, + -0.04518280178308487, + -0.10710792988538742, + -4.01051139831543 + ], + [ + -0.029373779892921448, + -0.9890208840370178, + 0.14482682943344116, + -6.758009433746338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1379, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_338469743", + "mask_path": "../../mask/hdr_front_01379.png" + }, + { + "file_path": "../../rgb/hdr_front_01380.png", + "transform_matrix": [ + [ + -0.09351661056280136, + -0.14265525341033936, + -0.9853447079658508, + 53.68589782714844 + ], + [ + 0.9951680302619934, + -0.043137405067682266, + -0.08820361644029617, + -4.013514041900635 + ], + [ + -0.029922498390078545, + -0.9888319969177246, + 0.1459999829530716, + -6.765761852264404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1380, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_438469171", + "mask_path": "../../mask/hdr_front_01380.png" + }, + { + "file_path": "../../rgb/hdr_front_01381.png", + "transform_matrix": [ + [ + -0.07174114882946014, + -0.13729263842105865, + -0.9879291653633118, + 53.7562370300293 + ], + [ + 0.9968246817588806, + -0.04417765885591507, + -0.06624774634838104, + -4.012823104858398 + ], + [ + -0.03454906493425369, + -0.9895449280738831, + 0.1400260478258133, + -6.7811970710754395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1381, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_538469314", + "mask_path": "../../mask/hdr_front_01381.png" + }, + { + "file_path": "../../rgb/hdr_front_01382.png", + "transform_matrix": [ + [ + -0.05292040482163429, + -0.13708434998989105, + -0.9891447424888611, + 53.85393524169922 + ], + [ + 0.9975780844688416, + -0.052030690014362335, + -0.046160731464624405, + -4.007987976074219 + ], + [ + -0.04513796418905258, + -0.9891919493675232, + 0.13950583338737488, + -6.803847789764404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1382, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_638469219", + "mask_path": "../../mask/hdr_front_01382.png" + }, + { + "file_path": "../../rgb/hdr_front_01383.png", + "transform_matrix": [ + [ + -0.04609908163547516, + -0.14641429483890533, + -0.9881486892700195, + 53.94577407836914 + ], + [ + 0.9977009296417236, + -0.055940255522727966, + -0.03825603425502777, + -4.001931667327881 + ], + [ + -0.04967605695128441, + -0.9876404404640198, + 0.1486564576625824, + -6.819830417633057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1383, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_738469362", + "mask_path": "../../mask/hdr_front_01383.png" + }, + { + "file_path": "../../rgb/hdr_front_01384.png", + "transform_matrix": [ + [ + -0.040026068687438965, + -0.14652210474014282, + -0.9883972406387329, + 54.014549255371094 + ], + [ + 0.9979621171951294, + -0.05505732074379921, + -0.032251596450805664, + -4.000095367431641 + ], + [ + -0.04969292879104614, + -0.9876741170883179, + 0.14842724800109863, + -6.836225509643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1384, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_838469266", + "mask_path": "../../mask/hdr_front_01384.png" + }, + { + "file_path": "../../rgb/hdr_front_01385.png", + "transform_matrix": [ + [ + -0.033171553164720535, + -0.14859193563461304, + -0.9883421063423157, + 54.09812927246094 + ], + [ + 0.9984689354896545, + -0.048726119101047516, + -0.02618572860956192, + -4.0029802322387695 + ], + [ + -0.04426708072423935, + -0.987697422504425, + 0.14998073875904083, + -6.853915691375732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1385, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_938469409", + "mask_path": "../../mask/hdr_front_01385.png" + }, + { + "file_path": "../../rgb/hdr_front_01386.png", + "transform_matrix": [ + [ + -0.019522204995155334, + -0.15539124608039856, + -0.9876600503921509, + 54.19015121459961 + ], + [ + 0.9989235401153564, + -0.04460446164011955, + -0.012727099470794201, + -4.009262561798096 + ], + [ + -0.04207636043429375, + -0.9868455529212952, + 0.1560947597026825, + -6.864340782165527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1386, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_38469552", + "mask_path": "../../mask/hdr_front_01386.png" + }, + { + "file_path": "../../rgb/hdr_front_01387.png", + "transform_matrix": [ + [ + 0.0005664466298185289, + -0.15413451194763184, + -0.9880496859550476, + 54.26206970214844 + ], + [ + 0.9990238547325134, + -0.04355486482381821, + 0.007367242593318224, + -4.019712924957275 + ], + [ + -0.044169917702674866, + -0.9870894551277161, + 0.15395939350128174, + -6.867831230163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1387, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_138468980", + "mask_path": "../../mask/hdr_front_01387.png" + }, + { + "file_path": "../../rgb/hdr_front_01388.png", + "transform_matrix": [ + [ + 0.024726953357458115, + -0.14880375564098358, + -0.9885576367378235, + 54.333587646484375 + ], + [ + 0.9983993768692017, + -0.046636879444122314, + 0.03199319541454315, + -4.032199382781982 + ], + [ + -0.050863947719335556, + -0.987766444683075, + 0.14741237461566925, + -6.885925769805908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1388, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_238470315", + "mask_path": "../../mask/hdr_front_01388.png" + }, + { + "file_path": "../../rgb/hdr_front_01389.png", + "transform_matrix": [ + [ + 0.0458100289106369, + -0.1448623389005661, + -0.9883908033370972, + 54.432525634765625 + ], + [ + 0.9971234202384949, + -0.05317935720086098, + 0.05400894209742546, + -4.047489166259766 + ], + [ + -0.06038584187626839, + -0.9880216717720032, + 0.1420094519853592, + -6.902817249298096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1389, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_338469743", + "mask_path": "../../mask/hdr_front_01389.png" + }, + { + "file_path": "../../rgb/hdr_front_01390.png", + "transform_matrix": [ + [ + 0.0529179610311985, + -0.14453686773777008, + -0.9880834221839905, + 54.53255081176758 + ], + [ + 0.9967344403266907, + -0.05279015749692917, + 0.06110343337059021, + -4.049419403076172 + ], + [ + -0.0609927773475647, + -0.9880903363227844, + 0.14127132296562195, + -6.906853199005127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1390, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_438470125", + "mask_path": "../../mask/hdr_front_01390.png" + }, + { + "file_path": "../../rgb/hdr_front_01391.png", + "transform_matrix": [ + [ + 0.05666406452655792, + -0.139563649892807, + -0.9885904788970947, + 54.60216522216797 + ], + [ + 0.9968264102935791, + -0.047544002532958984, + 0.06384813040494919, + -4.049218654632568 + ], + [ + -0.05591242387890816, + -0.9890710711479187, + 0.13642668724060059, + -6.91691780090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1391, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_538469314", + "mask_path": "../../mask/hdr_front_01391.png" + }, + { + "file_path": "../../rgb/hdr_front_01392.png", + "transform_matrix": [ + [ + 0.0607176274061203, + -0.13708865642547607, + -0.9886961579322815, + 54.68330001831055 + ], + [ + 0.99699866771698, + -0.039333730936050415, + 0.0666813775897026, + -4.05269718170166 + ], + [ + -0.048030365258455276, + -0.9897775650024414, + 0.1342889666557312, + -6.932795524597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1392, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_638469934", + "mask_path": "../../mask/hdr_front_01392.png" + }, + { + "file_path": "../../rgb/hdr_front_01393.png", + "transform_matrix": [ + [ + 0.0704144835472107, + -0.14114779233932495, + -0.9874811768531799, + 54.77277755737305 + ], + [ + 0.9965806603431702, + -0.03294658288359642, + 0.07577264308929443, + -4.06564998626709 + ], + [ + -0.04322927072644234, + -0.9894402027130127, + 0.13834522664546967, + -6.947056293487549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1393, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_738466739", + "mask_path": "../../mask/hdr_front_01393.png" + }, + { + "file_path": "../../rgb/hdr_front_01394.png", + "transform_matrix": [ + [ + 0.08307701349258423, + -0.13570448756217957, + -0.9872600436210632, + 54.845176696777344 + ], + [ + 0.9957456588745117, + -0.028319327160716057, + 0.08768372237682343, + -4.074584007263184 + ], + [ + -0.039857618510723114, + -0.9903445243835449, + 0.1327744871377945, + -6.951279163360596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1394, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_838468790", + "mask_path": "../../mask/hdr_front_01394.png" + }, + { + "file_path": "../../rgb/hdr_front_01395.png", + "transform_matrix": [ + [ + 0.09692978113889694, + -0.12802499532699585, + -0.9870229363441467, + 54.914730072021484 + ], + [ + 0.9944862723350525, + -0.027418000623583794, + 0.1012190654873848, + -4.077120780944824 + ], + [ + -0.040020763874053955, + -0.9913919568061829, + 0.12466148287057877, + -6.962246894836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1395, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_938467025", + "mask_path": "../../mask/hdr_front_01395.png" + }, + { + "file_path": "../../rgb/hdr_front_01396.png", + "transform_matrix": [ + [ + 0.10470651090145111, + -0.12273867428302765, + -0.9869000315666199, + 55.01097869873047 + ], + [ + 0.9936813116073608, + -0.027421604841947556, + 0.1088363453745842, + -4.079022407531738 + ], + [ + -0.04042081907391548, + -0.992060124874115, + 0.11909191310405731, + -6.978497505187988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1396, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_38469791", + "mask_path": "../../mask/hdr_front_01396.png" + }, + { + "file_path": "../../rgb/hdr_front_01397.png", + "transform_matrix": [ + [ + 0.10092470049858093, + -0.12255959212779999, + -0.9873162508010864, + 55.09727096557617 + ], + [ + 0.9941899180412292, + -0.024905288591980934, + 0.10471895337104797, + -4.078769683837891 + ], + [ + -0.03742370754480362, + -0.9921486377716064, + 0.11933394521474838, + -6.988729000091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1397, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_138468742", + "mask_path": "../../mask/hdr_front_01397.png" + }, + { + "file_path": "../../rgb/hdr_front_01398.png", + "transform_matrix": [ + [ + 0.09733913838863373, + -0.11807762831449509, + -0.988222062587738, + 55.16253662109375 + ], + [ + 0.9947420358657837, + -0.020219504833221436, + 0.1003972664475441, + -4.076211929321289 + ], + [ + -0.03183602914214134, + -0.9927985072135925, + 0.11548862606287003, + -7.001919746398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1398, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_238468885", + "mask_path": "../../mask/hdr_front_01398.png" + }, + { + "file_path": "../../rgb/hdr_front_01399.png", + "transform_matrix": [ + [ + 0.09712820500135422, + -0.11765896528959274, + -0.9882927536964417, + 55.24007034301758 + ], + [ + 0.9950061440467834, + -0.011465662159025669, + 0.09915299713611603, + -4.080889701843262 + ], + [ + -0.022997666150331497, + -0.992987871170044, + 0.11595775187015533, + -7.0151262283325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1399, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_338468074", + "mask_path": "../../mask/hdr_front_01399.png" + }, + { + "file_path": "../../rgb/hdr_left_01273.png", + "transform_matrix": [ + [ + 0.9920876026153564, + -0.12412139773368835, + 0.018862802535295486, + 43.31391525268555 + ], + [ + -0.021017584949731827, + -0.01607353799045086, + 0.9996498823165894, + -5.940070629119873 + ], + [ + -0.12377473711967468, + -0.9921369552612305, + -0.018555087968707085, + -5.221335411071777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1273, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_138469934", + "mask_path": "../../mask/hdr_left_01273.png" + }, + { + "file_path": "../../rgb/hdr_left_01274.png", + "transform_matrix": [ + [ + 0.9924076795578003, + -0.12295153737068176, + 0.0031530437991023064, + 43.378517150878906 + ], + [ + -0.00459513533860445, + -0.011447103694081306, + 0.9999238848686218, + -5.909939289093018 + ], + [ + -0.12290606647729874, + -0.9923467040061951, + -0.011925168335437775, + -5.234530448913574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1274, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_238470315", + "mask_path": "../../mask/hdr_left_01274.png" + }, + { + "file_path": "../../rgb/hdr_left_01275.png", + "transform_matrix": [ + [ + 0.9922529458999634, + -0.12391079217195511, + -0.00894653145223856, + 43.45094299316406 + ], + [ + 0.008670092560350895, + -0.0027699910569936037, + 0.9999585151672363, + -5.880671977996826 + ], + [ + -0.1239304393529892, + -0.9922894835472107, + -0.0016742115840315819, + -5.249385833740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1275, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_338470458", + "mask_path": "../../mask/hdr_left_01275.png" + }, + { + "file_path": "../../rgb/hdr_left_01276.png", + "transform_matrix": [ + [ + 0.9918065667152405, + -0.12685808539390564, + -0.015057274140417576, + 43.52996826171875 + ], + [ + 0.014844035729765892, + -0.0026261238381266594, + 0.9998863935470581, + -5.857207298278809 + ], + [ + -0.12688322365283966, + -0.9919174313545227, + -0.0007215150399133563, + -5.261166095733643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1276, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_438470125", + "mask_path": "../../mask/hdr_left_01276.png" + }, + { + "file_path": "../../rgb/hdr_left_01277.png", + "transform_matrix": [ + [ + 0.9919078350067139, + -0.12635643780231476, + -0.012360956519842148, + 43.60007095336914 + ], + [ + 0.012516472488641739, + 0.00043689418816938996, + 0.9999215602874756, + -5.839938640594482 + ], + [ + -0.12634111940860748, + -0.9919848442077637, + 0.0020149010233581066, + -5.2620439529418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1277, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_538470745", + "mask_path": "../../mask/hdr_left_01277.png" + }, + { + "file_path": "../../rgb/hdr_left_01278.png", + "transform_matrix": [ + [ + 0.9927958250045776, + -0.11971066892147064, + -0.005072745028883219, + 43.66531753540039 + ], + [ + 0.0057097491808235645, + 0.004978897050023079, + 0.9999712109565735, + -5.818260192871094 + ], + [ + -0.11968197673559189, + -0.9927964210510254, + 0.005626549478620291, + -5.268470764160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1278, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_638469457", + "mask_path": "../../mask/hdr_left_01278.png" + }, + { + "file_path": "../../rgb/hdr_left_01279.png", + "transform_matrix": [ + [ + 0.9941275715827942, + -0.10821075737476349, + 0.0008715811418369412, + 43.76203155517578 + ], + [ + -0.00041976154898293316, + 0.0041981847025454044, + 0.9999909996986389, + -5.790482997894287 + ], + [ + -0.10821343958377838, + -0.9941191673278809, + 0.004128113389015198, + -5.278882026672363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1279, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_738469362", + "mask_path": "../../mask/hdr_left_01279.png" + }, + { + "file_path": "../../rgb/hdr_left_01280.png", + "transform_matrix": [ + [ + 0.9942309856414795, + -0.10725529491901398, + -0.0009994144784286618, + 43.844970703125 + ], + [ + 0.001739627099595964, + 0.006808098871260881, + 0.999975323677063, + -5.762947082519531 + ], + [ + -0.10724583268165588, + -0.9942082762718201, + 0.006955407559871674, + -5.292694091796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1280, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_838469982", + "mask_path": "../../mask/hdr_left_01280.png" + }, + { + "file_path": "../../rgb/hdr_left_01281.png", + "transform_matrix": [ + [ + 0.9945530891418457, + -0.10414092987775803, + -0.004331375937908888, + 43.9025764465332 + ], + [ + 0.005397692322731018, + 0.009959743358194828, + 0.9999358057975769, + -5.737819194793701 + ], + [ + -0.1040911078453064, + -0.994512677192688, + 0.010467617772519588, + -5.302789688110352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1281, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_938470840", + "mask_path": "../../mask/hdr_left_01281.png" + }, + { + "file_path": "../../rgb/hdr_left_01282.png", + "transform_matrix": [ + [ + 0.9943827390670776, + -0.10574457794427872, + -0.004590168595314026, + 43.9757080078125 + ], + [ + 0.006049991585314274, + 0.013488600961863995, + 0.9998906850814819, + -5.714849948883057 + ], + [ + -0.10567110031843185, + -0.9943019151687622, + 0.014052589423954487, + -5.314869403839111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1282, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_38470029", + "mask_path": "../../mask/hdr_left_01282.png" + }, + { + "file_path": "../../rgb/hdr_left_01283.png", + "transform_matrix": [ + [ + 0.9934702515602112, + -0.11408837884664536, + 0.0008022655383683741, + 44.05242919921875 + ], + [ + 0.0002864677517209202, + 0.009526439011096954, + 0.9999545812606812, + -5.697133541107178 + ], + [ + -0.11409083753824234, + -0.9934249520301819, + 0.009496919810771942, + -5.320013046264648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1283, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_138470888", + "mask_path": "../../mask/hdr_left_01283.png" + }, + { + "file_path": "../../rgb/hdr_left_01284.png", + "transform_matrix": [ + [ + 0.9934915900230408, + -0.11340927332639694, + 0.010621018707752228, + 44.12196731567383 + ], + [ + -0.009912144392728806, + 0.006812599021941423, + 0.9999276995658875, + -5.682330131530762 + ], + [ + -0.11347340792417526, + -0.9935250878334045, + 0.005644132383167744, + -5.32028865814209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1284, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_238470077", + "mask_path": "../../mask/hdr_left_01284.png" + }, + { + "file_path": "../../rgb/hdr_left_01285.png", + "transform_matrix": [ + [ + 0.9941054582595825, + -0.1056952178478241, + 0.0241400133818388, + 44.193363189697266 + ], + [ + -0.02367767132818699, + 0.0056272391229867935, + 0.9997038245201111, + -5.6687140464782715 + ], + [ + -0.10579974204301834, + -0.9943826794624329, + 0.0030914563685655594, + -5.325287818908691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1285, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_338470220", + "mask_path": "../../mask/hdr_left_01285.png" + }, + { + "file_path": "../../rgb/hdr_left_01286.png", + "transform_matrix": [ + [ + 0.9943944811820984, + -0.09978291392326355, + 0.03497026115655899, + 44.28968811035156 + ], + [ + -0.035496845841407776, + -0.0035062474198639393, + 0.9993636012077332, + -5.651183605194092 + ], + [ + -0.09959679841995239, + -0.9950031042098999, + -0.007028569001704454, + -5.339654922485352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1286, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_438470125", + "mask_path": "../../mask/hdr_left_01286.png" + }, + { + "file_path": "../../rgb/hdr_left_01287.png", + "transform_matrix": [ + [ + 0.9939142465591431, + -0.10490363836288452, + 0.03361053764820099, + 44.38306427001953 + ], + [ + -0.034731265157461166, + -0.008874543942511082, + 0.9993573427200317, + -5.634392738342285 + ], + [ + -0.10453793406486511, + -0.9944428205490112, + -0.012463969178497791, + -5.359238624572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1287, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_538470268", + "mask_path": "../../mask/hdr_left_01287.png" + }, + { + "file_path": "../../rgb/hdr_left_01288.png", + "transform_matrix": [ + [ + 0.9940126538276672, + -0.10429317504167557, + 0.03258465975522995, + 44.45433807373047 + ], + [ + -0.03360053151845932, + -0.007997783832252026, + 0.9994032979011536, + -5.618370056152344 + ], + [ + -0.10397034883499146, + -0.9945144653320312, + -0.011454198509454727, + -5.374788284301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1288, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_638469457", + "mask_path": "../../mask/hdr_left_01288.png" + }, + { + "file_path": "../../rgb/hdr_left_01289.png", + "transform_matrix": [ + [ + 0.9936175346374512, + -0.10770890861749649, + 0.03350823000073433, + 44.53907012939453 + ], + [ + -0.03425254672765732, + -0.005067199002951384, + 0.9994003772735596, + -5.606180667877197 + ], + [ + -0.10747450590133667, + -0.9941695332527161, + -0.008724158629775047, + -5.387866973876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1289, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_738470792", + "mask_path": "../../mask/hdr_left_01289.png" + }, + { + "file_path": "../../rgb/hdr_left_01290.png", + "transform_matrix": [ + [ + 0.9922400712966919, + -0.11762544512748718, + 0.040296752005815506, + 44.62416076660156 + ], + [ + -0.04117729887366295, + -0.005064291413873434, + 0.9991390705108643, + -5.598751068115234 + ], + [ + -0.11732009798288345, + -0.9930451512336731, + -0.00986848771572113, + -5.394975185394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1290, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_838470220", + "mask_path": "../../mask/hdr_left_01290.png" + }, + { + "file_path": "../../rgb/hdr_left_01291.png", + "transform_matrix": [ + [ + 0.9916860461235046, + -0.11811543256044388, + 0.05106516182422638, + 44.69544219970703 + ], + [ + -0.05189293995499611, + -0.003941408358514309, + 0.9986448884010315, + -5.59314489364624 + ], + [ + -0.11775408685207367, + -0.992992103099823, + -0.01003799308091402, + -5.398428440093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1291, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_938470363", + "mask_path": "../../mask/hdr_left_01291.png" + }, + { + "file_path": "../../rgb/hdr_left_01292.png", + "transform_matrix": [ + [ + 0.9914544820785522, + -0.1124211773276329, + 0.0661759003996849, + 44.762969970703125 + ], + [ + -0.06680494546890259, + -0.001833128510043025, + 0.9977644085884094, + -5.587741851806641 + ], + [ + -0.11204851418733597, + -0.9936590194702148, + -0.009327747859060764, + -5.407331943511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1292, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_38470506", + "mask_path": "../../mask/hdr_left_01292.png" + }, + { + "file_path": "../../rgb/hdr_left_01293.png", + "transform_matrix": [ + [ + 0.9910467863082886, + -0.10892385989427567, + 0.07721243798732758, + 44.85088348388672 + ], + [ + -0.07852135598659515, + -0.007772661745548248, + 0.9968820810317993, + -5.585200786590576 + ], + [ + -0.10798408836126328, + -0.9940197467803955, + -0.01625591516494751, + -5.421245574951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1293, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_138471603", + "mask_path": "../../mask/hdr_left_01293.png" + }, + { + "file_path": "../../rgb/hdr_left_01294.png", + "transform_matrix": [ + [ + 0.9904173612594604, + -0.11448998004198074, + 0.07723657041788101, + 44.9514045715332 + ], + [ + -0.0792119950056076, + -0.012799498625099659, + 0.9967755675315857, + -5.570247173309326 + ], + [ + -0.11313222348690033, + -0.9933419823646545, + -0.021745821461081505, + -5.439311504364014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1294, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_238468170", + "mask_path": "../../mask/hdr_left_01294.png" + }, + { + "file_path": "../../rgb/hdr_left_01295.png", + "transform_matrix": [ + [ + 0.9904235601425171, + -0.11483865231275558, + 0.07663700729608536, + 45.01875305175781 + ], + [ + -0.07886627316474915, + -0.014989442192018032, + 0.9967725276947021, + -5.558723449707031 + ], + [ + -0.1133192628622055, + -0.9932711124420166, + -0.02390279434621334, + -5.453035354614258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1295, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_338471412", + "mask_path": "../../mask/hdr_left_01295.png" + }, + { + "file_path": "../../rgb/hdr_left_01296.png", + "transform_matrix": [ + [ + 0.9903537034988403, + -0.11542697250843048, + 0.07665596902370453, + 45.09705352783203 + ], + [ + -0.07879601418972015, + -0.014086266048252583, + 0.9967911243438721, + -5.548582553863525 + ], + [ + -0.11397678405046463, + -0.9932160973548889, + -0.023045562207698822, + -5.4636406898498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1296, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_438471078", + "mask_path": "../../mask/hdr_left_01296.png" + }, + { + "file_path": "../../rgb/hdr_left_01297.png", + "transform_matrix": [ + [ + 0.9893379211425781, + -0.1208028495311737, + 0.08134554326534271, + 45.18463897705078 + ], + [ + -0.08364425599575043, + -0.014072624035179615, + 0.9963963031768799, + -5.542905807495117 + ], + [ + -0.11922276020050049, + -0.9925767779350281, + -0.024027040228247643, + -5.477248191833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1297, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_538470268", + "mask_path": "../../mask/hdr_left_01297.png" + }, + { + "file_path": "../../rgb/hdr_left_01298.png", + "transform_matrix": [ + [ + 0.9882222414016724, + -0.1221897229552269, + 0.09212186932563782, + 45.262908935546875 + ], + [ + -0.09456749260425568, + -0.014356477186083794, + 0.9954149127006531, + -5.53950309753418 + ], + [ + -0.12030691653490067, + -0.992402970790863, + -0.025742560625076294, + -5.483628273010254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1298, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_638470649", + "mask_path": "../../mask/hdr_left_01298.png" + }, + { + "file_path": "../../rgb/hdr_left_01299.png", + "transform_matrix": [ + [ + 0.9874147772789001, + -0.11695101112127304, + 0.10646355897188187, + 45.334007263183594 + ], + [ + -0.10906856507062912, + -0.016086479648947716, + 0.9939040541648865, + -5.53904914855957 + ], + [ + -0.1145254522562027, + -0.9930074214935303, + -0.02863970212638378, + -5.490153789520264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1299, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_738470554", + "mask_path": "../../mask/hdr_left_01299.png" + }, + { + "file_path": "../../rgb/hdr_left_01300.png", + "transform_matrix": [ + [ + 0.9864463210105896, + -0.11476611346006393, + 0.11727095395326614, + 45.42753601074219 + ], + [ + -0.12074297666549683, + -0.023759834468364716, + 0.9923993945121765, + -5.535275459289551 + ], + [ + -0.1111074835062027, + -0.9931083917617798, + -0.03729500621557236, + -5.506662845611572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1300, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_838470697", + "mask_path": "../../mask/hdr_left_01300.png" + }, + { + "file_path": "../../rgb/hdr_left_01301.png", + "transform_matrix": [ + [ + 0.9858304262161255, + -0.12146411091089249, + 0.11569266021251678, + 45.51713562011719 + ], + [ + -0.12012714147567749, + -0.029819002375006676, + 0.992310643196106, + -5.52327823638916 + ], + [ + -0.11708028614521027, + -0.9921478033065796, + -0.043987613171339035, + -5.527559757232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1301, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_938470363", + "mask_path": "../../mask/hdr_left_01301.png" + }, + { + "file_path": "../../rgb/hdr_left_01302.png", + "transform_matrix": [ + [ + 0.9861729145050049, + -0.12134698778390884, + 0.11286192387342453, + 45.58625030517578 + ], + [ + -0.11735181510448456, + -0.03049047291278839, + 0.9926221370697021, + -5.512155532836914 + ], + [ + -0.11701050400733948, + -0.9921417832374573, + -0.044309161603450775, + -5.539913654327393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1302, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_38470268", + "mask_path": "../../mask/hdr_left_01302.png" + }, + { + "file_path": "../../rgb/hdr_left_01303.png", + "transform_matrix": [ + [ + 0.9862843751907349, + -0.12210981547832489, + 0.11105094105005264, + 45.66383743286133 + ], + [ + -0.11517582088708878, + -0.027234815061092377, + 0.9929717779159546, + -5.502419471740723 + ], + [ + -0.11822712421417236, + -0.9921428561210632, + -0.04092536121606827, + -5.552181243896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1303, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_138468980", + "mask_path": "../../mask/hdr_left_01303.png" + }, + { + "file_path": "../../rgb/hdr_left_01304.png", + "transform_matrix": [ + [ + 0.9848645925521851, + -0.12953804433345795, + 0.11515890061855316, + 45.76030731201172 + ], + [ + -0.11921233683824539, + -0.023959115147590637, + 0.9925796985626221, + -5.503853797912598 + ], + [ + -0.1258177012205124, + -0.9912850260734558, + -0.0390390083193779, + -5.569056987762451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1304, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_238470077", + "mask_path": "../../mask/hdr_left_01304.png" + }, + { + "file_path": "../../rgb/hdr_left_01305.png", + "transform_matrix": [ + [ + 0.9832008481025696, + -0.13317687809467316, + 0.12481976300477982, + 45.83517074584961 + ], + [ + -0.12867313623428345, + -0.020696941763162613, + 0.9914710521697998, + -5.510427474975586 + ], + [ + -0.12945762276649475, + -0.9908761978149414, + -0.03748553246259689, + -5.575980186462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1305, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_338469982", + "mask_path": "../../mask/hdr_left_01305.png" + }, + { + "file_path": "../../rgb/hdr_left_01306.png", + "transform_matrix": [ + [ + 0.981877326965332, + -0.12934798002243042, + 0.13851314783096313, + 45.898807525634766 + ], + [ + -0.14208140969276428, + -0.018733583390712738, + 0.9896776676177979, + -5.506641864776611 + ], + [ + -0.12541796267032623, + -0.9914223551750183, + -0.036772020161151886, + -5.585928916931152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1306, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_438470363", + "mask_path": "../../mask/hdr_left_01306.png" + }, + { + "file_path": "../../rgb/hdr_left_01307.png", + "transform_matrix": [ + [ + 0.9807136654853821, + -0.12456954270601273, + 0.1506088525056839, + 45.99083709716797 + ], + [ + -0.15434585511684418, + -0.020857227966189384, + 0.9877966642379761, + -5.4999260902404785 + ], + [ + -0.11990809440612793, + -0.9919916987419128, + -0.03968175873160362, + -5.601794719696045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1307, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_538470029", + "mask_path": "../../mask/hdr_left_01307.png" + }, + { + "file_path": "../../rgb/hdr_left_01308.png", + "transform_matrix": [ + [ + 0.9804529547691345, + -0.1275085061788559, + 0.14984498918056488, + 46.08206558227539 + ], + [ + -0.1536904275417328, + -0.02081729844212532, + 0.9878997802734375, + -5.489902496337891 + ], + [ + -0.12284620851278305, + -0.9916190505027771, + -0.040007203817367554, + -5.618927478790283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1308, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_638470172", + "mask_path": "../../mask/hdr_left_01308.png" + }, + { + "file_path": "../../rgb/hdr_left_01309.png", + "transform_matrix": [ + [ + 0.9809288382530212, + -0.12737229466438293, + 0.14681600034236908, + 46.14677810668945 + ], + [ + -0.15035375952720642, + -0.01856684312224388, + 0.9884578585624695, + -5.477822780609131 + ], + [ + -0.12317623198032379, + -0.9916812777519226, + -0.03736364468932152, + -5.63120174407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1309, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_738469123", + "mask_path": "../../mask/hdr_left_01309.png" + }, + { + "file_path": "../../rgb/hdr_left_01310.png", + "transform_matrix": [ + [ + 0.9813677668571472, + -0.12653888761997223, + 0.14458651840686798, + 46.223365783691406 + ], + [ + -0.14738142490386963, + -0.012960820458829403, + 0.9889947772026062, + -5.466820240020752 + ], + [ + -0.12327233701944351, + -0.991877019405365, + -0.031368810683488846, + -5.643664360046387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1310, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_838469743", + "mask_path": "../../mask/hdr_left_01310.png" + }, + { + "file_path": "../../rgb/hdr_left_01311.png", + "transform_matrix": [ + [ + 0.9804841876029968, + -0.1311720758676529, + 0.14643950760364532, + 46.317527770996094 + ], + [ + -0.14908236265182495, + -0.010505874641239643, + 0.9887689352035522, + -5.461740970611572 + ], + [ + -0.12816040217876434, + -0.9913040399551392, + -0.029856286942958832, + -5.659946441650391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1311, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_938470602", + "mask_path": "../../mask/hdr_left_01311.png" + }, + { + "file_path": "../../rgb/hdr_left_01312.png", + "transform_matrix": [ + [ + 0.978288471698761, + -0.13658224046230316, + 0.15587455034255981, + 46.3963623046875 + ], + [ + -0.15855351090431213, + -0.008892160840332508, + 0.9873102903366089, + -5.460644721984863 + ], + [ + -0.13346296548843384, + -0.9905888438224792, + -0.030354684218764305, + -5.666048526763916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1312, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_38469314", + "mask_path": "../../mask/hdr_left_01312.png" + }, + { + "file_path": "../../rgb/hdr_left_01313.png", + "transform_matrix": [ + [ + 0.9767732620239258, + -0.13257454335689545, + 0.16833844780921936, + 46.461971282958984 + ], + [ + -0.17096851766109467, + -0.008628546260297298, + 0.9852387309074402, + -5.4596686363220215 + ], + [ + -0.12916503846645355, + -0.9911355376243591, + -0.031094204634428024, + -5.672057628631592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1313, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_138468980", + "mask_path": "../../mask/hdr_left_01313.png" + }, + { + "file_path": "../../rgb/hdr_left_01314.png", + "transform_matrix": [ + [ + 0.9752674698829651, + -0.1278689056634903, + 0.18028545379638672, + 46.552490234375 + ], + [ + -0.18392543494701385, + -0.017155494540929794, + 0.982790470123291, + -5.457586288452148 + ], + [ + -0.12257544696331024, + -0.9916427731513977, + -0.0402495302259922, + -5.68931245803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1314, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_238470315", + "mask_path": "../../mask/hdr_left_01314.png" + }, + { + "file_path": "../../rgb/hdr_left_01315.png", + "transform_matrix": [ + [ + 0.9746975302696228, + -0.13169409334659576, + 0.18061383068561554, + 46.65584945678711 + ], + [ + -0.18515942990779877, + -0.023026226088404655, + 0.9824387431144714, + -5.452438831329346 + ], + [ + -0.12522248923778534, + -0.9910229444503784, + -0.046828001737594604, + -5.711030960083008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1315, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_338469266", + "mask_path": "../../mask/hdr_left_01315.png" + }, + { + "file_path": "../../rgb/hdr_left_01316.png", + "transform_matrix": [ + [ + 0.9748986959457397, + -0.1332962065935135, + 0.17833848297595978, + 46.728858947753906 + ], + [ + -0.18302474915981293, + -0.023671865463256836, + 0.9828233122825623, + -5.447419166564941 + ], + [ + -0.12678498029708862, + -0.9907935261726379, + -0.047474171966314316, + -5.727174758911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1316, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_438468456", + "mask_path": "../../mask/hdr_left_01316.png" + }, + { + "file_path": "../../rgb/hdr_left_01317.png", + "transform_matrix": [ + [ + 0.9748280048370361, + -0.1347472071647644, + 0.17763297259807587, + 46.81550598144531 + ], + [ + -0.18189141154289246, + -0.019879665225744247, + 0.9831176996231079, + -5.45239782333374 + ], + [ + -0.12894107401371002, + -0.9906805753707886, + -0.04388861358165741, + -5.7449541091918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1317, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_538471460", + "mask_path": "../../mask/hdr_left_01317.png" + }, + { + "file_path": "../../rgb/hdr_left_01318.png", + "transform_matrix": [ + [ + 0.9734217524528503, + -0.14067450165748596, + 0.18072280287742615, + 46.905479431152344 + ], + [ + -0.18472793698310852, + -0.01584353670477867, + 0.9826619029045105, + -5.464730262756348 + ], + [ + -0.13537219166755676, + -0.9899291396141052, + -0.041408948600292206, + -5.759852409362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1318, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_638469457", + "mask_path": "../../mask/hdr_left_01318.png" + }, + { + "file_path": "../../rgb/hdr_left_01319.png", + "transform_matrix": [ + [ + 0.9726216197013855, + -0.1415538340806961, + 0.1843084841966629, + 46.97832107543945 + ], + [ + -0.18835756182670593, + -0.015641700476408005, + 0.9819759726524353, + -5.473477840423584 + ], + [ + -0.13611957430839539, + -0.9898070096969604, + -0.04187618941068649, + -5.764931678771973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1319, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_738469123", + "mask_path": "../../mask/hdr_left_01319.png" + }, + { + "file_path": "../../rgb/hdr_left_01320.png", + "transform_matrix": [ + [ + 0.9726151823997498, + -0.1358630359172821, + 0.18857568502426147, + 47.03733444213867 + ], + [ + -0.19241450726985931, + -0.015579693019390106, + 0.981190025806427, + -5.479674816131592 + ], + [ + -0.13036949932575226, + -0.9906051158905029, + -0.04129506275057793, + -5.774317741394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1320, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_838469743", + "mask_path": "../../mask/hdr_left_01320.png" + }, + { + "file_path": "../../rgb/hdr_left_01321.png", + "transform_matrix": [ + [ + 0.9727734923362732, + -0.13099807500839233, + 0.19118373095989227, + 47.117225646972656 + ], + [ + -0.19490502774715424, + -0.01607958972454071, + 0.9806903004646301, + -5.485668182373047 + ], + [ + -0.12539435923099518, + -0.9912522435188293, + -0.04117397218942642, + -5.790234088897705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1321, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_938470125", + "mask_path": "../../mask/hdr_left_01321.png" + }, + { + "file_path": "../../rgb/hdr_left_01322.png", + "transform_matrix": [ + [ + 0.9741672277450562, + -0.13264964520931244, + 0.18276283144950867, + 47.21422576904297 + ], + [ + -0.18663153052330017, + -0.017235424369573593, + 0.9822787642478943, + -5.483098030090332 + ], + [ + -0.12714892625808716, + -0.9910131692886353, + -0.041546788066625595, + -5.8037638664245605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1322, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_38469076", + "mask_path": "../../mask/hdr_left_01322.png" + }, + { + "file_path": "../../rgb/hdr_left_01323.png", + "transform_matrix": [ + [ + 0.9768114686012268, + -0.13283415138721466, + 0.16791200637817383, + 47.28446578979492 + ], + [ + -0.17166690528392792, + -0.01725625805556774, + 0.9850038886070251, + -5.47113561630249 + ], + [ + -0.12794463336467743, + -0.9909880757331848, + -0.03965933248400688, + -5.814576625823975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1323, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_138469457", + "mask_path": "../../mask/hdr_left_01323.png" + }, + { + "file_path": "../../rgb/hdr_left_01324.png", + "transform_matrix": [ + [ + 0.9797070622444153, + -0.1311427801847458, + 0.1515769362449646, + 47.354522705078125 + ], + [ + -0.15400700271129608, + -0.008530455641448498, + 0.9880331158638, + -5.459967613220215 + ], + [ + -0.128280371427536, + -0.9913268685340881, + -0.02855425328016281, + -5.829610824584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1324, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_238469600", + "mask_path": "../../mask/hdr_left_01324.png" + }, + { + "file_path": "../../rgb/hdr_left_01325.png", + "transform_matrix": [ + [ + 0.9814478754997253, + -0.13483308255672455, + 0.13630862534046173, + 47.44273376464844 + ], + [ + -0.13737806677818298, + 0.001384539995342493, + 0.9905176162719727, + -5.452765464782715 + ], + [ + -0.13374324142932892, + -0.9908674359321594, + -0.01716424711048603, + -5.846595764160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1325, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_338469743", + "mask_path": "../../mask/hdr_left_01325.png" + }, + { + "file_path": "../../rgb/hdr_left_01326.png", + "transform_matrix": [ + [ + 0.9815618395805359, + -0.1456267088651657, + 0.1238115057349205, + 47.52290725708008 + ], + [ + -0.12440339475870132, + 0.00507099786773324, + 0.9922187328338623, + -5.446771144866943 + ], + [ + -0.14512139558792114, + -0.9893266558647156, + -0.01313895732164383, + -5.854523181915283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1326, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_438469171", + "mask_path": "../../mask/hdr_left_01326.png" + }, + { + "file_path": "../../rgb/hdr_left_01327.png", + "transform_matrix": [ + [ + 0.9827482104301453, + -0.14704261720180511, + 0.11218051612377167, + 47.57647705078125 + ], + [ + -0.11176828294992447, + 0.01108934823423624, + 0.9936724305152893, + -5.436825752258301 + ], + [ + -0.14735618233680725, + -0.9890680313110352, + -0.005536660086363554, + -5.8636274337768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1327, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_538469314", + "mask_path": "../../mask/hdr_left_01327.png" + }, + { + "file_path": "../../rgb/hdr_left_01328.png", + "transform_matrix": [ + [ + 0.9843623042106628, + -0.14261843264102936, + 0.10339615494012833, + 47.64887237548828 + ], + [ + -0.10210032761096954, + 0.016394544392824173, + 0.9946390390396118, + -5.420039176940918 + ], + [ + -0.14354898035526276, + -0.9896420240402222, + 0.0015767865115776658, + -5.8835768699646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1328, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_638469219", + "mask_path": "../../mask/hdr_left_01328.png" + }, + { + "file_path": "../../rgb/hdr_left_01329.png", + "transform_matrix": [ + [ + 0.9859943389892578, + -0.13896119594573975, + 0.09222150593996048, + 47.75165939331055 + ], + [ + -0.0917258933186531, + 0.009980672039091587, + 0.9957343935966492, + -5.398663520812988 + ], + [ + -0.13928885757923126, + -0.9902475476264954, + -0.0029054477345198393, + -5.903955936431885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1329, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_738468885", + "mask_path": "../../mask/hdr_left_01329.png" + }, + { + "file_path": "../../rgb/hdr_left_01330.png", + "transform_matrix": [ + [ + 0.9860540628433228, + -0.14345741271972656, + 0.08436275273561478, + 47.833457946777344 + ], + [ + -0.08433864265680313, + 0.006260124500840902, + 0.9964174628257751, + -5.380914211273193 + ], + [ + -0.1434715837240219, + -0.9896367788314819, + -0.005926176905632019, + -5.916194915771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1330, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_838469505", + "mask_path": "../../mask/hdr_left_01330.png" + }, + { + "file_path": "../../rgb/hdr_left_01331.png", + "transform_matrix": [ + [ + 0.9864057898521423, + -0.1427527815103531, + 0.08139494061470032, + 47.90036392211914 + ], + [ + -0.0806860625743866, + 0.010757285170257092, + 0.9966815710067749, + -5.36569356918335 + ], + [ + -0.14315463602542877, + -0.9896999001502991, + -0.0009071088279597461, + -5.932891845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1331, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_938469409", + "mask_path": "../../mask/hdr_left_01331.png" + }, + { + "file_path": "../../rgb/hdr_left_01332.png", + "transform_matrix": [ + [ + 0.9853371977806091, + -0.14906045794487, + 0.08301543444395065, + 47.975494384765625 + ], + [ + -0.08147363364696503, + 0.01643095724284649, + 0.9965400695800781, + -5.351508140563965 + ], + [ + -0.14990872144699097, + -0.9886916875839233, + 0.0040455409325659275, + -5.947809219360352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1332, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_38469076", + "mask_path": "../../mask/hdr_left_01332.png" + }, + { + "file_path": "../../rgb/hdr_left_01333.png", + "transform_matrix": [ + [ + 0.98191237449646, + -0.16611012816429138, + 0.0908592939376831, + 48.0447883605957 + ], + [ + -0.08957120031118393, + 0.015245359390974045, + 0.9958637356758118, + -5.345030307769775 + ], + [ + -0.16680821776390076, + -0.9859893918037415, + 9.092860273085535e-05, + -5.961248397827148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1333, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_138469934", + "mask_path": "../../mask/hdr_left_01333.png" + }, + { + "file_path": "../../rgb/hdr_left_01334.png", + "transform_matrix": [ + [ + 0.9805956482887268, + -0.16937777400016785, + 0.09870751947164536, + 48.10293960571289 + ], + [ + -0.0979108214378357, + 0.013070509769022465, + 0.9951093196868896, + -5.339271545410156 + ], + [ + -0.1698395311832428, + -0.9854645133018494, + -0.0037670242600142956, + -5.972821235656738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1334, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_238468885", + "mask_path": "../../mask/hdr_left_01334.png" + }, + { + "file_path": "../../rgb/hdr_left_01335.png", + "transform_matrix": [ + [ + 0.9807459712028503, + -0.16186711192131042, + 0.10925396531820297, + 48.166500091552734 + ], + [ + -0.10834931582212448, + 0.014432595111429691, + 0.9940080642700195, + -5.331238269805908 + ], + [ + -0.16247402131557465, + -0.9867070913314819, + -0.0033834774512797594, + -5.985237121582031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1335, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_338469982", + "mask_path": "../../mask/hdr_left_01335.png" + }, + { + "file_path": "../../rgb/hdr_left_01336.png", + "transform_matrix": [ + [ + 0.981269359588623, + -0.15254881978034973, + 0.11763998121023178, + 48.26245880126953 + ], + [ + -0.1174888163805008, + 0.010036757215857506, + 0.9930235147476196, + -5.319708347320557 + ], + [ + -0.15266528725624084, + -0.9882450103759766, + -0.00807401817291975, + -6.000795841217041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1336, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_438468933", + "mask_path": "../../mask/hdr_left_01336.png" + }, + { + "file_path": "../../rgb/hdr_left_01337.png", + "transform_matrix": [ + [ + 0.9819381833076477, + -0.14875280857086182, + 0.11691851168870926, + 48.35685729980469 + ], + [ + -0.11806131154298782, + 0.0011551949428394437, + 0.9930055737495422, + -5.3039960861206055 + ], + [ + -0.14784744381904602, + -0.9888737201690674, + -0.016427621245384216, + -6.0101823806762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1337, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_538469552", + "mask_path": "../../mask/hdr_left_01337.png" + }, + { + "file_path": "../../rgb/hdr_left_01338.png", + "transform_matrix": [ + [ + 0.9829442501068115, + -0.14341717958450317, + 0.11511780321598053, + 48.417442321777344 + ], + [ + -0.1158449724316597, + 0.003297899616882205, + 0.9932618141174316, + -5.291964530944824 + ], + [ + -0.14283046126365662, + -0.9896568655967712, + -0.013372506946325302, + -6.026419639587402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1338, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_638470411", + "mask_path": "../../mask/hdr_left_01338.png" + }, + { + "file_path": "../../rgb/hdr_left_01339.png", + "transform_matrix": [ + [ + 0.9830858707427979, + -0.1421164870262146, + 0.11552014201879501, + 48.49258041381836 + ], + [ + -0.11538867652416229, + 0.00919408444315195, + 0.9932778477668762, + -5.279478073120117 + ], + [ + -0.1422232687473297, + -0.9898072481155396, + -0.007360056042671204, + -6.047739505767822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1339, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_738469362", + "mask_path": "../../mask/hdr_left_01339.png" + }, + { + "file_path": "../../rgb/hdr_left_01340.png", + "transform_matrix": [ + [ + 0.980964183807373, + -0.15034855902194977, + 0.1229001060128212, + 48.581424713134766 + ], + [ + -0.12282797694206238, + 0.009802045300602913, + 0.9923795461654663, + -5.280231475830078 + ], + [ + -0.15040752291679382, + -0.9885845184326172, + -0.008851547725498676, + -6.053884029388428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1340, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_838467836", + "mask_path": "../../mask/hdr_left_01340.png" + }, + { + "file_path": "../../rgb/hdr_left_01341.png", + "transform_matrix": [ + [ + 0.9794303774833679, + -0.15133707225322723, + 0.13346631824970245, + 48.652400970458984 + ], + [ + -0.13361039757728577, + 0.009262636303901672, + 0.9909906387329102, + -5.279477596282959 + ], + [ + -0.15120986104011536, + -0.9884389042854309, + -0.01114809513092041, + -6.053181171417236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1341, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_938469886", + "mask_path": "../../mask/hdr_left_01341.png" + }, + { + "file_path": "../../rgb/hdr_left_01342.png", + "transform_matrix": [ + [ + 0.9794923067092896, + -0.14555716514587402, + 0.1393118053674698, + 48.71583557128906 + ], + [ + -0.13968653976917267, + 0.0076938592828810215, + 0.9901658296585083, + -5.277259349822998 + ], + [ + -0.14519758522510529, + -0.9893199801445007, + -0.012796296738088131, + -6.067854404449463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1342, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_38469791", + "mask_path": "../../mask/hdr_left_01342.png" + }, + { + "file_path": "../../rgb/hdr_left_01343.png", + "transform_matrix": [ + [ + 0.9807211756706238, + -0.13807792961597443, + 0.13827626407146454, + 48.80594253540039 + ], + [ + -0.13914145529270172, + 0.0034139363560825586, + 0.9902666211128235, + -5.268253803253174 + ], + [ + -0.13720601797103882, + -0.9904155135154724, + -0.015864240005612373, + -6.084558963775635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1343, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_138470172", + "mask_path": "../../mask/hdr_left_01343.png" + }, + { + "file_path": "../../rgb/hdr_left_01344.png", + "transform_matrix": [ + [ + 0.982387363910675, + -0.1374218463897705, + 0.12661044299602509, + 48.91020584106445 + ], + [ + -0.12817679345607758, + -0.002573082922026515, + 0.9917479157447815, + -5.253640174865723 + ], + [ + -0.13596206903457642, + -0.9905092716217041, + -0.020142054185271263, + -6.092362403869629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1344, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_238470077", + "mask_path": "../../mask/hdr_left_01344.png" + }, + { + "file_path": "../../rgb/hdr_left_01345.png", + "transform_matrix": [ + [ + 0.9847421646118164, + -0.13117386400699615, + 0.11435119807720184, + 48.983333587646484 + ], + [ + -0.11576446145772934, + -0.003174023237079382, + 0.9932716488838196, + -5.238316535949707 + ], + [ + -0.129928320646286, + -0.9913543462753296, + -0.01831085979938507, + -6.1034955978393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1345, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_338469505", + "mask_path": "../../mask/hdr_left_01345.png" + }, + { + "file_path": "../../rgb/hdr_left_01346.png", + "transform_matrix": [ + [ + 0.9863778352737427, + -0.12543314695358276, + 0.10642047226428986, + 49.05979537963867 + ], + [ + -0.10688542574644089, + 0.003036866197362542, + 0.9942666888237, + -5.224967956542969 + ], + [ + -0.12503717839717865, + -0.9920975565910339, + -0.01041147019714117, + -6.115555286407471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1346, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_438469886", + "mask_path": "../../mask/hdr_left_01346.png" + }, + { + "file_path": "../../rgb/hdr_left_01347.png", + "transform_matrix": [ + [ + 0.9865561723709106, + -0.1264331191778183, + 0.10354458540678024, + 49.15594482421875 + ], + [ + -0.1032816469669342, + 0.008651167154312134, + 0.9946144819259644, + -5.218789100646973 + ], + [ + -0.12664799392223358, + -0.9919373989105225, + -0.004523354582488537, + -6.124514579772949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1347, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_538469552", + "mask_path": "../../mask/hdr_left_01347.png" + }, + { + "file_path": "../../rgb/hdr_left_01348.png", + "transform_matrix": [ + [ + 0.9862468838691711, + -0.12769894301891327, + 0.10492855310440063, + 49.22932434082031 + ], + [ + -0.10470957309007645, + 0.008445454761385918, + 0.9944669008255005, + -5.214288711547852 + ], + [ + -0.12787853181362152, + -0.9917770028114319, + -0.005041994620114565, + -6.126405715942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1348, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_638470649", + "mask_path": "../../mask/hdr_left_01348.png" + }, + { + "file_path": "../../rgb/hdr_left_01349.png", + "transform_matrix": [ + [ + 0.9866581559181213, + -0.1232791543006897, + 0.10633882880210876, + 49.28566360473633 + ], + [ + -0.10560596734285355, + 0.012482762336730957, + 0.9943296909332275, + -5.201250076293945 + ], + [ + -0.12390752881765366, + -0.9922935366630554, + -0.0007027938845567405, + -6.134936809539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1349, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_738470554", + "mask_path": "../../mask/hdr_left_01349.png" + }, + { + "file_path": "../../rgb/hdr_left_01350.png", + "transform_matrix": [ + [ + 0.9877495765686035, + -0.11427323520183563, + 0.1062653437256813, + 49.362693786621094 + ], + [ + -0.10528674721717834, + 0.014582631178200245, + 0.994334876537323, + -5.188954830169678 + ], + [ + -0.11517548561096191, + -0.9933423399925232, + 0.0023725340142846107, + -6.144589424133301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1350, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_838469982", + "mask_path": "../../mask/hdr_left_01350.png" + }, + { + "file_path": "../../rgb/hdr_left_01351.png", + "transform_matrix": [ + [ + 0.9892945885658264, + -0.1105155274271965, + 0.09530240297317505, + 49.44852828979492 + ], + [ + -0.0953691303730011, + 0.004694344941526651, + 0.9954309463500977, + -5.168550968170166 + ], + [ + -0.11045795679092407, + -0.9938633441925049, + -0.005895677953958511, + -6.1522440910339355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1351, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_938469171", + "mask_path": "../../mask/hdr_left_01351.png" + }, + { + "file_path": "../../rgb/hdr_left_01352.png", + "transform_matrix": [ + [ + 0.9913507103919983, + -0.10798998922109604, + 0.07457731664180756, + 49.505279541015625 + ], + [ + -0.07488185167312622, + 0.0012381717097014189, + 0.9971916675567627, + -5.148278713226318 + ], + [ + -0.10777905583381653, + -0.99415123462677, + -0.006859024986624718, + -6.162639141082764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1352, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_38469791", + "mask_path": "../../mask/hdr_left_01352.png" + }, + { + "file_path": "../../rgb/hdr_left_01353.png", + "transform_matrix": [ + [ + 0.9931850433349609, + -0.10507846623659134, + 0.05041876062750816, + 49.56658172607422 + ], + [ + -0.0500214546918869, + 0.006414692848920822, + 0.998727560043335, + -5.127533435821533 + ], + [ + -0.10526816546916962, + -0.9944432973861694, + 0.0011148020857945085, + -6.1752824783325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1353, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_138471364", + "mask_path": "../../mask/hdr_left_01353.png" + }, + { + "file_path": "../../rgb/hdr_left_01354.png", + "transform_matrix": [ + [ + 0.9935396313667297, + -0.10922802984714508, + 0.030793780460953712, + 49.643310546875 + ], + [ + -0.0298103429377079, + 0.01062522642314434, + 0.9994991421699524, + -5.107657432556152 + ], + [ + -0.10950049757957458, + -0.9939599633216858, + 0.007300460711121559, + -6.18910551071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1354, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_238469839", + "mask_path": "../../mask/hdr_left_01354.png" + }, + { + "file_path": "../../rgb/hdr_left_01355.png", + "transform_matrix": [ + [ + 0.9926981925964355, + -0.11865635216236115, + 0.02170374058187008, + 49.71290969848633 + ], + [ + -0.0208236426115036, + 0.008651773445308208, + 0.9997456669807434, + -5.094691753387451 + ], + [ + -0.11881394684314728, + -0.9928976893424988, + 0.006117738783359528, + -6.187400817871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1355, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_338469743", + "mask_path": "../../mask/hdr_left_01355.png" + }, + { + "file_path": "../../rgb/hdr_left_01357.png", + "transform_matrix": [ + [ + 0.9937228560447693, + -0.11186731606721878, + -0.0006734683411195874, + 49.82505798339844 + ], + [ + 0.0016133500030264258, + 0.008311722427606583, + 0.99996417760849, + -5.071303367614746 + ], + [ + -0.11185769736766815, + -0.9936884045600891, + 0.008440033532679081, + -6.201486110687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1357, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_538469314", + "mask_path": "../../mask/hdr_left_01357.png" + }, + { + "file_path": "../../rgb/hdr_left_01358.png", + "transform_matrix": [ + [ + 0.9942061901092529, + -0.1063685417175293, + -0.015486093237996101, + 49.91376876831055 + ], + [ + 0.015623543411493301, + 0.00045903888531029224, + 0.9998778700828552, + -5.053287982940674 + ], + [ + -0.1063484326004982, + -0.9943267107009888, + 0.002118231961503625, + -6.213414192199707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1358, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_638470411", + "mask_path": "../../mask/hdr_left_01358.png" + }, + { + "file_path": "../../rgb/hdr_left_01359.png", + "transform_matrix": [ + [ + 0.9937488436698914, + -0.10581642389297485, + -0.035582661628723145, + 49.99630355834961 + ], + [ + 0.03469926863908768, + -0.010178187862038612, + 0.9993460178375244, + -5.03629732131958 + ], + [ + -0.1061093732714653, + -0.9943336248397827, + -0.006442807149142027, + -6.22047233581543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1359, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_738469123", + "mask_path": "../../mask/hdr_left_01359.png" + }, + { + "file_path": "../../rgb/hdr_left_01360.png", + "transform_matrix": [ + [ + 0.9932817220687866, + -0.10207611322402954, + -0.05451470613479614, + 50.05826950073242 + ], + [ + 0.05387449264526367, + -0.009020361118018627, + 0.998507022857666, + -5.016507625579834 + ], + [ + -0.10241544246673584, + -0.9947357177734375, + -0.003460459876805544, + -6.228392124176025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1360, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_838469028", + "mask_path": "../../mask/hdr_left_01360.png" + }, + { + "file_path": "../../rgb/hdr_left_01361.png", + "transform_matrix": [ + [ + 0.991677463054657, + -0.10744407027959824, + -0.0709327682852745, + 50.127952575683594 + ], + [ + 0.07139645516872406, + 0.0004703029408119619, + 0.9974479079246521, + -4.997313976287842 + ], + [ + -0.10713648796081543, + -0.9942110180854797, + 0.008137516677379608, + -6.239083290100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1361, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_938469409", + "mask_path": "../../mask/hdr_left_01361.png" + }, + { + "file_path": "../../rgb/hdr_left_01362.png", + "transform_matrix": [ + [ + 0.9891216158866882, + -0.12313966453075409, + -0.08046745508909225, + 50.199161529541016 + ], + [ + 0.08183973282575607, + 0.006118833553045988, + 0.9966267347335815, + -4.979347229003906 + ], + [ + -0.12223190069198608, + -0.9923705458641052, + 0.01612999103963375, + -6.253267288208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1362, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_38469076", + "mask_path": "../../mask/hdr_left_01362.png" + }, + { + "file_path": "../../rgb/hdr_left_01363.png", + "transform_matrix": [ + [ + 0.988142192363739, + -0.12667414546012878, + -0.08676698803901672, + 50.25215148925781 + ], + [ + 0.08751817792654037, + 0.0003661903610918671, + 0.9961628913879395, + -4.960765361785889 + ], + [ + -0.1261563003063202, + -0.9919443726539612, + 0.011448144912719727, + -6.262390613555908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1363, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_138469219", + "mask_path": "../../mask/hdr_left_01363.png" + }, + { + "file_path": "../../rgb/hdr_left_01365.png", + "transform_matrix": [ + [ + 0.987829327583313, + -0.1221214011311531, + -0.09633008390665054, + 50.37852096557617 + ], + [ + 0.09832288324832916, + 0.010383892804384232, + 0.9951003789901733, + -4.914790630340576 + ], + [ + -0.12052275985479355, + -0.9924609065055847, + 0.022264843806624413, + -6.284392833709717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1365, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_338469505", + "mask_path": "../../mask/hdr_left_01365.png" + }, + { + "file_path": "../../rgb/hdr_left_01366.png", + "transform_matrix": [ + [ + 0.9863876104354858, + -0.12191346287727356, + -0.11034734547138214, + 50.46541976928711 + ], + [ + 0.1112682893872261, + 0.000751024461351335, + 0.9937900900840759, + -4.876731872558594 + ], + [ + -0.12107350677251816, + -0.9925404787063599, + 0.0143059017136693, + -6.289186000823975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1366, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_438469171", + "mask_path": "../../mask/hdr_left_01366.png" + }, + { + "file_path": "../../rgb/hdr_left_01367.png", + "transform_matrix": [ + [ + 0.984829306602478, + -0.1180642768740654, + -0.12716883420944214, + 50.521949768066406 + ], + [ + 0.12805089354515076, + -0.00011513818026287481, + 0.9917675852775574, + -4.841805934906006 + ], + [ + -0.11710695922374725, + -0.9930059909820557, + 0.015004850924015045, + -6.301003456115723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1367, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_538470268", + "mask_path": "../../mask/hdr_left_01367.png" + }, + { + "file_path": "../../rgb/hdr_left_01368.png", + "transform_matrix": [ + [ + 0.9831933379173279, + -0.11708803474903107, + -0.14007534086704254, + 50.57992935180664 + ], + [ + 0.14172200858592987, + 0.005816744640469551, + 0.98988938331604, + -4.806061744689941 + ], + [ + -0.11508942395448685, + -0.9931045770645142, + 0.022312935441732407, + -6.318893909454346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1368, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_638469934", + "mask_path": "../../mask/hdr_left_01368.png" + }, + { + "file_path": "../../rgb/hdr_left_01369.png", + "transform_matrix": [ + [ + 0.9812456369400024, + -0.12414015829563141, + -0.14746569097042084, + 50.65925598144531 + ], + [ + 0.14956487715244293, + 0.007711942307651043, + 0.9887217879295349, + -4.7746686935424805 + ], + [ + -0.12160282582044601, + -0.9922347664833069, + 0.026134321466088295, + -6.33071231842041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1369, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_738470077", + "mask_path": "../../mask/hdr_left_01369.png" + }, + { + "file_path": "../../rgb/hdr_left_01370.png", + "transform_matrix": [ + [ + 0.9805088043212891, + -0.13375747203826904, + -0.1439148634672165, + 50.7266960144043 + ], + [ + 0.14532220363616943, + 0.0007671365747228265, + 0.989384114742279, + -4.753463268280029 + ], + [ + -0.1322271078824997, + -0.9910138249397278, + 0.02019011788070202, + -6.327992916107178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1370, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_838469743", + "mask_path": "../../mask/hdr_left_01370.png" + }, + { + "file_path": "../../rgb/hdr_left_01371.png", + "transform_matrix": [ + [ + 0.9818891882896423, + -0.13394372165203094, + -0.13398747146129608, + 50.7808837890625 + ], + [ + 0.1355130821466446, + 0.002297184197232127, + 0.9907729029655457, + -4.733402252197266 + ], + [ + -0.1324000209569931, + -0.9909863471984863, + 0.020406709983944893, + -6.334336757659912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1371, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_938470125", + "mask_path": "../../mask/hdr_left_01371.png" + }, + { + "file_path": "../../rgb/hdr_left_01372.png", + "transform_matrix": [ + [ + 0.9841669201850891, + -0.12732654809951782, + -0.12330182641744614, + 50.854095458984375 + ], + [ + 0.12498962879180908, + 0.005321528762578964, + 0.9921437501907349, + -4.70768928527832 + ], + [ + -0.12567006051540375, + -0.9918466210365295, + 0.021151773631572723, + -6.3501296043396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1372, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_38468360", + "mask_path": "../../mask/hdr_left_01372.png" + }, + { + "file_path": "../../rgb/hdr_left_01373.png", + "transform_matrix": [ + [ + 0.9855858683586121, + -0.12071280926465988, + -0.1185278445482254, + 50.9524040222168 + ], + [ + 0.1186310276389122, + -0.006356954108923674, + 0.9929180145263672, + -4.6770806312561035 + ], + [ + -0.12061139941215515, + -0.9926671385765076, + 0.008054960519075394, + -6.363121509552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1373, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_138469457", + "mask_path": "../../mask/hdr_left_01373.png" + }, + { + "file_path": "../../rgb/hdr_left_01374.png", + "transform_matrix": [ + [ + 0.9853730201721191, + -0.12024517357349396, + -0.12075310945510864, + 51.03606033325195 + ], + [ + 0.1196913868188858, + -0.01603999361395836, + 0.9926815032958984, + -4.641484260559082 + ], + [ + -0.12130202353000641, + -0.99261474609375, + -0.0014130609342828393, + -6.370898246765137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1374, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_238471508", + "mask_path": "../../mask/hdr_left_01374.png" + }, + { + "file_path": "../../rgb/hdr_left_01375.png", + "transform_matrix": [ + [ + 0.9855456948280334, + -0.11743620038032532, + -0.12209960073232651, + 51.104759216308594 + ], + [ + 0.1213512197136879, + -0.013528541661798954, + 0.9925174713134766, + -4.612534999847412 + ], + [ + -0.11820928007364273, + -0.9929882884025574, + 0.0009180373162962496, + -6.389117240905762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1375, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_338470220", + "mask_path": "../../mask/hdr_left_01375.png" + }, + { + "file_path": "../../rgb/hdr_left_01376.png", + "transform_matrix": [ + [ + 0.9855102300643921, + -0.11951945722103119, + -0.12035229057073593, + 51.190818786621094 + ], + [ + 0.12001515179872513, + -0.010041501373052597, + 0.9927211999893188, + -4.585849285125732 + ], + [ + -0.119858019053936, + -0.9927811026573181, + 0.004448143299669027, + -6.402401924133301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1376, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_438470602", + "mask_path": "../../mask/hdr_left_01376.png" + }, + { + "file_path": "../../rgb/hdr_left_01377.png", + "transform_matrix": [ + [ + 0.9856050610542297, + -0.12835396826267242, + -0.11003605276346207, + 51.27058029174805 + ], + [ + 0.10905519127845764, + -0.014666442759335041, + 0.9939274787902832, + -4.566808223724365 + ], + [ + -0.12918835878372192, + -0.9916200041770935, + -0.0004576484498102218, + -6.405144691467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1377, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_538470029", + "mask_path": "../../mask/hdr_left_01377.png" + }, + { + "file_path": "../../rgb/hdr_left_01378.png", + "transform_matrix": [ + [ + 0.9870190024375916, + -0.12695205211639404, + -0.09837042540311813, + 51.33169174194336 + ], + [ + 0.09754116088151932, + -0.012747490778565407, + 0.9951498508453369, + -4.5502848625183105 + ], + [ + -0.12759028375148773, + -0.9918269515037537, + -0.00019895796140190214, + -6.410179138183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1378, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_638470649", + "mask_path": "../../mask/hdr_left_01378.png" + }, + { + "file_path": "../../rgb/hdr_left_01379.png", + "transform_matrix": [ + [ + 0.9888258576393127, + -0.12204036861658096, + -0.08561208844184875, + 51.40050506591797 + ], + [ + 0.08477677404880524, + -0.012030337937176228, + 0.99632728099823, + -4.527527809143066 + ], + [ + -0.12262208014726639, + -0.9924522638320923, + -0.0015497205313295126, + -6.425042629241943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1379, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_738469839", + "mask_path": "../../mask/hdr_left_01379.png" + }, + { + "file_path": "../../rgb/hdr_left_01380.png", + "transform_matrix": [ + [ + 0.9898281097412109, + -0.11971361935138702, + -0.07686947286128998, + 51.50128936767578 + ], + [ + 0.07499653100967407, + -0.020079461857676506, + 0.9969815611839294, + -4.503003120422363 + ], + [ + -0.12089577317237854, + -0.992605447769165, + -0.010897108353674412, + -6.440943241119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1380, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_838470458", + "mask_path": "../../mask/hdr_left_01380.png" + }, + { + "file_path": "../../rgb/hdr_left_01381.png", + "transform_matrix": [ + [ + 0.9895562529563904, + -0.1225457713007927, + -0.07590007781982422, + 51.58467102050781 + ], + [ + 0.07349840551614761, + -0.02400773949921131, + 0.9970062971115112, + -4.478924751281738 + ], + [ + -0.12400109320878983, + -0.9921725392341614, + -0.01475008949637413, + -6.450366973876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1381, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_938469648", + "mask_path": "../../mask/hdr_left_01381.png" + }, + { + "file_path": "../../rgb/hdr_left_01382.png", + "transform_matrix": [ + [ + 0.9898108243942261, + -0.1211233139038086, + -0.0748574435710907, + 51.65210723876953 + ], + [ + 0.07247763127088547, + -0.02394178882241249, + 0.9970825910568237, + -4.45743989944458 + ], + [ + -0.12256216257810593, + -0.9923487305641174, + -0.014919105917215347, + -6.462453842163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1382, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_38470506", + "mask_path": "../../mask/hdr_left_01382.png" + }, + { + "file_path": "../../rgb/hdr_left_01383.png", + "transform_matrix": [ + [ + 0.9897569417953491, + -0.12286386638879776, + -0.07270079851150513, + 51.739234924316406 + ], + [ + 0.0705372542142868, + -0.021873733028769493, + 0.9972692131996155, + -4.436009407043457 + ], + [ + -0.12411857396364212, + -0.9921824932098389, + -0.01298319548368454, + -6.475712776184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1383, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_138470649", + "mask_path": "../../mask/hdr_left_01383.png" + }, + { + "file_path": "../../rgb/hdr_left_01384.png", + "transform_matrix": [ + [ + 0.9897279143333435, + -0.1278715431690216, + -0.06393381208181381, + 51.824893951416016 + ], + [ + 0.06117771938443184, + -0.025370199233293533, + 0.9978044033050537, + -4.419210433959961 + ], + [ + -0.12921278178691864, + -0.991466224193573, + -0.017286699265241623, + -6.482937335968018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1384, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_238470077", + "mask_path": "../../mask/hdr_left_01384.png" + }, + { + "file_path": "../../rgb/hdr_left_01385.png", + "transform_matrix": [ + [ + 0.990558922290802, + -0.12698906660079956, + -0.05164129659533501, + 51.89338684082031 + ], + [ + 0.04902338609099388, + -0.023657072335481644, + 0.9985173940658569, + -4.409463882446289 + ], + [ + -0.1280224621295929, + -0.9916220307350159, + -0.017208287492394447, + -6.488261699676514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1385, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_338470458", + "mask_path": "../../mask/hdr_left_01385.png" + }, + { + "file_path": "../../rgb/hdr_left_01386.png", + "transform_matrix": [ + [ + 0.9920233488082886, + -0.12032441049814224, + -0.037571828812360764, + 51.965728759765625 + ], + [ + 0.03480561450123787, + -0.025009948760271072, + 0.9990810751914978, + -4.395980358123779 + ], + [ + -0.12115351855754852, + -0.9924196004867554, + -0.020622482523322105, + -6.501944065093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1386, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_438469648", + "mask_path": "../../mask/hdr_left_01386.png" + }, + { + "file_path": "../../rgb/hdr_left_01387.png", + "transform_matrix": [ + [ + 0.9927976131439209, + -0.11666310578584671, + -0.027250761166214943, + 52.06588363647461 + ], + [ + 0.02349007874727249, + -0.03348996490240097, + 0.9991629123687744, + -4.37371301651001 + ], + [ + -0.11747807264328003, + -0.9926067590713501, + -0.03050832450389862, + -6.517332077026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1387, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_538470745", + "mask_path": "../../mask/hdr_left_01387.png" + }, + { + "file_path": "../../rgb/hdr_left_01388.png", + "transform_matrix": [ + [ + 0.9922098517417908, + -0.12116704136133194, + -0.028950607404112816, + 52.1554069519043 + ], + [ + 0.024421188980340958, + -0.03870144486427307, + 0.9989523887634277, + -4.351153373718262 + ], + [ + -0.12216052412986755, + -0.9918773770332336, + -0.03544090688228607, + -6.5274152755737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1388, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_638470411", + "mask_path": "../../mask/hdr_left_01388.png" + }, + { + "file_path": "../../rgb/hdr_left_01389.png", + "transform_matrix": [ + [ + 0.9923887848854065, + -0.11908414214849472, + -0.031359538435935974, + 52.22693634033203 + ], + [ + 0.027375606819987297, + -0.0349448099732399, + 0.9990142583847046, + -4.327339172363281 + ], + [ + -0.12006261199712753, + -0.9922690391540527, + -0.03141883388161659, + -6.546286582946777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1389, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_738470792", + "mask_path": "../../mask/hdr_left_01389.png" + }, + { + "file_path": "../../rgb/hdr_left_01390.png", + "transform_matrix": [ + [ + 0.9923604130744934, + -0.1192096620798111, + -0.03177684545516968, + 52.3140869140625 + ], + [ + 0.02815384790301323, + -0.031954117119312286, + 0.9990927577018738, + -4.306554317474365 + ], + [ + -0.12011689692735672, + -0.9923548102378845, + -0.02835378423333168, + -6.560810089111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1390, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_838470458", + "mask_path": "../../mask/hdr_left_01390.png" + }, + { + "file_path": "../../rgb/hdr_left_01391.png", + "transform_matrix": [ + [ + 0.992135226726532, + -0.12287587672472, + -0.023855846375226974, + 52.40442657470703 + ], + [ + 0.019355278462171555, + -0.03769136965274811, + 0.9991019368171692, + -4.291377544403076 + ], + [ + -0.12366465479135513, + -0.991706132888794, + -0.035016633570194244, + -6.564229965209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1391, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_938470840", + "mask_path": "../../mask/hdr_left_01391.png" + }, + { + "file_path": "../../rgb/hdr_left_01392.png", + "transform_matrix": [ + [ + 0.9927305579185486, + -0.11990316212177277, + -0.010456699877977371, + 52.47277069091797 + ], + [ + 0.006159072741866112, + -0.0361572690308094, + 0.9993271827697754, + -4.281191825866699 + ], + [ + -0.12020056694746017, + -0.992127001285553, + -0.035155925899744034, + -6.567490577697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1392, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_38470983", + "mask_path": "../../mask/hdr_left_01392.png" + }, + { + "file_path": "../../rgb/hdr_left_01393.png", + "transform_matrix": [ + [ + 0.9936590790748596, + -0.11232390999794006, + 0.005006138235330582, + 52.54508590698242 + ], + [ + -0.009104722179472446, + -0.03600560128688812, + 0.9993101358413696, + -4.273944854736328 + ], + [ + -0.11206616461277008, + -0.993019163608551, + -0.036799974739551544, + -6.581480979919434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1393, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_138470888", + "mask_path": "../../mask/hdr_left_01393.png" + }, + { + "file_path": "../../rgb/hdr_left_01394.png", + "transform_matrix": [ + [ + 0.9939146637916565, + -0.10910429805517197, + 0.015157022513449192, + 52.64836502075195 + ], + [ + -0.01994476094841957, + -0.04292546585202217, + 0.9988791346549988, + -4.258580207824707 + ], + [ + -0.10833137482404709, + -0.9931030869483948, + -0.04484030231833458, + -6.595816612243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1394, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_238469600", + "mask_path": "../../mask/hdr_left_01394.png" + }, + { + "file_path": "../../rgb/hdr_left_01395.png", + "transform_matrix": [ + [ + 0.9933010935783386, + -0.1149413138628006, + 0.011890491470694542, + 52.73997116088867 + ], + [ + -0.01748538762331009, + -0.04779108613729477, + 0.9987043142318726, + -4.235561370849609 + ], + [ + -0.11422411352396011, + -0.9922220706939697, + -0.04948072135448456, + -6.605964660644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1395, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_338470458", + "mask_path": "../../mask/hdr_left_01395.png" + }, + { + "file_path": "../../rgb/hdr_left_01396.png", + "transform_matrix": [ + [ + 0.9934390187263489, + -0.11405324935913086, + 0.008407222107052803, + 52.80976867675781 + ], + [ + -0.01353237871080637, + -0.044236887246370316, + 0.9989293813705444, + -4.219930171966553 + ], + [ + -0.11355924606323242, + -0.9924893975257874, + -0.04549005255103111, + -6.621440410614014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1396, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_438470125", + "mask_path": "../../mask/hdr_left_01396.png" + }, + { + "file_path": "../../rgb/hdr_left_01397.png", + "transform_matrix": [ + [ + 0.9931676387786865, + -0.11647580564022064, + 0.00716959685087204, + 52.8961296081543 + ], + [ + -0.011883486993610859, + -0.039827097207307816, + 0.9991358518600464, + -4.207152843475342 + ], + [ + -0.1160896047949791, + -0.9923946857452393, + -0.04093911871314049, + -6.635027885437012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1397, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_538471698", + "mask_path": "../../mask/hdr_left_01397.png" + }, + { + "file_path": "../../rgb/hdr_left_01398.png", + "transform_matrix": [ + [ + 0.9921163320541382, + -0.12444888055324554, + 0.014748748391866684, + 52.98849868774414 + ], + [ + -0.019922981038689613, + -0.04043549299240112, + 0.9989835023880005, + -4.196007251739502 + ], + [ + -0.1237260028719902, + -0.9914018511772156, + -0.04259610176086426, + -6.643552780151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1398, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_638470649", + "mask_path": "../../mask/hdr_left_01398.png" + }, + { + "file_path": "../../rgb/hdr_left_01399.png", + "transform_matrix": [ + [ + 0.9918853640556335, + -0.12401329725980759, + 0.028001662343740463, + 53.05537033081055 + ], + [ + -0.03283645585179329, + -0.03711482137441635, + 0.9987713098526001, + -4.186285495758057 + ], + [ + -0.12282166630029678, + -0.9915862679481506, + -0.0408858023583889, + -6.651846885681152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1399, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_738469839", + "mask_path": "../../mask/hdr_left_01399.png" + }, + { + "file_path": "../../rgb/hdr_left_01400.png", + "transform_matrix": [ + [ + 0.9918314814567566, + -0.11973616480827332, + 0.04397327080368996, + 53.122650146484375 + ], + [ + -0.04864790663123131, + -0.036400746554136276, + 0.9981526136398315, + -4.177889823913574 + ], + [ + -0.11791428923606873, + -0.9921382069587708, + -0.04192831739783287, + -6.666499614715576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1400, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_838470935", + "mask_path": "../../mask/hdr_left_01400.png" + }, + { + "file_path": "../../rgb/hdr_left_01401.png", + "transform_matrix": [ + [ + 0.9911906123161316, + -0.12073863297700882, + 0.05443485453724861, + 53.226478576660156 + ], + [ + -0.05980530381202698, + -0.04130881652235985, + 0.9973549842834473, + -4.16623592376709 + ], + [ + -0.11817063391208649, + -0.9918245077133179, + -0.04816571623086929, + -6.685915470123291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1401, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_938470125", + "mask_path": "../../mask/hdr_left_01401.png" + }, + { + "file_path": "../../rgb/hdr_left_01402.png", + "transform_matrix": [ + [ + 0.9903026819229126, + -0.1278122216463089, + 0.054448045790195465, + 53.31399917602539 + ], + [ + -0.06054253131151199, + -0.04428993910551071, + 0.9971825480461121, + -4.153919696807861 + ], + [ + -0.12504060566425323, + -0.9908090233802795, + -0.05159851536154747, + -6.700197696685791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1402, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_38472175", + "mask_path": "../../mask/hdr_left_01402.png" + }, + { + "file_path": "../../rgb/hdr_left_01403.png", + "transform_matrix": [ + [ + 0.9904814958572388, + -0.12635312974452972, + 0.054600562900304794, + 53.382240295410156 + ], + [ + -0.06029316410422325, + -0.04167337343096733, + 0.9973104000091553, + -4.142227649688721 + ], + [ + -0.1237378939986229, + -0.9911096096038818, + -0.04889492318034172, + -6.716104030609131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1403, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_138469934", + "mask_path": "../../mask/hdr_left_01403.png" + }, + { + "file_path": "../../rgb/hdr_left_01404.png", + "transform_matrix": [ + [ + 0.9898219704627991, + -0.1303943395614624, + 0.05700663849711418, + 53.46614456176758 + ], + [ + -0.0621376596391201, + -0.03562256321310997, + 0.9974316954612732, + -4.128730297088623 + ], + [ + -0.1280287355184555, + -0.9908221364021301, + -0.04336238279938698, + -6.732398986816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1404, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_238470315", + "mask_path": "../../mask/hdr_left_01404.png" + }, + { + "file_path": "../../rgb/hdr_left_01405.png", + "transform_matrix": [ + [ + 0.987220048904419, + -0.14350725710391998, + 0.06929776072502136, + 53.55343246459961 + ], + [ + -0.07464630156755447, + -0.032221127301454544, + 0.9966893196105957, + -4.1209282875061035 + ], + [ + -0.14079929888248444, + -0.989124596118927, + -0.04252162575721741, + -6.744665622711182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1405, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_338469743", + "mask_path": "../../mask/hdr_left_01405.png" + }, + { + "file_path": "../../rgb/hdr_left_01406.png", + "transform_matrix": [ + [ + 0.9854542016983032, + -0.1452157348394394, + 0.08827493339776993, + 53.617462158203125 + ], + [ + -0.0935831144452095, + -0.030124519020318985, + 0.9951556324958801, + -4.122634410858154 + ], + [ + -0.14185300469398499, + -0.9889413714408875, + -0.04327606037259102, + -6.7522687911987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1406, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_438469171", + "mask_path": "../../mask/hdr_left_01406.png" + }, + { + "file_path": "../../rgb/hdr_left_01407.png", + "transform_matrix": [ + [ + 0.9840735793113708, + -0.13956983387470245, + 0.11008835583925247, + 53.68537139892578 + ], + [ + -0.11547980457544327, + -0.03111298382282257, + 0.9928223490715027, + -4.120379447937012 + ], + [ + -0.13514287769794464, + -0.9897233843803406, + -0.04673495516180992, + -6.767702102661133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1407, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_538469314", + "mask_path": "../../mask/hdr_left_01407.png" + }, + { + "file_path": "../../rgb/hdr_left_01408.png", + "transform_matrix": [ + [ + 0.981862485408783, + -0.13911491632461548, + 0.12881389260292053, + 53.78104019165039 + ], + [ + -0.13540039956569672, + -0.0389280840754509, + 0.9900259375572205, + -4.114043235778809 + ], + [ + -0.13271290063858032, + -0.9895108342170715, + -0.05705823376774788, + -6.789307594299316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1408, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_638469219", + "mask_path": "../../mask/hdr_left_01408.png" + }, + { + "file_path": "../../rgb/hdr_left_01409.png", + "transform_matrix": [ + [ + 0.979613184928894, + -0.14835268259048462, + 0.1354602724313736, + 53.872249603271484 + ], + [ + -0.143211230635643, + -0.04282493516802788, + 0.9887651801109314, + -4.107378959655762 + ], + [ + -0.1408848762512207, + -0.9880069494247437, + -0.06319764256477356, + -6.804099082946777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1409, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_738469362", + "mask_path": "../../mask/hdr_left_01409.png" + }, + { + "file_path": "../../rgb/hdr_left_01410.png", + "transform_matrix": [ + [ + 0.9787577986717224, + -0.14838071167469025, + 0.1414787918329239, + 53.94038391113281 + ], + [ + -0.14916038513183594, + -0.04193047434091568, + 0.9879235029220581, + -4.105093955993652 + ], + [ + -0.14065653085708618, + -0.9880411028862, + -0.06317229568958282, + -6.8205108642578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1410, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_838469266", + "mask_path": "../../mask/hdr_left_01410.png" + }, + { + "file_path": "../../rgb/hdr_left_01411.png", + "transform_matrix": [ + [ + 0.9774549007415771, + -0.1503598541021347, + 0.14823578298091888, + 54.023258209228516 + ], + [ + -0.15519413352012634, + -0.03558489680290222, + 0.9872428774833679, + -4.107544422149658 + ], + [ + -0.14316673576831818, + -0.9879907369613647, + -0.058117594569921494, + -6.838634967803955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1411, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_938469409", + "mask_path": "../../mask/hdr_left_01411.png" + }, + { + "file_path": "../../rgb/hdr_left_01412.png", + "transform_matrix": [ + [ + 0.9742876887321472, + -0.1569775640964508, + 0.16162143647670746, + 54.113929748535156 + ], + [ + -0.168497234582901, + -0.03143931180238724, + 0.9852005243301392, + -4.112805366516113 + ], + [ + -0.14957311749458313, + -0.987101674079895, + -0.05708121508359909, + -6.8488006591796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1412, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_38469552", + "mask_path": "../../mask/hdr_left_01412.png" + }, + { + "file_path": "../../rgb/hdr_left_01413.png", + "transform_matrix": [ + [ + 0.9710386395454407, + -0.15545645356178284, + 0.1814309060573578, + 54.18375778198242 + ], + [ + -0.18827363848686218, + -0.030361171811819077, + 0.981647253036499, + -4.121676445007324 + ], + [ + -0.1470949649810791, + -0.9873761534690857, + -0.058750227093696594, + -6.852245330810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1413, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_138468980", + "mask_path": "../../mask/hdr_left_01413.png" + }, + { + "file_path": "../../rgb/hdr_left_01414.png", + "transform_matrix": [ + [ + 0.9671839475631714, + -0.1498081237077713, + 0.20521412789821625, + 54.25276184082031 + ], + [ + -0.21239089965820312, + -0.033417683094739914, + 0.9766131639480591, + -4.1321563720703125 + ], + [ + -0.13944678008556366, + -0.9881502389907837, + -0.06413891911506653, + -6.870171070098877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1414, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_238470315", + "mask_path": "../../mask/hdr_left_01414.png" + }, + { + "file_path": "../../rgb/hdr_left_01415.png", + "transform_matrix": [ + [ + 0.963217556476593, + -0.145588681101799, + 0.22586657106876373, + 54.349552154541016 + ], + [ + -0.23383603990077972, + -0.03994649648666382, + 0.9714550971984863, + -4.145583152770996 + ], + [ + -0.13241025805473328, + -0.9885384440422058, + -0.07252103835344315, + -6.8865132331848145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1415, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_338469743", + "mask_path": "../../mask/hdr_left_01415.png" + }, + { + "file_path": "../../rgb/hdr_left_01416.png", + "transform_matrix": [ + [ + 0.9616296887397766, + -0.14516904950141907, + 0.23279660940170288, + 54.448875427246094 + ], + [ + -0.24074137210845947, + -0.03955281898379326, + 0.9697830677032471, + -4.146912097930908 + ], + [ + -0.13157470524311066, + -0.9886160492897034, + -0.07298336178064346, + -6.89054536819458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1416, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_438470125", + "mask_path": "../../mask/hdr_left_01416.png" + }, + { + "file_path": "../../rgb/hdr_left_01417.png", + "transform_matrix": [ + [ + 0.9614686965942383, + -0.14014752209186554, + 0.23650899529457092, + 54.518070220947266 + ], + [ + -0.24343781173229218, + -0.034302178770303726, + 0.9693096876144409, + -4.146498203277588 + ], + [ + -0.12773357331752777, + -0.9895362854003906, + -0.06709767878055573, + -6.901515007019043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1417, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_538469314", + "mask_path": "../../mask/hdr_left_01417.png" + }, + { + "file_path": "../../rgb/hdr_left_01418.png", + "transform_matrix": [ + [ + 0.9608479142189026, + -0.13761940598487854, + 0.2404828518629074, + 54.59878158569336 + ], + [ + -0.24622483551502228, + -0.026086505502462387, + 0.9688615798950195, + -4.149761199951172 + ], + [ + -0.12706081569194794, + -0.9901416301727295, + -0.05895047262310982, + -6.918371200561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1418, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_638469934", + "mask_path": "../../mask/hdr_left_01418.png" + }, + { + "file_path": "../../rgb/hdr_left_01419.png", + "transform_matrix": [ + [ + 0.9578824043273926, + -0.14154861867427826, + 0.24985027313232422, + 54.687355041503906 + ], + [ + -0.25506630539894104, + -0.019693080335855484, + 0.9667229652404785, + -4.161945343017578 + ], + [ + -0.13191796839237213, + -0.9897354245185852, + -0.054967932403087616, + -6.932803630828857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1419, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_738466739", + "mask_path": "../../mask/hdr_left_01419.png" + }, + { + "file_path": "../../rgb/hdr_left_01420.png", + "transform_matrix": [ + [ + 0.9553927779197693, + -0.13593845069408417, + 0.26219311356544495, + 54.758480072021484 + ], + [ + -0.26661208271980286, + -0.01506105437874794, + 0.9636861681938171, + -4.169847011566162 + ], + [ + -0.12705309689044952, + -0.9906028509140015, + -0.0506320558488369, + -6.937813758850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1420, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_838468790", + "mask_path": "../../mask/hdr_left_01420.png" + }, + { + "file_path": "../../rgb/hdr_left_01421.png", + "transform_matrix": [ + [ + 0.952680230140686, + -0.12807653844356537, + 0.27567505836486816, + 54.82664108276367 + ], + [ + -0.27969226241111755, + -0.01415802538394928, + 0.9599853157997131, + -4.171184062957764 + ], + [ + -0.1190485805273056, + -0.9916632771492004, + -0.04931008815765381, + -6.94940710067749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1421, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_938467025", + "mask_path": "../../mask/hdr_left_01421.png" + }, + { + "file_path": "../../rgb/hdr_left_01422.png", + "transform_matrix": [ + [ + 0.9511711597442627, + -0.122687928378582, + 0.28323304653167725, + 54.9221076965332 + ], + [ + -0.2870379090309143, + -0.014161895960569382, + 0.9578144550323486, + -4.172400951385498 + ], + [ + -0.11350114643573761, + -0.9923442602157593, + -0.04868648201227188, + -6.966057300567627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1422, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_38469791", + "mask_path": "../../mask/hdr_left_01422.png" + }, + { + "file_path": "../../rgb/hdr_left_01423.png", + "transform_matrix": [ + [ + 0.9522657990455627, + -0.1225593164563179, + 0.27958714962005615, + 55.00875473022461 + ], + [ + -0.2830713093280792, + -0.011644687503576279, + 0.9590281248092651, + -4.172523021697998 + ], + [ + -0.11428210884332657, + -0.992392897605896, + -0.04578185826539993, + -6.976577281951904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1423, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_138468742", + "mask_path": "../../mask/hdr_left_01423.png" + }, + { + "file_path": "../../rgb/hdr_left_01424.png", + "transform_matrix": [ + [ + 0.9538224935531616, + -0.118126280605793, + 0.2761681377887726, + 55.07432174682617 + ], + [ + -0.2789035439491272, + -0.006957905367016792, + 0.9602940082550049, + -4.170358180999756 + ], + [ + -0.11151439696550369, + -0.9929742813110352, + -0.03958244249224663, + -6.990645885467529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1424, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_238468885", + "mask_path": "../../mask/hdr_left_01424.png" + }, + { + "file_path": "../../rgb/hdr_left_01425.png", + "transform_matrix": [ + [ + 0.9539317488670349, + -0.11771053075790405, + 0.27596816420555115, + 55.15187454223633 + ], + [ + -0.27769508957862854, + 0.0017969601321965456, + 0.960667610168457, + -4.175151348114014 + ], + [ + -0.11357659101486206, + -0.9930463433265686, + -0.03097345307469368, + -7.0047221183776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1425, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_338468074", + "mask_path": "../../mask/hdr_left_01425.png" + }, + { + "file_path": "../../rgb/hdr_right_01260.png", + "transform_matrix": [ + [ + -0.93937748670578, + -0.1178949773311615, + 0.32197901606559753, + 43.28294372558594 + ], + [ + -0.3213548958301544, + -0.024791574105620384, + -0.9466342926025391, + -5.735269546508789 + ], + [ + 0.1195857897400856, + -0.9927166104316711, + -0.014597475528717041, + -5.221824645996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1260, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_138469934", + "mask_path": "../../mask/hdr_right_01260.png" + }, + { + "file_path": "../../rgb/hdr_right_01261.png", + "transform_matrix": [ + [ + -0.9343148469924927, + -0.11658823490142822, + 0.33684268593788147, + 43.34432601928711 + ], + [ + -0.336870938539505, + -0.020062128081917763, + -0.9413371086120605, + -5.705651760101318 + ], + [ + 0.11650660634040833, + -0.9929776787757874, + -0.02053084224462509, + -5.233696460723877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1261, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_238470315", + "mask_path": "../../mask/hdr_right_01261.png" + }, + { + "file_path": "../../rgb/hdr_right_01262.png", + "transform_matrix": [ + [ + -0.9300443530082703, + -0.11744453012943268, + 0.3481728732585907, + 43.414283752441406 + ], + [ + -0.34932491183280945, + -0.011300487443804741, + -0.9369334578514099, + -5.67683219909668 + ], + [ + 0.1139722540974617, + -0.9930151104927063, + -0.030516350641846657, + -5.246423244476318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1262, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_338470458", + "mask_path": "../../mask/hdr_right_01262.png" + }, + { + "file_path": "../../rgb/hdr_right_01263.png", + "transform_matrix": [ + [ + -0.9275489449501038, + -0.12034206092357635, + 0.353794664144516, + 43.4920768737793 + ], + [ + -0.35510334372520447, + -0.011116297915577888, + -0.9347609877586365, + -5.653597831726074 + ], + [ + 0.11642395704984665, + -0.9926702380180359, + -0.032422956079244614, + -5.257905006408691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1263, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_438470125", + "mask_path": "../../mask/hdr_right_01263.png" + }, + { + "file_path": "../../rgb/hdr_right_01264.png", + "transform_matrix": [ + [ + -0.928562581539154, + -0.11986293643712997, + 0.35128965973854065, + 43.56272506713867 + ], + [ + -0.35291787981987, + -0.008068729192018509, + -0.9356195330619812, + -5.636237621307373 + ], + [ + 0.11498057097196579, + -0.9927576184272766, + -0.034809455275535583, + -5.258243560791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1264, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_538470745", + "mask_path": "../../mask/hdr_right_01264.png" + }, + { + "file_path": "../../rgb/hdr_right_01265.png", + "transform_matrix": [ + [ + -0.9318631887435913, + -0.11327441781759262, + 0.344673752784729, + 43.62944030761719 + ], + [ + -0.34652242064476013, + -0.0035711985547095537, + -0.9380348920822144, + -5.6143059730529785 + ], + [ + 0.10748627036809921, + -0.993557333946228, + -0.035924263298511505, + -5.264166831970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1265, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_638469457", + "mask_path": "../../mask/hdr_right_01265.png" + }, + { + "file_path": "../../rgb/hdr_right_01266.png", + "transform_matrix": [ + [ + -0.9351072311401367, + -0.10181765258312225, + 0.3394225537776947, + 43.727333068847656 + ], + [ + -0.3407699167728424, + -0.0043914602138102055, + -0.9401364326477051, + -5.586311340332031 + ], + [ + 0.09721304476261139, + -0.9947934150695801, + -0.030589906498789787, + -5.275286674499512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1266, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_738469362", + "mask_path": "../../mask/hdr_right_01266.png" + }, + { + "file_path": "../../rgb/hdr_right_01267.png", + "transform_matrix": [ + [ + -0.9345631003379822, + -0.10084550827741623, + 0.34120672941207886, + 43.80988693237305 + ], + [ + -0.34278619289398193, + -0.0017676716670393944, + -0.9394118189811707, + -5.55885124206543 + ], + [ + 0.0953386053442955, + -0.9949005246162415, + -0.03291644901037216, + -5.288555145263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1267, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_838469982", + "mask_path": "../../mask/hdr_right_01267.png" + }, + { + "file_path": "../../rgb/hdr_right_01268.png", + "transform_matrix": [ + [ + -0.9337193965911865, + -0.09770064055919647, + 0.3444164991378784, + 43.86680221557617 + ], + [ + -0.34620147943496704, + 0.0014076593797653913, + -0.938159167766571, + -5.533856391906738 + ], + [ + 0.0911739319562912, + -0.9952148199081421, + -0.03513846918940544, + -5.298044204711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1268, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_938470840", + "mask_path": "../../mask/hdr_right_01268.png" + }, + { + "file_path": "../../rgb/hdr_right_01269.png", + "transform_matrix": [ + [ + -0.933475911617279, + -0.09930306673049927, + 0.3446181118488312, + 43.93988800048828 + ], + [ + -0.346788227558136, + 0.0049408976919949055, + -0.9379304647445679, + -5.510915756225586 + ], + [ + 0.09143664687871933, + -0.995045006275177, + -0.03904934599995613, + -5.3093366622924805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1269, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_38470029", + "mask_path": "../../mask/hdr_right_01269.png" + }, + { + "file_path": "../../rgb/hdr_right_01270.png", + "transform_matrix": [ + [ + -0.9344839453697205, + -0.10769856721162796, + 0.33932381868362427, + 44.01772689819336 + ], + [ + -0.3414047360420227, + 0.0009413420921191573, + -0.9399159550666809, + -5.492988586425781 + ], + [ + 0.10090818256139755, + -0.9941831231117249, + -0.03764846548438072, + -5.315115451812744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1270, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_138470888", + "mask_path": "../../mask/hdr_right_01270.png" + }, + { + "file_path": "../../rgb/hdr_right_01271.png", + "transform_matrix": [ + [ + -0.9378519058227539, + -0.10710366815328598, + 0.3300949037075043, + 44.08927536010742 + ], + [ + -0.3318173587322235, + -0.0018377089872956276, + -0.9433419108390808, + -5.477836608886719 + ], + [ + 0.10164198279380798, + -0.9942461848258972, + -0.03381535783410072, + -5.316198825836182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1271, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_238470077", + "mask_path": "../../mask/hdr_right_01271.png" + }, + { + "file_path": "../../rgb/hdr_right_01272.png", + "transform_matrix": [ + [ + -0.9430174231529236, + -0.09950219839811325, + 0.31751784682273865, + 44.163414001464844 + ], + [ + -0.31880518794059753, + -0.0031096201855689287, + -0.9478152394294739, + -5.4637861251831055 + ], + [ + 0.09529705345630646, + -0.9950324892997742, + -0.02878938987851143, + -5.321988582611084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1272, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_338470220", + "mask_path": "../../mask/hdr_right_01272.png" + }, + { + "file_path": "../../rgb/hdr_right_01273.png", + "transform_matrix": [ + [ + -0.9469656348228455, + -0.09368136525154114, + 0.3073757588863373, + 44.26194763183594 + ], + [ + -0.30760765075683594, + -0.012315682135522366, + -0.9514335989952087, + -5.445921421051025 + ], + [ + 0.09291714429855347, + -0.9955260753631592, + -0.017154578119516373, + -5.338639259338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1273, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_438470125", + "mask_path": "../../mask/hdr_right_01273.png" + }, + { + "file_path": "../../rgb/hdr_right_01274.png", + "transform_matrix": [ + [ + -0.9460662603378296, + -0.09879321604967117, + 0.3085425794124603, + 44.35505676269531 + ], + [ + -0.3083418905735016, + -0.01767869107425213, + -0.951111376285553, + -5.429164409637451 + ], + [ + 0.09941797703504562, + -0.9949509501457214, + -0.01373687107115984, + -5.359159469604492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1274, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_538470268", + "mask_path": "../../mask/hdr_right_01274.png" + }, + { + "file_path": "../../rgb/hdr_right_01275.png", + "transform_matrix": [ + [ + -0.9458068609237671, + -0.0981733500957489, + 0.3095341622829437, + 44.426116943359375 + ], + [ + -0.309417724609375, + -0.016795102506875992, + -0.9507778882980347, + -5.41317081451416 + ], + [ + 0.09853971749544144, + -0.9950276017189026, + -0.014491653069853783, + -5.374522686004639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1275, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_638469457", + "mask_path": "../../mask/hdr_right_01275.png" + }, + { + "file_path": "../../rgb/hdr_right_01276.png", + "transform_matrix": [ + [ + -0.9457612037658691, + -0.10159935802221298, + 0.3085663318634033, + 44.51104736328125 + ], + [ + -0.30879470705986023, + -0.013868855312466621, + -0.9510276317596436, + -5.400956153869629 + ], + [ + 0.10090324282646179, + -0.994728684425354, + -0.018256710842251778, + -5.386920928955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1276, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_738470792", + "mask_path": "../../mask/hdr_right_01276.png" + }, + { + "file_path": "../../rgb/hdr_right_01277.png", + "transform_matrix": [ + [ + -0.9468134045600891, + -0.11158246546983719, + 0.3018173277378082, + 44.597564697265625 + ], + [ + -0.30219632387161255, + -0.013908244669437408, + -0.953144371509552, + -5.393337249755859 + ], + [ + 0.11055195331573486, + -0.9936578273773193, + -0.020551297813653946, + -5.393917560577393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1277, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_838470220", + "mask_path": "../../mask/hdr_right_01277.png" + }, + { + "file_path": "../../rgb/hdr_right_01278.png", + "transform_matrix": [ + [ + -0.9499680995941162, + -0.11216845363378525, + 0.2915114760398865, + 44.67106246948242 + ], + [ + -0.29195156693458557, + -0.012850108556449413, + -0.956346869468689, + -5.38745641708374 + ], + [ + 0.11101789772510529, + -0.9936060905456543, + -0.020540565252304077, + -5.397390365600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1278, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594294_938470363", + "mask_path": "../../mask/hdr_right_01278.png" + }, + { + "file_path": "../../rgb/hdr_right_01279.png", + "transform_matrix": [ + [ + -0.9548882246017456, + -0.10660577565431595, + 0.2771705389022827, + 44.7416877746582 + ], + [ + -0.27762743830680847, + -0.010830304585397243, + -0.9606278538703918, + -5.381709575653076 + ], + [ + 0.10541030764579773, + -0.9942423701286316, + -0.019254954531788826, + -5.406348705291748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1279, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_38470506", + "mask_path": "../../mask/hdr_right_01279.png" + }, + { + "file_path": "../../rgb/hdr_right_01280.png", + "transform_matrix": [ + [ + -0.9582595825195312, + -0.10320604592561722, + 0.2666216790676117, + 44.83187484741211 + ], + [ + -0.26633158326148987, + -0.016837282106280327, + -0.9637343883514404, + -5.3789448738098145 + ], + [ + 0.10395240038633347, + -0.9945175051689148, + -0.011352542787790298, + -5.42181921005249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1280, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_138471603", + "mask_path": "../../mask/hdr_right_01280.png" + }, + { + "file_path": "../../rgb/hdr_right_01281.png", + "transform_matrix": [ + [ + -0.9576935172080994, + -0.10877610743045807, + 0.2664414346218109, + 44.93241500854492 + ], + [ + -0.26566171646118164, + -0.021867355331778526, + -0.9638183116912842, + -5.363994121551514 + ], + [ + 0.11066677421331406, + -0.9938256740570068, + -0.007955423556268215, + -5.440825462341309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1281, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_238468170", + "mask_path": "../../mask/hdr_right_01281.png" + }, + { + "file_path": "../../rgb/hdr_right_01282.png", + "transform_matrix": [ + [ + -0.9574958086013794, + -0.10911957174539566, + 0.2670106887817383, + 44.99964141845703 + ], + [ + -0.2659924626350403, + -0.02405492402613163, + -0.9636749625205994, + -5.352485179901123 + ], + [ + 0.11157871782779694, + -0.993737518787384, + -0.005992491729557514, + -5.454983234405518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1282, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_338471412", + "mask_path": "../../mask/hdr_right_01282.png" + }, + { + "file_path": "../../rgb/hdr_right_01283.png", + "transform_matrix": [ + [ + -0.9574384689331055, + -0.10970846563577652, + 0.2669750452041626, + 45.077945709228516 + ], + [ + -0.26606205105781555, + -0.02315150760114193, + -0.9636777639389038, + -5.342341899871826 + ], + [ + 0.11190449446439743, + -0.9936941266059875, + -0.007023122161626816, + -5.465390205383301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1283, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_438471078", + "mask_path": "../../mask/hdr_right_01283.png" + }, + { + "file_path": "../../rgb/hdr_right_01284.png", + "transform_matrix": [ + [ + -0.9581003785133362, + -0.11513083428144455, + 0.26227572560310364, + 45.16651916503906 + ], + [ + -0.2613699734210968, + -0.023165659978985786, + -0.9649606943130493, + -5.33657693862915 + ], + [ + 0.11717252433300018, + -0.9930801391601562, + -0.007896717637777328, + -5.479013919830322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1284, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_538470268", + "mask_path": "../../mask/hdr_right_01284.png" + }, + { + "file_path": "../../rgb/hdr_right_01285.png", + "transform_matrix": [ + [ + -0.960732638835907, + -0.11661733686923981, + 0.25178009271621704, + 45.24702835083008 + ], + [ + -0.2507683038711548, + -0.023511331528425217, + -0.9677616357803345, + -5.3329925537109375 + ], + [ + 0.11877746880054474, + -0.9928985834121704, + -0.006655826233327389, + -5.485705852508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1285, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_638470649", + "mask_path": "../../mask/hdr_right_01285.png" + }, + { + "file_path": "../../rgb/hdr_right_01286.png", + "transform_matrix": [ + [ + -0.9648504257202148, + -0.11150727421045303, + 0.237970232963562, + 45.32109069824219 + ], + [ + -0.23662731051445007, + -0.025321530178189278, + -0.9712705612182617, + -5.332341194152832 + ], + [ + 0.1143295019865036, + -0.9934409260749817, + -0.0019541727378964424, + -5.493026256561279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1286, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_738470554", + "mask_path": "../../mask/hdr_right_01286.png" + }, + { + "file_path": "../../rgb/hdr_right_01287.png", + "transform_matrix": [ + [ + -0.9676204919815063, + -0.10942152887582779, + 0.2274589091539383, + 45.4168586730957 + ], + [ + -0.225163996219635, + -0.03305661678314209, + -0.9737599492073059, + -5.328474998474121 + ], + [ + 0.11406934261322021, + -0.9934455752372742, + 0.0073484755121171474, + -5.5114216804504395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1287, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_838470697", + "mask_path": "../../mask/hdr_right_01287.png" + }, + { + "file_path": "../../rgb/hdr_right_01288.png", + "transform_matrix": [ + [ + -0.9665240049362183, + -0.11610954999923706, + 0.22880113124847412, + 45.50615310668945 + ], + [ + -0.22573144733905792, + -0.039110708981752396, + -0.9734042286872864, + -5.316523551940918 + ], + [ + 0.12197010964155197, + -0.9924660325050354, + 0.011591862887144089, + -5.533474922180176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1288, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594295_938470363", + "mask_path": "../../mask/hdr_right_01288.png" + }, + { + "file_path": "../../rgb/hdr_right_01289.png", + "transform_matrix": [ + [ + -0.9658797383308411, + -0.11596592515707016, + 0.2315775454044342, + 45.574676513671875 + ], + [ + -0.22844861447811127, + -0.03976696729660034, + -0.9727433919906616, + -5.305434703826904 + ], + [ + 0.12201424688100815, + -0.9924567937850952, + 0.01191785093396902, + -5.545897006988525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1289, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_38470268", + "mask_path": "../../mask/hdr_right_01289.png" + }, + { + "file_path": "../../rgb/hdr_right_01290.png", + "transform_matrix": [ + [ + -0.9653690457344055, + -0.11671244353055954, + 0.23332561552524567, + 45.65188980102539 + ], + [ + -0.2306031882762909, + -0.03650050237774849, + -0.9723631739616394, + -5.295700550079346 + ], + [ + 0.12200336903333664, + -0.9924947619438171, + 0.008322195149958134, + -5.557431221008301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1290, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_138468980", + "mask_path": "../../mask/hdr_right_01290.png" + }, + { + "file_path": "../../rgb/hdr_right_01291.png", + "transform_matrix": [ + [ + -0.9654591083526611, + -0.12418463826179504, + 0.2290562391281128, + 45.74924087524414 + ], + [ + -0.22666490077972412, + -0.03324758633971214, + -0.9734051823616028, + -5.297070026397705 + ], + [ + 0.12849755585193634, + -0.9917019605636597, + 0.0039508892223238945, + -5.573655605316162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1291, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_238470077", + "mask_path": "../../mask/hdr_right_01291.png" + }, + { + "file_path": "../../rgb/hdr_right_01292.png", + "transform_matrix": [ + [ + -0.9672026634216309, + -0.12791693210601807, + 0.21944524347782135, + 45.82612991333008 + ], + [ + -0.21738341450691223, + -0.030036937445402145, + -0.9756240844726562, + -5.3035359382629395 + ], + [ + 0.1313903033733368, + -0.9913299679756165, + 0.0012447888730093837, + -5.58013391494751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1292, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_338469982", + "mask_path": "../../mask/hdr_right_01292.png" + }, + { + "file_path": "../../rgb/hdr_right_01293.png", + "transform_matrix": [ + [ + -0.9706186652183533, + -0.12421435117721558, + 0.20608320832252502, + 45.89261245727539 + ], + [ + -0.20416174829006195, + -0.028144534677267075, + -0.9785325527191162, + -5.29964542388916 + ], + [ + 0.1273479014635086, + -0.9918562173843384, + 0.00195779325440526, + -5.590078830718994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1293, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_438470363", + "mask_path": "../../mask/hdr_right_01293.png" + }, + { + "file_path": "../../rgb/hdr_right_01294.png", + "transform_matrix": [ + [ + -0.9736366868019104, + -0.1195475310087204, + 0.19426773488521576, + 45.98715591430664 + ], + [ + -0.19199810922145844, + -0.03033079393208027, + -0.980926513671875, + -5.292886734008789 + ], + [ + 0.12315963953733444, + -0.9923650622367859, + 0.006578270811587572, + -5.60673189163208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1294, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_538470029", + "mask_path": "../../mask/hdr_right_01294.png" + }, + { + "file_path": "../../rgb/hdr_right_01295.png", + "transform_matrix": [ + [ + -0.9731401801109314, + -0.12248144298791885, + 0.19492694735527039, + 46.0782356262207 + ], + [ + -0.1926492601633072, + -0.03028753399848938, + -0.980800211429596, + -5.282865047454834 + ], + [ + 0.12603364884853363, + -0.9920085668563843, + 0.00587806012481451, + -5.623827934265137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1295, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_638470172", + "mask_path": "../../mask/hdr_right_01295.png" + }, + { + "file_path": "../../rgb/hdr_right_01296.png", + "transform_matrix": [ + [ + -0.9725536704063416, + -0.12231616675853729, + 0.19793502986431122, + 46.14231491088867 + ], + [ + -0.1959691196680069, + -0.02802054025232792, + -0.9802097082138062, + -5.270785808563232 + ], + [ + 0.12544173002243042, + -0.9920955896377563, + 0.0032812824938446283, + -5.6355509757995605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1296, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_738469123", + "mask_path": "../../mask/hdr_right_01296.png" + }, + { + "file_path": "../../rgb/hdr_right_01297.png", + "transform_matrix": [ + [ + -0.9722028970718384, + -0.12146084755659103, + 0.2001718133687973, + 46.21843338012695 + ], + [ + -0.1989288032054901, + -0.022400330752134323, + -0.9797579646110535, + -5.259771347045898 + ], + [ + 0.12348613888025284, + -0.9923434257507324, + -0.002384392311796546, + -5.646786689758301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1297, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_838469743", + "mask_path": "../../mask/hdr_right_01297.png" + }, + { + "file_path": "../../rgb/hdr_right_01298.png", + "transform_matrix": [ + [ + -0.9720190167427063, + -0.1261153668165207, + 0.19817624986171722, + 46.31299591064453 + ], + [ + -0.19724519550800323, + -0.019954528659582138, + -0.9801510572433472, + -5.254676342010498 + ], + [ + 0.1275666356086731, + -0.991814911365509, + -0.005479469895362854, + -5.662588596343994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1298, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594296_938470602", + "mask_path": "../../mask/hdr_right_01298.png" + }, + { + "file_path": "../../rgb/hdr_right_01299.png", + "transform_matrix": [ + [ + -0.9731910228729248, + -0.1316203474998474, + 0.18861418962478638, + 46.393829345703125 + ], + [ + -0.18783974647521973, + -0.018389303237199783, + -0.9820275902748108, + -5.25354528427124 + ], + [ + 0.13272328674793243, + -0.9911295771598816, + -0.006827222649008036, + -5.668606281280518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1299, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_38469314", + "mask_path": "../../mask/hdr_right_01299.png" + }, + { + "file_path": "../../rgb/hdr_right_01300.png", + "transform_matrix": [ + [ + -0.9760067462921143, + -0.1277296543121338, + 0.17634063959121704, + 46.462039947509766 + ], + [ + -0.17546209692955017, + -0.018187768757343292, + -0.9843182563781738, + -5.252557754516602 + ], + [ + 0.1289338767528534, + -0.9916422367095947, + -0.004660323262214661, + -5.674916744232178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1300, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_138468980", + "mask_path": "../../mask/hdr_right_01300.png" + }, + { + "file_path": "../../rgb/hdr_right_01301.png", + "transform_matrix": [ + [ + -0.9786526560783386, + -0.12313655763864517, + 0.16454893350601196, + 46.555057525634766 + ], + [ + -0.16247397661209106, + -0.026776542887091637, + -0.9863494634628296, + -5.25053071975708 + ], + [ + 0.1258617341518402, + -0.9920284748077393, + 0.006198452319949865, + -5.694271564483643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1301, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_238470315", + "mask_path": "../../mask/hdr_right_01301.png" + }, + { + "file_path": "../../rgb/hdr_right_01302.png", + "transform_matrix": [ + [ + -0.978240966796875, + -0.12696801126003265, + 0.16408514976501465, + 46.65850067138672 + ], + [ + -0.16121233999729156, + -0.032651856541633606, + -0.9863796234130859, + -5.245418071746826 + ], + [ + 0.130596324801445, + -0.9913691878318787, + 0.01147257350385189, + -5.717240333557129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1302, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_338469266", + "mask_path": "../../mask/hdr_right_01302.png" + }, + { + "file_path": "../../rgb/hdr_right_01303.png", + "transform_matrix": [ + [ + -0.9776586890220642, + -0.12854920327663422, + 0.1663089394569397, + 46.73103332519531 + ], + [ + -0.1633521169424057, + -0.03328702598810196, + -0.9860062003135681, + -5.2403950691223145 + ], + [ + 0.13228623569011688, + -0.9911442995071411, + 0.011544570326805115, + -5.733461380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1303, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_438468456", + "mask_path": "../../mask/hdr_right_01303.png" + }, + { + "file_path": "../../rgb/hdr_right_01304.png", + "transform_matrix": [ + [ + -0.9773560166358948, + -0.12999451160430908, + 0.1669628769159317, + 46.81753921508789 + ], + [ + -0.16450607776641846, + -0.029490286484360695, + -0.9859352111816406, + -5.245349407196045 + ], + [ + 0.13308995962142944, + -0.9910760521888733, + 0.007437628228217363, + -5.750432968139648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1304, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_538471460", + "mask_path": "../../mask/hdr_right_01304.png" + }, + { + "file_path": "../../rgb/hdr_right_01305.png", + "transform_matrix": [ + [ + -0.9771068096160889, + -0.1359570473432541, + 0.16363967955112457, + 46.90818786621094 + ], + [ + -0.1616716831922531, + -0.025468720123171806, + -0.9865158200263977, + -5.257671356201172 + ], + [ + 0.13829147815704346, + -0.9903872609138489, + 0.0029052533209323883, + -5.764599323272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1305, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_638469457", + "mask_path": "../../mask/hdr_right_01305.png" + }, + { + "file_path": "../../rgb/hdr_right_01306.png", + "transform_matrix": [ + [ + -0.9775807857513428, + -0.13687226176261902, + 0.1600053459405899, + 46.98178482055664 + ], + [ + -0.15802517533302307, + -0.025284351781010628, + -0.9871113300323486, + -5.266432285308838 + ], + [ + 0.13915382325649261, + -0.990265965461731, + 0.00308823399245739, + -5.769747257232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1306, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_738469123", + "mask_path": "../../mask/hdr_right_01306.png" + }, + { + "file_path": "../../rgb/hdr_right_01307.png", + "transform_matrix": [ + [ + -0.9790129661560059, + -0.13121847808361053, + 0.15593375265598297, + 47.04167938232422 + ], + [ + -0.15394334495067596, + -0.02524169348180294, + -0.9877572059631348, + -5.272647380828857 + ], + [ + 0.13354802131652832, + -0.991032063961029, + 0.004511735867708921, + -5.779216766357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1307, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_838469743", + "mask_path": "../../mask/hdr_right_01307.png" + }, + { + "file_path": "../../rgb/hdr_right_01308.png", + "transform_matrix": [ + [ + -0.9800363779067993, + -0.12637516856193542, + 0.15348635613918304, + 47.122100830078125 + ], + [ + -0.15143337845802307, + -0.025753289461135864, + -0.9881319999694824, + -5.278656482696533 + ], + [ + 0.12882810831069946, + -0.9916481375694275, + 0.006101746577769518, + -5.795283317565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1308, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594297_938470125", + "mask_path": "../../mask/hdr_right_01308.png" + }, + { + "file_path": "../../rgb/hdr_right_01309.png", + "transform_matrix": [ + [ + -0.9784786105155945, + -0.12794537842273712, + 0.1618940532207489, + 47.21733093261719 + ], + [ + -0.15975593030452728, + -0.026869483292102814, + -0.9867908358573914, + -5.276052474975586 + ], + [ + 0.1306053251028061, + -0.9914171695709229, + 0.00585118168964982, + -5.8088274002075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1309, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_38469076", + "mask_path": "../../mask/hdr_right_01309.png" + }, + { + "file_path": "../../rgb/hdr_right_01310.png", + "transform_matrix": [ + [ + -0.9758979082107544, + -0.12798534333705902, + 0.17675715684890747, + 47.284446716308594 + ], + [ + -0.1747523993253708, + -0.026817461475729942, + -0.9842472076416016, + -5.264057159423828 + ], + [ + 0.13070937991142273, + -0.991413414478302, + 0.0038053588941693306, + -5.81922721862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1310, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_138469457", + "mask_path": "../../mask/hdr_right_01310.png" + }, + { + "file_path": "../../rgb/hdr_right_01311.png", + "transform_matrix": [ + [ + -0.9730412364006042, + -0.1261351853609085, + 0.1930818408727646, + 47.35106658935547 + ], + [ + -0.1923588663339615, + -0.018004579469561577, + -0.9811596274375916, + -5.2528791427612305 + ], + [ + 0.12723509967327118, + -0.9918496608734131, + -0.006744016893208027, + -5.8319830894470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1311, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_238469600", + "mask_path": "../../mask/hdr_right_01311.png" + }, + { + "file_path": "../../rgb/hdr_right_01312.png", + "transform_matrix": [ + [ + -0.9694798588752747, + -0.12968295812606812, + 0.2080651819705963, + 47.43609619140625 + ], + [ + -0.20880673825740814, + -0.00800453033298254, + -0.9779241681098938, + -5.245741367340088 + ], + [ + 0.1284855604171753, + -0.9915232062339783, + -0.019318440929055214, + -5.8464508056640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1312, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_338469743", + "mask_path": "../../mask/hdr_right_01312.png" + }, + { + "file_path": "../../rgb/hdr_right_01313.png", + "transform_matrix": [ + [ + -0.9653568267822266, + -0.14036792516708374, + 0.21996164321899414, + 47.51370620727539 + ], + [ + -0.22157172858715057, + -0.004249438643455505, + -0.9751348495483398, + -5.23984956741333 + ], + [ + 0.13781237602233887, + -0.9900903105735779, + -0.02699934132397175, + -5.853157043457031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1313, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_438469171", + "mask_path": "../../mask/hdr_right_01313.png" + }, + { + "file_path": "../../rgb/hdr_right_01314.png", + "transform_matrix": [ + [ + -0.9625081419944763, + -0.14167624711990356, + 0.23131351172924042, + 47.564857482910156 + ], + [ + -0.23392584919929504, + 0.0018373553175479174, + -0.9722527265548706, + -5.230042457580566 + ], + [ + 0.13732010126113892, + -0.9899113178253174, + -0.03491020202636719, + -5.860630512237549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1314, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_538469314", + "mask_path": "../../mask/hdr_right_01314.png" + }, + { + "file_path": "../../rgb/hdr_right_01315.png", + "transform_matrix": [ + [ + -0.9610145688056946, + -0.13716651499271393, + 0.24007566273212433, + 47.635406494140625 + ], + [ + -0.24332691729068756, + 0.007196130231022835, + -0.9699177145957947, + -5.213391304016113 + ], + [ + 0.13131259381771088, + -0.9905219078063965, + -0.040291886776685715, + -5.879261493682861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1315, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_638469219", + "mask_path": "../../mask/hdr_right_01315.png" + }, + { + "file_path": "../../rgb/hdr_right_01316.png", + "transform_matrix": [ + [ + -0.9587247371673584, + -0.13340303301811218, + 0.2510985732078552, + 47.73585891723633 + ], + [ + -0.2534725069999695, + 0.0008399522048421204, + -0.9673423171043396, + -5.192162036895752 + ], + [ + 0.12883546948432922, + -0.9910615086555481, + -0.0346192792057991, + -5.900705337524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1316, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_738468885", + "mask_path": "../../mask/hdr_right_01316.png" + }, + { + "file_path": "../../rgb/hdr_right_01317.png", + "transform_matrix": [ + [ + -0.9561136364936829, + -0.13783112168312073, + 0.25855204463005066, + 47.81604766845703 + ], + [ + -0.26066112518310547, + -0.0028387298807501793, + -0.9654262065887451, + -5.174535274505615 + ], + [ + 0.133799746632576, + -0.9904516935348511, + -0.033213064074516296, + -5.913414001464844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1317, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_838469505", + "mask_path": "../../mask/hdr_right_01317.png" + }, + { + "file_path": "../../rgb/hdr_right_01318.png", + "transform_matrix": [ + [ + -0.9554294347763062, + -0.1370987743139267, + 0.26145440340042114, + 47.88233947753906 + ], + [ + -0.2641705870628357, + 0.0016793974209576845, + -0.964474618434906, + -5.159383773803711 + ], + [ + 0.1317892074584961, + -0.9905559420585632, + -0.03782201185822487, + -5.929097652435303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1318, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594298_938469409", + "mask_path": "../../mask/hdr_right_01318.png" + }, + { + "file_path": "../../rgb/hdr_right_01319.png", + "transform_matrix": [ + [ + -0.9549975395202637, + -0.14342689514160156, + 0.2596314549446106, + 47.957828521728516 + ], + [ + -0.26336434483528137, + 0.007348890881985426, + -0.9646685719490051, + -5.145193576812744 + ], + [ + 0.13645140826702118, + -0.9896337389945984, + -0.044791702181100845, + -5.9427666664123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1319, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_38469076", + "mask_path": "../../mask/hdr_right_01319.png" + }, + { + "file_path": "../../rgb/hdr_right_01320.png", + "transform_matrix": [ + [ + -0.9545075297355652, + -0.16056495904922485, + 0.25126519799232483, + 48.02882385253906 + ], + [ + -0.2555255889892578, + 0.0061170849949121475, + -0.9667829871177673, + -5.138571739196777 + ], + [ + 0.15369443595409393, + -0.9870063066482544, + -0.046867262572050095, + -5.956418991088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1320, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_138469934", + "mask_path": "../../mask/hdr_right_01320.png" + }, + { + "file_path": "../../rgb/hdr_right_01321.png", + "transform_matrix": [ + [ + -0.9559577107429504, + -0.16390828788280487, + 0.24347257614135742, + 48.088619232177734 + ], + [ + -0.24743583798408508, + 0.0038951963651925325, + -0.9688964486122131, + -5.1326775550842285 + ], + [ + 0.15786176919937134, + -0.9864678382873535, + -0.04428042098879814, + -5.968673229217529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1321, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_238468885", + "mask_path": "../../mask/hdr_right_01321.png" + }, + { + "file_path": "../../rgb/hdr_right_01322.png", + "transform_matrix": [ + [ + -0.9596738815307617, + -0.15648764371871948, + 0.23353354632854462, + 48.154335021972656 + ], + [ + -0.23724377155303955, + 0.005199516657739878, + -0.9714362621307373, + -5.124503135681152 + ], + [ + 0.15080350637435913, + -0.9876662492752075, + -0.042115554213523865, + -5.981269836425781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1322, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_338469982", + "mask_path": "../../mask/hdr_right_01322.png" + }, + { + "file_path": "../../rgb/hdr_right_01323.png", + "transform_matrix": [ + [ + -0.9629979133605957, + -0.14723852276802063, + 0.2257339209318161, + 48.25199890136719 + ], + [ + -0.22833047807216644, + 0.0007535999175161123, + -0.9735835194587708, + -5.112858772277832 + ], + [ + 0.14317886531352997, + -0.9891007542610168, + -0.03434475511312485, + -5.998130798339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1323, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_438468933", + "mask_path": "../../mask/hdr_right_01323.png" + }, + { + "file_path": "../../rgb/hdr_right_01324.png", + "transform_matrix": [ + [ + -0.9633685946464539, + -0.14343224465847015, + 0.226601243019104, + 48.34623336791992 + ], + [ + -0.22781389951705933, + -0.008130978792905807, + -0.9736707806587219, + -5.097139358520508 + ], + [ + 0.14149829745292664, + -0.9896266460418701, + -0.02484273351728916, + -6.009391784667969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1324, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_538469552", + "mask_path": "../../mask/hdr_right_01324.png" + }, + { + "file_path": "../../rgb/hdr_right_01325.png", + "transform_matrix": [ + [ + -0.9636831879615784, + -0.13807499408721924, + 0.2285822480916977, + 48.40641784667969 + ], + [ + -0.22997798025608063, + -0.005976341664791107, + -0.9731774926185608, + -5.0851311683654785 + ], + [ + 0.1357375532388687, + -0.9904037714004517, + -0.025994902476668358, + -6.025181293487549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1325, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_638470411", + "mask_path": "../../mask/hdr_right_01325.png" + }, + { + "file_path": "../../rgb/hdr_right_01326.png", + "transform_matrix": [ + [ + -0.9639496207237244, + -0.1367769092321396, + 0.228239044547081, + 48.48163604736328 + ], + [ + -0.23039400577545166, + -7.769913645461202e-05, + -0.9730974435806274, + -5.072650909423828 + ], + [ + 0.1331150084733963, + -0.9906018376350403, + -0.03143768385052681, + -6.045295238494873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1326, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_738469362", + "mask_path": "../../mask/hdr_right_01326.png" + }, + { + "file_path": "../../rgb/hdr_right_01327.png", + "transform_matrix": [ + [ + -0.9644988179206848, + -0.14508552849292755, + 0.220662921667099, + 48.572052001953125 + ], + [ + -0.22309273481369019, + 0.0004900899948552251, + -0.9747971892356873, + -5.07332706451416 + ], + [ + 0.1413208246231079, + -0.9894190430641174, + -0.032840218394994736, + -6.051456928253174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1327, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_838467836", + "mask_path": "../../mask/hdr_right_01327.png" + }, + { + "file_path": "../../rgb/hdr_right_01328.png", + "transform_matrix": [ + [ + -0.9666650891304016, + -0.1461745798587799, + 0.21021802723407745, + 48.645240783691406 + ], + [ + -0.21248511970043182, + -0.00010671381460269913, + -0.9771642684936523, + -5.072480201721191 + ], + [ + 0.14285902678966522, + -0.9892588257789612, + -0.03095676749944687, + -6.051194190979004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1328, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594299_938469886", + "mask_path": "../../mask/hdr_right_01328.png" + }, + { + "file_path": "../../rgb/hdr_right_01329.png", + "transform_matrix": [ + [ + -0.9686997532844543, + -0.1404448002576828, + 0.20468533039093018, + 48.709869384765625 + ], + [ + -0.20649710297584534, + -0.0017074014758691192, + -0.9784457683563232, + -5.07021951675415 + ], + [ + 0.13776710629463196, + -0.9900870323181152, + -0.027347486466169357, + -6.066415786743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1329, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_38469791", + "mask_path": "../../mask/hdr_right_01329.png" + }, + { + "file_path": "../../rgb/hdr_right_01330.png", + "transform_matrix": [ + [ + -0.9694783091545105, + -0.13294918835163116, + 0.20600108802318573, + 48.79972839355469 + ], + [ + -0.2070571780204773, + -0.005984437186270952, + -0.9783105254173279, + -5.061216831207275 + ], + [ + 0.13129839301109314, + -0.991104781627655, + -0.021726302802562714, + -6.084027290344238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1330, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_138470172", + "mask_path": "../../mask/hdr_right_01330.png" + }, + { + "file_path": "../../rgb/hdr_right_01331.png", + "transform_matrix": [ + [ + -0.96706223487854, + -0.1321822702884674, + 0.21752811968326569, + 48.901554107666016 + ], + [ + -0.21788795292377472, + -0.011913307011127472, + -0.9759010672569275, + -5.046690940856934 + ], + [ + 0.13158831000328064, + -0.9911537766456604, + -0.01728001795709133, + -6.092747688293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1331, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_238470077", + "mask_path": "../../mask/hdr_right_01331.png" + }, + { + "file_path": "../../rgb/hdr_right_01332.png", + "transform_matrix": [ + [ + -0.9650736451148987, + -0.12581422924995422, + 0.22979050874710083, + 48.972103118896484 + ], + [ + -0.23007717728614807, + -0.012447456829249859, + -0.9730928540229797, + -5.031490325927734 + ], + [ + 0.12528923153877258, + -0.991975724697113, + -0.016934270039200783, + -6.1037187576293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1332, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_338469505", + "mask_path": "../../mask/hdr_right_01332.png" + }, + { + "file_path": "../../rgb/hdr_right_01333.png", + "transform_matrix": [ + [ + -0.9638873934745789, + -0.11999521404504776, + 0.23774409294128418, + 49.04689407348633 + ], + [ + -0.23874354362487793, + -0.006188360042870045, + -0.971062958240509, + -5.018242835998535 + ], + [ + 0.11799414455890656, + -0.9927552938461304, + -0.02268320322036743, + -6.11433744430542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1333, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_438469886", + "mask_path": "../../mask/hdr_right_01333.png" + }, + { + "file_path": "../../rgb/hdr_right_01334.png", + "transform_matrix": [ + [ + -0.9630770087242126, + -0.12096929550170898, + 0.24051842093467712, + 49.142452239990234 + ], + [ + -0.24223223328590393, + -0.0005541873979382217, + -0.9702181220054626, + -5.012113094329834 + ], + [ + 0.11749989539384842, + -0.9926560521125793, + -0.028768938034772873, + -6.1220383644104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1334, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_538469552", + "mask_path": "../../mask/hdr_right_01334.png" + }, + { + "file_path": "../../rgb/hdr_right_01335.png", + "transform_matrix": [ + [ + -0.9632623791694641, + -0.12224891781806946, + 0.23912502825260162, + 49.216121673583984 + ], + [ + -0.24084030091762543, + -0.0007678064866922796, + -0.9705644249916077, + -5.007593154907227 + ], + [ + 0.11883404105901718, + -0.9924991130828857, + -0.028702862560749054, + -6.123992443084717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1335, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_638470649", + "mask_path": "../../mask/hdr_right_01335.png" + }, + { + "file_path": "../../rgb/hdr_right_01336.png", + "transform_matrix": [ + [ + -0.9641163349151611, + -0.11783885210752487, + 0.23789432644844055, + 49.27273941040039 + ], + [ + -0.23993828892707825, + 0.0032646814361214638, + -0.9707826972007751, + -4.994546890258789 + ], + [ + 0.11361927539110184, + -0.9930273294448853, + -0.031421586871147156, + -6.131776809692383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1336, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_738470554", + "mask_path": "../../mask/hdr_right_01336.png" + }, + { + "file_path": "../../rgb/hdr_right_01337.png", + "transform_matrix": [ + [ + -0.9650891423225403, + -0.10882579535245895, + 0.23824326694011688, + 49.34972381591797 + ], + [ + -0.24023358523845673, + 0.005366436671465635, + -0.9707002639770508, + -4.982259750366211 + ], + [ + 0.10435870289802551, + -0.9940463304519653, + -0.031322699040174484, + -6.141107559204102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1337, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_838469982", + "mask_path": "../../mask/hdr_right_01337.png" + }, + { + "file_path": "../../rgb/hdr_right_01338.png", + "transform_matrix": [ + [ + -0.9627893567085266, + -0.1049642339348793, + 0.24903646111488342, + 49.43326950073242 + ], + [ + -0.24996083974838257, + -0.0044668992049992085, + -0.9682457447052002, + -4.961989402770996 + ], + [ + 0.10274359583854675, + -0.9944659471511841, + -0.021936263889074326, + -6.15061616897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1338, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594300_938469171", + "mask_path": "../../mask/hdr_right_01338.png" + }, + { + "file_path": "../../rgb/hdr_right_01339.png", + "transform_matrix": [ + [ + -0.9576433300971985, + -0.10224764794111252, + 0.26919272541999817, + 49.485721588134766 + ], + [ + -0.26983022689819336, + -0.007806215435266495, + -0.9628763198852539, + -4.942077159881592 + ], + [ + 0.10055322200059891, + -0.9947283267974854, + -0.020113935694098473, + -6.161301612854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1339, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_38469791", + "mask_path": "../../mask/hdr_right_01339.png" + }, + { + "file_path": "../../rgb/hdr_right_01340.png", + "transform_matrix": [ + [ + -0.9511159658432007, + -0.09911704808473587, + 0.29249656200408936, + 49.542030334472656 + ], + [ + -0.2937066853046417, + -0.0024832754861563444, + -0.9558924436569214, + -4.9218831062316895 + ], + [ + 0.0954715758562088, + -0.9950726628303528, + -0.02674945630133152, + -6.17240571975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1340, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_138471364", + "mask_path": "../../mask/hdr_right_01340.png" + }, + { + "file_path": "../../rgb/hdr_right_01341.png", + "transform_matrix": [ + [ + -0.9447665810585022, + -0.10309557616710663, + 0.3111068308353424, + 49.61473846435547 + ], + [ + -0.3129551410675049, + 0.0018503897590562701, + -0.949766218662262, + -4.902551651000977 + ], + [ + 0.09734101593494415, + -0.9946697354316711, + -0.03401247411966324, + -6.184816837310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1341, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_238469839", + "mask_path": "../../mask/hdr_right_01341.png" + }, + { + "file_path": "../../rgb/hdr_right_01342.png", + "transform_matrix": [ + [ + -0.9409037232398987, + -0.11245071887969971, + 0.31946080923080444, + 49.682498931884766 + ], + [ + -0.3214927911758423, + -6.726210267515853e-05, + -0.9469119906425476, + -4.889852523803711 + ], + [ + 0.10650242120027542, + -0.9936572909355164, + -0.03608880937099457, + -6.183027267456055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1342, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_338469743", + "mask_path": "../../mask/hdr_right_01342.png" + }, + { + "file_path": "../../rgb/hdr_right_01344.png", + "transform_matrix": [ + [ + -0.9342110753059387, + -0.10546333342790604, + 0.3407743275165558, + 49.7900505065918 + ], + [ + -0.34265902638435364, + -0.00026485256967134774, + -0.9394598603248596, + -4.867203712463379 + ], + [ + 0.0991688147187233, + -0.9944231510162354, + -0.03589053452014923, + -6.196882247924805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1344, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_538469314", + "mask_path": "../../mask/hdr_right_01344.png" + }, + { + "file_path": "../../rgb/hdr_right_01345.png", + "transform_matrix": [ + [ + -0.9295945167541504, + -0.09983456879854202, + 0.35480600595474243, + 49.875728607177734 + ], + [ + -0.3558235168457031, + -0.008026226423680782, + -0.9345187544822693, + -4.849704742431641 + ], + [ + 0.09614504128694534, + -0.9949716925621033, + -0.028062352910637856, + -6.210294246673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1345, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_638470411", + "mask_path": "../../mask/hdr_right_01345.png" + }, + { + "file_path": "../../rgb/hdr_right_01346.png", + "transform_matrix": [ + [ + -0.9223062992095947, + -0.0991128608584404, + 0.37353426218032837, + 49.95417404174805 + ], + [ + -0.37360626459121704, + -0.01853557489812374, + -0.9274022579193115, + -4.833500385284424 + ], + [ + 0.09884116053581238, + -0.9949035048484802, + -0.019933709874749184, + -6.219108581542969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1346, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_738469123", + "mask_path": "../../mask/hdr_right_01346.png" + }, + { + "file_path": "../../rgb/hdr_right_01347.png", + "transform_matrix": [ + [ + -0.9153963327407837, + -0.09521320462226868, + 0.39113184809684753, + 50.012298583984375 + ], + [ + -0.391340970993042, + -0.017247274518013, + -0.9200841784477234, + -4.81455135345459 + ], + [ + 0.09435012191534042, + -0.995307445526123, + -0.021472735330462456, + -6.22654914855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1347, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_838469028", + "mask_path": "../../mask/hdr_right_01347.png" + }, + { + "file_path": "../../rgb/hdr_right_01348.png", + "transform_matrix": [ + [ + -0.9083034992218018, + -0.10045019537210464, + 0.4060719907283783, + 50.078678131103516 + ], + [ + -0.4074205756187439, + -0.007635359652340412, + -0.9132088422775269, + -4.796177387237549 + ], + [ + 0.09483249485492706, + -0.9949127435684204, + -0.033990245312452316, + -6.234706878662109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1348, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594301_938469409", + "mask_path": "../../mask/hdr_right_01348.png" + }, + { + "file_path": "../../rgb/hdr_right_01349.png", + "transform_matrix": [ + [ + -0.9026969075202942, + -0.11607945710420609, + 0.41432344913482666, + 50.148014068603516 + ], + [ + -0.4169394075870514, + -0.0019129306310787797, + -0.9089322686195374, + -4.7787370681762695 + ], + [ + 0.10630093514919281, + -0.993238091468811, + -0.0466713011264801, + -6.246729373931885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1349, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_38469076", + "mask_path": "../../mask/hdr_right_01349.png" + }, + { + "file_path": "../../rgb/hdr_right_01350.png", + "transform_matrix": [ + [ + -0.8996379971504211, + -0.1195659339427948, + 0.41994693875312805, + 50.19974899291992 + ], + [ + -0.4221367835998535, + -0.007624733727425337, + -0.9065001606941223, + -4.7604546546936035 + ], + [ + 0.11158851534128189, + -0.9927969574928284, + -0.043613679707050323, + -6.256670951843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1350, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_138469219", + "mask_path": "../../mask/hdr_right_01350.png" + }, + { + "file_path": "../../rgb/hdr_right_01352.png", + "transform_matrix": [ + [ + -0.8960669636726379, + -0.11493335664272308, + 0.4287823736667633, + 50.324180603027344 + ], + [ + -0.43189936876296997, + 0.002471011597663164, + -0.9019184112548828, + -4.715064525604248 + ], + [ + 0.10260098427534103, + -0.9933701157569885, + -0.051853835582733154, + -6.276662349700928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1352, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_338469505", + "mask_path": "../../mask/hdr_right_01352.png" + }, + { + "file_path": "../../rgb/hdr_right_01353.png", + "transform_matrix": [ + [ + -0.8899286389350891, + -0.114614337682724, + 0.44146406650543213, + 50.40827178955078 + ], + [ + -0.4436509609222412, + -0.007066783495247364, + -0.8961718678474426, + -4.677735805511475 + ], + [ + 0.10583386570215225, + -0.9933848977088928, + -0.044559821486473083, + -6.2830610275268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1353, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_438469171", + "mask_path": "../../mask/hdr_right_01353.png" + }, + { + "file_path": "../../rgb/hdr_right_01354.png", + "transform_matrix": [ + [ + -0.8827126622200012, + -0.11063095182180405, + 0.4567044675350189, + 50.461421966552734 + ], + [ + -0.45873916149139404, + -0.007807582151144743, + -0.8885367512702942, + -4.643810749053955 + ], + [ + 0.10186541080474854, + -0.9938309192657471, + -0.04385889321565628, + -6.294874668121338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1354, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_538470268", + "mask_path": "../../mask/hdr_right_01354.png" + }, + { + "file_path": "../../rgb/hdr_right_01355.png", + "transform_matrix": [ + [ + -0.8767684698104858, + -0.1095544621348381, + 0.46826794743537903, + 50.51682662963867 + ], + [ + -0.4709306061267853, + -0.001771979033946991, + -0.8821685910224915, + -4.608921527862549 + ], + [ + 0.09747526049613953, + -0.9939792156219482, + -0.050038933753967285, + -6.311344146728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1355, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_638469934", + "mask_path": "../../mask/hdr_right_01355.png" + }, + { + "file_path": "../../rgb/hdr_right_01356.png", + "transform_matrix": [ + [ + -0.8724381327629089, + -0.11655525118112564, + 0.47462254762649536, + 50.594703674316406 + ], + [ + -0.4778985381126404, + 0.00018358143279328942, + -0.878415048122406, + -4.578039169311523 + ], + [ + 0.10229674726724625, + -0.9931842088699341, + -0.05586175620555878, + -6.3221540451049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1356, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_738470077", + "mask_path": "../../mask/hdr_right_01356.png" + }, + { + "file_path": "../../rgb/hdr_right_01357.png", + "transform_matrix": [ + [ + -0.872986912727356, + -0.12620724737644196, + 0.4711322486400604, + 50.66288375854492 + ], + [ + -0.47415807843208313, + -0.006793801207095385, + -0.8804135918617249, + -4.556557655334473 + ], + [ + 0.11431534588336945, + -0.9919806122779846, + -0.05391128361225128, + -6.320274829864502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1357, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_838469743", + "mask_path": "../../mask/hdr_right_01357.png" + }, + { + "file_path": "../../rgb/hdr_right_01358.png", + "transform_matrix": [ + [ + -0.8776721358299255, + -0.12646983563899994, + 0.4622737169265747, + 50.719051361083984 + ], + [ + -0.4654066860675812, + -0.005338860675692558, + -0.8850809931755066, + -4.5358686447143555 + ], + [ + 0.11440405994653702, + -0.9919561147689819, + -0.05417414382100105, + -6.326568603515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1358, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594302_938470125", + "mask_path": "../../mask/hdr_right_01358.png" + }, + { + "file_path": "../../rgb/hdr_right_01359.png", + "transform_matrix": [ + [ + -0.8834382891654968, + -0.11993015557527542, + 0.4529387354850769, + 50.794368743896484 + ], + [ + -0.45597293972969055, + -0.002394147450104356, + -0.8899904489517212, + -4.509504318237305 + ], + [ + 0.10782107710838318, + -0.9927794933319092, + -0.05256982147693634, + -6.3424458503723145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1359, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_38468360", + "mask_path": "../../mask/hdr_right_01359.png" + }, + { + "file_path": "../../rgb/hdr_right_01360.png", + "transform_matrix": [ + [ + -0.8863802552223206, + -0.11334866285324097, + 0.4488675594329834, + 50.893611907958984 + ], + [ + -0.4502964913845062, + -0.014119505882263184, + -0.8927674889564514, + -4.478527545928955 + ], + [ + 0.10753179341554642, + -0.9934549331665039, + -0.03852525353431702, + -6.358288764953613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1360, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_138469457", + "mask_path": "../../mask/hdr_right_01360.png" + }, + { + "file_path": "../../rgb/hdr_right_01361.png", + "transform_matrix": [ + [ + -0.885419487953186, + -0.11286332458257675, + 0.45088180899620056, + 50.97682189941406 + ], + [ + -0.45124268531799316, + -0.023793134838342667, + -0.8920840620994568, + -4.443026542663574 + ], + [ + 0.1114114448428154, + -0.9933257102966309, + -0.02986183948814869, + -6.367974758148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1361, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_238471508", + "mask_path": "../../mask/hdr_right_01361.png" + }, + { + "file_path": "../../rgb/hdr_right_01362.png", + "transform_matrix": [ + [ + -0.8851136565208435, + -0.11004183441400528, + 0.4521775245666504, + 51.04524230957031 + ], + [ + -0.4527391195297241, + -0.021269746124744415, + -0.8913893699645996, + -4.414166450500488 + ], + [ + 0.10770779848098755, + -0.993699312210083, + -0.030994098633527756, + -6.385826110839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1362, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_338470220", + "mask_path": "../../mask/hdr_right_01362.png" + }, + { + "file_path": "../../rgb/hdr_right_01363.png", + "transform_matrix": [ + [ + -0.885683000087738, + -0.11214020103216171, + 0.45054441690444946, + 51.13166046142578 + ], + [ + -0.4515419006347656, + -0.01779324933886528, + -0.8920724987983704, + -4.387388706207275 + ], + [ + 0.10805384069681168, + -0.9935330748558044, + -0.03487682342529297, + -6.398332118988037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1363, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_438470602", + "mask_path": "../../mask/hdr_right_01363.png" + }, + { + "file_path": "../../rgb/hdr_right_01364.png", + "transform_matrix": [ + [ + -0.8893193602561951, + -0.12106217443943024, + 0.44097062945365906, + 51.21351623535156 + ], + [ + -0.44166556000709534, + -0.022498777136206627, + -0.8968976140022278, + -4.367722511291504 + ], + [ + 0.118501678109169, + -0.9923899173736572, + -0.03346039727330208, + -6.401749134063721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1364, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_538470029", + "mask_path": "../../mask/hdr_right_01364.png" + }, + { + "file_path": "../../rgb/hdr_right_01365.png", + "transform_matrix": [ + [ + -0.8946241140365601, + -0.11975141614675522, + 0.43047332763671875, + 51.27695846557617 + ], + [ + -0.4312535226345062, + -0.02066449262201786, + -0.9019940495491028, + -4.350545406341553 + ], + [ + 0.11691058427095413, + -0.9925888180732727, + -0.033156272023916245, + -6.406786918640137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1365, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_638470649", + "mask_path": "../../mask/hdr_right_01365.png" + }, + { + "file_path": "../../rgb/hdr_right_01366.png", + "transform_matrix": [ + [ + -0.9006601572036743, + -0.11493794620037079, + 0.4190469980239868, + 51.34832000732422 + ], + [ + -0.41965463757514954, + -0.020039593800902367, + -0.9074626564979553, + -4.3271002769470215 + ], + [ + 0.11269941926002502, + -0.9931704998016357, + -0.030185367912054062, + -6.42210054397583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1366, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_738469839", + "mask_path": "../../mask/hdr_right_01366.png" + }, + { + "file_path": "../../rgb/hdr_right_01367.png", + "transform_matrix": [ + [ + -0.9045777916908264, + -0.11267995834350586, + 0.4111473560333252, + 51.45085525512695 + ], + [ + -0.41070955991744995, + -0.02815677970647812, + -0.9113314151763916, + -4.3021087646484375 + ], + [ + 0.11426537483930588, + -0.9932323098182678, + -0.020808735862374306, + -6.439970016479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1367, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_838470458", + "mask_path": "../../mask/hdr_right_01367.png" + }, + { + "file_path": "../../rgb/hdr_right_01368.png", + "transform_matrix": [ + [ + -0.9046618938446045, + -0.11552201956510544, + 0.4101724922657013, + 51.53443908691406 + ], + [ + -0.40932202339172363, + -0.03209467977285385, + -0.9118253588676453, + -4.277976989746094 + ], + [ + 0.11850026249885559, + -0.9927863478660583, + -0.01825086772441864, + -6.450071334838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1368, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594303_938469648", + "mask_path": "../../mask/hdr_right_01368.png" + }, + { + "file_path": "../../rgb/hdr_right_01369.png", + "transform_matrix": [ + [ + -0.9052524566650391, + -0.11410696059465408, + 0.4092646837234497, + 51.60208511352539 + ], + [ + -0.40838831663131714, + -0.0320359542965889, + -0.9122459292411804, + -4.25644063949585 + ], + [ + 0.11720480024814606, + -0.9929518103599548, + -0.017599323764443398, + -6.46224308013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1369, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_38470506", + "mask_path": "../../mask/hdr_right_01369.png" + }, + { + "file_path": "../../rgb/hdr_right_01370.png", + "transform_matrix": [ + [ + -0.9059430956840515, + -0.1158662736415863, + 0.4072370231151581, + 51.68965148925781 + ], + [ + -0.40662163496017456, + -0.029982101172208786, + -0.9131045341491699, + -4.2349019050598145 + ], + [ + 0.1180078387260437, + -0.9928122162818909, + -0.019951652735471725, + -6.475052356719971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1370, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_138470649", + "mask_path": "../../mask/hdr_right_01370.png" + }, + { + "file_path": "../../rgb/hdr_right_01371.png", + "transform_matrix": [ + [ + -0.9089224934577942, + -0.12094912678003311, + 0.3990379273891449, + 51.77709197998047 + ], + [ + -0.39801719784736633, + -0.03354316204786301, + -0.916764497756958, + -4.21766996383667 + ], + [ + 0.1242668479681015, + -0.9920917749404907, + -0.017651697620749474, + -6.48297643661499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1371, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_238470077", + "mask_path": "../../mask/hdr_right_01371.png" + }, + { + "file_path": "../../rgb/hdr_right_01372.png", + "transform_matrix": [ + [ + -0.913894772529602, + -0.12016690522432327, + 0.3877578675746918, + 51.84806823730469 + ], + [ + -0.3868301212787628, + -0.03191443532705307, + -0.9215986132621765, + -4.207351207733154 + ], + [ + 0.12312071770429611, + -0.9922406077384949, + -0.017317743971943855, + -6.488326549530029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1372, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_338470458", + "mask_path": "../../mask/hdr_right_01372.png" + }, + { + "file_path": "../../rgb/hdr_right_01373.png", + "transform_matrix": [ + [ + -0.920050859451294, + -0.1136140301823616, + 0.3749643564224243, + 51.923240661621094 + ], + [ + -0.3736620843410492, + -0.033363524824380875, + -0.9269647002220154, + -4.193256855010986 + ], + [ + 0.11782633513212204, + -0.9929646253585815, + -0.011757115833461285, + -6.5029473304748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1373, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_438469648", + "mask_path": "../../mask/hdr_right_01373.png" + }, + { + "file_path": "../../rgb/hdr_right_01374.png", + "transform_matrix": [ + [ + -0.9242886304855347, + -0.11003658175468445, + 0.36548948287963867, + 52.02547836303711 + ], + [ + -0.36307990550994873, + -0.041916538029909134, + -0.9308146834373474, + -4.170585632324219 + ], + [ + 0.11774372309446335, + -0.9930432438850403, + -0.0012090957025066018, + -6.520482063293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1374, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_538470745", + "mask_path": "../../mask/hdr_right_01374.png" + }, + { + "file_path": "../../rgb/hdr_right_01375.png", + "transform_matrix": [ + [ + -0.923170268535614, + -0.11452944576740265, + 0.36693301796913147, + 52.11467361450195 + ], + [ + -0.3638995587825775, + -0.04711991921067238, + -0.9302456378936768, + -4.148107051849365 + ], + [ + 0.12383037060499191, + -0.9923017024993896, + 0.0018224938539788127, + -6.531407356262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1375, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_638470411", + "mask_path": "../../mask/hdr_right_01375.png" + }, + { + "file_path": "../../rgb/hdr_right_01376.png", + "transform_matrix": [ + [ + -0.9225099682807922, + -0.112424835562706, + 0.36923694610595703, + 52.18570327758789 + ], + [ + -0.3666861057281494, + -0.04334503039717674, + -0.9293345808982849, + -4.124380111694336 + ], + [ + 0.12048487365245819, + -0.9927143454551697, + -0.001238396973349154, + -6.54953145980835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1376, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_738470792", + "mask_path": "../../mask/hdr_right_01376.png" + }, + { + "file_path": "../../rgb/hdr_right_01377.png", + "transform_matrix": [ + [ + -0.9223414063453674, + -0.11254694312810898, + 0.36962080001831055, + 52.272769927978516 + ], + [ + -0.3674350678920746, + -0.04035017639398575, + -0.9291735291481018, + -4.103602886199951 + ], + [ + 0.1194898933172226, + -0.9928268194198608, + -0.004137056414037943, + -6.563427448272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1377, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_838470458", + "mask_path": "../../mask/hdr_right_01377.png" + }, + { + "file_path": "../../rgb/hdr_right_01378.png", + "transform_matrix": [ + [ + -0.9248436689376831, + -0.1162824034690857, + 0.36213624477386475, + 52.3647346496582 + ], + [ + -0.35918548703193665, + -0.04614377021789551, + -0.9321247935295105, + -4.088122367858887 + ], + [ + 0.1251000314950943, + -0.9921437501907349, + 0.000908823509234935, + -6.568082809448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1378, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594304_938470840", + "mask_path": "../../mask/hdr_right_01378.png" + }, + { + "file_path": "../../rgb/hdr_right_01379.png", + "transform_matrix": [ + [ + -0.9299654364585876, + -0.11342109739780426, + 0.34971415996551514, + 52.435791015625 + ], + [ + -0.34685322642326355, + -0.04469657316803932, + -0.9368539452552795, + -4.077427864074707 + ], + [ + 0.12189001590013504, + -0.9925411343574524, + 0.0022257945965975523, + -6.571493625640869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1379, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_38470983", + "mask_path": "../../mask/hdr_right_01379.png" + }, + { + "file_path": "../../rgb/hdr_right_01380.png", + "transform_matrix": [ + [ + -0.9360901713371277, + -0.10596908628940582, + 0.3354186415672302, + 52.51123809814453 + ], + [ + -0.33249908685684204, + -0.04464294761419296, + -0.9420464634895325, + -4.069650173187256 + ], + [ + 0.11480187624692917, + -0.9933667778968811, + 0.006555213592946529, + -6.586104869842529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1380, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_138470888", + "mask_path": "../../mask/hdr_right_01380.png" + }, + { + "file_path": "../../rgb/hdr_right_01381.png", + "transform_matrix": [ + [ + -0.9397838115692139, + -0.10283517092466354, + 0.3259314000606537, + 52.61658477783203 + ], + [ + -0.3221840560436249, + -0.05162843316793442, + -0.9452681541442871, + -4.054001808166504 + ], + [ + 0.11403414607048035, + -0.9933576583862305, + 0.01538771390914917, + -6.602212905883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1381, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_238469600", + "mask_path": "../../mask/hdr_right_01381.png" + }, + { + "file_path": "../../rgb/hdr_right_01382.png", + "transform_matrix": [ + [ + -0.9381107687950134, + -0.10864774882793427, + 0.32885241508483887, + 52.707542419433594 + ], + [ + -0.32445135712623596, + -0.05647645890712738, + -0.944214940071106, + -4.03110933303833 + ], + [ + 0.12115923315286636, + -0.9924747347831726, + 0.017730258405208588, + -6.613101005554199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1382, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_338470458", + "mask_path": "../../mask/hdr_right_01382.png" + }, + { + "file_path": "../../rgb/hdr_right_01383.png", + "transform_matrix": [ + [ + -0.9370492100715637, + -0.10772894322872162, + 0.332164466381073, + 52.77662658691406 + ], + [ + -0.32823288440704346, + -0.05289896950125694, + -0.9431144595146179, + -4.015567302703857 + ], + [ + 0.11917188763618469, + -0.9927720427513123, + 0.014208749867975712, + -6.627786159515381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1383, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_438470125", + "mask_path": "../../mask/hdr_right_01383.png" + }, + { + "file_path": "../../rgb/hdr_right_01384.png", + "transform_matrix": [ + [ + -0.9363794326782227, + -0.11014247685670853, + 0.33326008915901184, + 52.86273956298828 + ], + [ + -0.3298395574092865, + -0.048480600118637085, + -0.9427913427352905, + -4.002800464630127 + ], + [ + 0.1199980229139328, + -0.9927327036857605, + 0.009066893719136715, + -6.640355587005615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1384, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_538471698", + "mask_path": "../../mask/hdr_right_01384.png" + }, + { + "file_path": "../../rgb/hdr_right_01385.png", + "transform_matrix": [ + [ + -0.9380019307136536, + -0.11818693578243256, + 0.3258592486381531, + 52.95668029785156 + ], + [ + -0.32223236560821533, + -0.0491393618285656, + -0.9453844428062439, + -3.991405725479126 + ], + [ + 0.12774460017681122, + -0.9917747974395752, + 0.008009164594113827, + -6.648951053619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1385, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_638470649", + "mask_path": "../../mask/hdr_right_01385.png" + }, + { + "file_path": "../../rgb/hdr_right_01386.png", + "transform_matrix": [ + [ + -0.9423051476478577, + -0.11786666512489319, + 0.31331875920295715, + 53.026268005371094 + ], + [ + -0.3100110590457916, + -0.045900121331214905, + -0.9496243596076965, + -3.9812722206115723 + ], + [ + 0.12631043791770935, + -0.9919680953025818, + 0.006711946334689856, + -6.656927585601807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1386, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_738469839", + "mask_path": "../../mask/hdr_right_01386.png" + }, + { + "file_path": "../../rgb/hdr_right_01387.png", + "transform_matrix": [ + [ + -0.9476902484893799, + -0.11372726410627365, + 0.29824379086494446, + 53.09681701660156 + ], + [ + -0.29493507742881775, + -0.045282479375600815, + -0.9544438719749451, + -3.9724488258361816 + ], + [ + 0.12205149978399277, + -0.9924794435501099, + 0.009371605701744556, + -6.6719651222229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1387, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_838470935", + "mask_path": "../../mask/hdr_right_01387.png" + }, + { + "file_path": "../../rgb/hdr_right_01388.png", + "transform_matrix": [ + [ + -0.9506603479385376, + -0.11482363194227219, + 0.28820204734802246, + 53.20280456542969 + ], + [ + -0.28419041633605957, + -0.0502551794052124, + -0.9574499130249023, + -3.9605727195739746 + ], + [ + 0.12442152947187424, + -0.9921138882637024, + 0.015143835917115211, + -6.692645072937012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1388, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594305_938470125", + "mask_path": "../../mask/hdr_right_01388.png" + }, + { + "file_path": "../../rgb/hdr_right_01389.png", + "transform_matrix": [ + [ + -0.9498522281646729, + -0.12190263718366623, + 0.28795933723449707, + 53.290348052978516 + ], + [ + -0.28344783186912537, + -0.05323939397931099, + -0.9575086832046509, + -3.9482691287994385 + ], + [ + 0.13205361366271973, + -0.9911131262779236, + 0.016016514971852303, + -6.7073869705200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1389, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_38472175", + "mask_path": "../../mask/hdr_right_01389.png" + }, + { + "file_path": "../../rgb/hdr_right_01390.png", + "transform_matrix": [ + [ + -0.9500676989555359, + -0.12044379115104675, + 0.28786200284957886, + 53.35861587524414 + ], + [ + -0.2837177515029907, + -0.050622470676898956, + -0.9575707316398621, + -3.936556816101074 + ], + [ + 0.12990571558475494, + -0.9914286136627197, + 0.013922737911343575, + -6.722787380218506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1390, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_138469934", + "mask_path": "../../mask/hdr_right_01390.png" + }, + { + "file_path": "../../rgb/hdr_right_01391.png", + "transform_matrix": [ + [ + -0.9502813220024109, + -0.12450966238975525, + 0.2854169011116028, + 53.443031311035156 + ], + [ + -0.28200647234916687, + -0.04458491504192352, + -0.9583760499954224, + -3.922964096069336 + ], + [ + 0.13205239176750183, + -0.991216242313385, + 0.007255676202476025, + -6.737802028656006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1391, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_238470315", + "mask_path": "../../mask/hdr_right_01391.png" + }, + { + "file_path": "../../rgb/hdr_right_01392.png", + "transform_matrix": [ + [ + -0.952069878578186, + -0.13774411380290985, + 0.2731107473373413, + 53.53290557861328 + ], + [ + -0.26998454332351685, + -0.04125776141881943, + -0.9619803428649902, + -3.914872646331787 + ], + [ + 0.14377504587173462, + -0.9896081686019897, + 0.0020914955530315638, + -6.749449253082275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1392, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_338469743", + "mask_path": "../../mask/hdr_right_01392.png" + }, + { + "file_path": "../../rgb/hdr_right_01393.png", + "transform_matrix": [ + [ + -0.9568899273872375, + -0.13962680101394653, + 0.2546881437301636, + 53.600868225097656 + ], + [ + -0.2516542971134186, + -0.03926990553736687, + -0.9670202732086182, + -3.9162275791168213 + ], + [ + 0.14502349495887756, + -0.9894252419471741, + 0.0024392984341830015, + -6.757169246673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1393, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_438469171", + "mask_path": "../../mask/hdr_right_01393.png" + }, + { + "file_path": "../../rgb/hdr_right_01394.png", + "transform_matrix": [ + [ + -0.963016927242279, + -0.13417740166187286, + 0.23365548253059387, + 53.67328643798828 + ], + [ + -0.23027856647968292, + -0.0403791218996048, + -0.9722866415977478, + -3.913684129714966 + ], + [ + 0.13989369571208954, + -0.9901343584060669, + 0.007987597957253456, + -6.7735443115234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1394, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_538469314", + "mask_path": "../../mask/hdr_right_01394.png" + }, + { + "file_path": "../../rgb/hdr_right_01395.png", + "transform_matrix": [ + [ + -0.9673258662223816, + -0.1338975429534912, + 0.21529532968997955, + 53.772857666015625 + ], + [ + -0.2106236070394516, + -0.04829788953065872, + -0.9763734340667725, + -3.9072301387786865 + ], + [ + 0.14113231003284454, + -0.9898175001144409, + 0.018517814576625824, + -6.797341823577881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1395, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_638469219", + "mask_path": "../../mask/hdr_right_01395.png" + }, + { + "file_path": "../../rgb/hdr_right_01396.png", + "transform_matrix": [ + [ + -0.9675079584121704, + -0.14320631325244904, + 0.2083754986524582, + 53.8654899597168 + ], + [ + -0.20286349952220917, + -0.05223393440246582, + -0.9778129458427429, + -3.9005541801452637 + ], + [ + 0.15091323852539062, + -0.9883135557174683, + 0.021485421806573868, + -6.813099384307861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1396, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_738469362", + "mask_path": "../../mask/hdr_right_01396.png" + }, + { + "file_path": "../../rgb/hdr_right_01397.png", + "transform_matrix": [ + [ + -0.9687574505805969, + -0.14329151809215546, + 0.20242683589458466, + 53.93488311767578 + ], + [ + -0.19698137044906616, + -0.05137056112289429, + -0.9790604710578918, + -3.8982319831848145 + ], + [ + 0.15068984031677246, + -0.9883464574813843, + 0.021539850160479546, + -6.829514026641846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1397, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_838469266", + "mask_path": "../../mask/hdr_right_01397.png" + }, + { + "file_path": "../../rgb/hdr_right_01398.png", + "transform_matrix": [ + [ + -0.9698441624641418, + -0.14533694088459015, + 0.19565139710903168, + 54.01918411254883 + ], + [ + -0.1910577118396759, + -0.04505831375718117, + -0.9805441498756409, + -3.900603771209717 + ], + [ + 0.15132500231266022, + -0.9883556365966797, + 0.015931803733110428, + -6.846518039703369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1398, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594306_938469409", + "mask_path": "../../mask/hdr_right_01398.png" + }, + { + "file_path": "../../rgb/hdr_right_01399.png", + "transform_matrix": [ + [ + -0.9714546203613281, + -0.15208958089351654, + 0.1820569634437561, + 54.11268615722656 + ], + [ + -0.1778431534767151, + -0.040980998426675797, + -0.9832051396369934, + -3.9058122634887695 + ], + [ + 0.15699613094329834, + -0.9875167608261108, + 0.012763085775077343, + -6.856247425079346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1399, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_38469552", + "mask_path": "../../mask/hdr_right_01399.png" + }, + { + "file_path": "../../rgb/hdr_right_01400.png", + "transform_matrix": [ + [ + -0.9751543998718262, + -0.15075956284999847, + 0.16231289505958557, + 54.186676025390625 + ], + [ + -0.15803781151771545, + -0.03999961540102959, + -0.9866226315498352, + -3.9147162437438965 + ], + [ + 0.15523524582386017, + -0.9877609014511108, + 0.015180091373622417, + -6.860119819641113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1400, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_138468980", + "mask_path": "../../mask/hdr_right_01400.png" + }, + { + "file_path": "../../rgb/hdr_right_01401.png", + "transform_matrix": [ + [ + -0.979627788066864, + -0.14534056186676025, + 0.1385846734046936, + 54.260677337646484 + ], + [ + -0.13365976512432098, + -0.0431678481400013, + -0.9900866746902466, + -3.9253833293914795 + ], + [ + 0.14988213777542114, + -0.9884395003318787, + 0.022862238809466362, + -6.879414081573486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1401, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_238470315", + "mask_path": "../../mask/hdr_right_01401.png" + }, + { + "file_path": "../../rgb/hdr_right_01402.png", + "transform_matrix": [ + [ + -0.9829325079917908, + -0.1413242220878601, + 0.11777585744857788, + 54.3618278503418 + ], + [ + -0.11176200211048126, + -0.04978993162512779, + -0.9924869537353516, + -3.939119815826416 + ], + [ + 0.14612646400928497, + -0.9887104630470276, + 0.033145472407341, + -6.897713661193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1402, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_338469743", + "mask_path": "../../mask/hdr_right_01402.png" + }, + { + "file_path": "../../rgb/hdr_right_01403.png", + "transform_matrix": [ + [ + -0.9838029146194458, + -0.14097432792186737, + 0.11071591079235077, + 54.46261978149414 + ], + [ + -0.10469932854175568, + -0.04942633584141731, + -0.9932749271392822, + -3.9405486583709717 + ], + [ + 0.14549855887889862, + -0.9887787103652954, + 0.03386586159467697, + -6.901869773864746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1403, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_438470125", + "mask_path": "../../mask/hdr_right_01403.png" + }, + { + "file_path": "../../rgb/hdr_right_01404.png", + "transform_matrix": [ + [ + -0.984902560710907, + -0.13598601520061493, + 0.10711996257305145, + 54.5325813293457 + ], + [ + -0.1019868403673172, + -0.04418927803635597, + -0.9938037991523743, + -3.940131425857544 + ], + [ + 0.13987696170806885, + -0.9897247552871704, + 0.029653355479240417, + -6.911773204803467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1404, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_538469314", + "mask_path": "../../mask/hdr_right_01404.png" + }, + { + "file_path": "../../rgb/hdr_right_01405.png", + "transform_matrix": [ + [ + -0.9856669902801514, + -0.13349615037441254, + 0.1031470000743866, + 54.614131927490234 + ], + [ + -0.09918858110904694, + -0.035988155752420425, + -0.994417667388916, + -3.9433798789978027 + ], + [ + 0.1364630162715912, + -0.9903956651687622, + 0.02223103865981102, + -6.926990032196045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1405, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_638469934", + "mask_path": "../../mask/hdr_right_01405.png" + }, + { + "file_path": "../../rgb/hdr_right_01406.png", + "transform_matrix": [ + [ + -0.9860876798629761, + -0.13752464950084686, + 0.09337068349123001, + 54.70471954345703 + ], + [ + -0.09012806415557861, + -0.029633602127432823, + -0.995489239692688, + -3.9556846618652344 + ], + [ + 0.139671191573143, + -0.9900549650192261, + 0.016826504841446877, + -6.940439224243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1406, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_738466739", + "mask_path": "../../mask/hdr_right_01406.png" + }, + { + "file_path": "../../rgb/hdr_right_01407.png", + "transform_matrix": [ + [ + -0.9879410862922668, + -0.13203679025173187, + 0.08086203783750534, + 54.7784538269043 + ], + [ + -0.07822459936141968, + -0.025050032883882523, + -0.9966209530830383, + -3.9637978076934814 + ], + [ + 0.13361625373363495, + -0.9909282326698303, + 0.014419433660805225, + -6.944735050201416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1407, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_838468790", + "mask_path": "../../mask/hdr_right_01407.png" + }, + { + "file_path": "../../rgb/hdr_right_01408.png", + "transform_matrix": [ + [ + -0.9899665713310242, + -0.12430855631828308, + 0.06718351691961288, + 54.84947204589844 + ], + [ + -0.06466381251811981, + -0.024199409410357475, + -0.9976136684417725, + -3.9654319286346436 + ], + [ + 0.1256377249956131, + -0.9919484853744507, + 0.015918344259262085, + -6.9563398361206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1408, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594307_938467025", + "mask_path": "../../mask/hdr_right_01408.png" + }, + { + "file_path": "../../rgb/hdr_right_01409.png", + "transform_matrix": [ + [ + -0.9911099076271057, + -0.11899486184120178, + 0.05950920283794403, + 54.94654083251953 + ], + [ + -0.05701833590865135, + -0.024231888353824615, + -0.9980790019035339, + -3.9668352603912354 + ], + [ + 0.12020830065011978, + -0.9925990700721741, + 0.01723158173263073, + -6.973057270050049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1409, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_38469791", + "mask_path": "../../mask/hdr_right_01409.png" + }, + { + "file_path": "../../rgb/hdr_right_01410.png", + "transform_matrix": [ + [ + -0.9908944964408875, + -0.11882790923118591, + 0.06330828368663788, + 55.03240203857422 + ], + [ + -0.06115316227078438, + -0.021699732169508934, + -0.9978924989700317, + -3.966845750808716 + ], + [ + 0.11995124816894531, + -0.9926776885986328, + 0.014235446229577065, + -6.982956886291504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1410, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_138468742", + "mask_path": "../../mask/hdr_right_01410.png" + }, + { + "file_path": "../../rgb/hdr_right_01411.png", + "transform_matrix": [ + [ + -0.991177499294281, + -0.11435575783252716, + 0.06700756400823593, + 55.09722137451172 + ], + [ + -0.06548808515071869, + -0.016997283324599266, + -0.9977086782455444, + -3.9645633697509766 + ], + [ + 0.1152326688170433, + -0.9932944774627686, + 0.00935838371515274, + -6.995857238769531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1411, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_238468885", + "mask_path": "../../mask/hdr_right_01411.png" + }, + { + "file_path": "../../rgb/hdr_right_01412.png", + "transform_matrix": [ + [ + -0.9912106394767761, + -0.1139376163482666, + 0.0672285258769989, + 55.17472839355469 + ], + [ + -0.0667242482304573, + -0.008238355629146099, + -0.9977375268936157, + -3.969313383102417 + ], + [ + 0.11423368006944656, + -0.9934537410736084, + 0.0005635460838675499, + -7.008103847503662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1412, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_338468074", + "mask_path": "../../mask/hdr_right_01412.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/42262d78/mesh.ply b/2024-11-14-15-22-43/splats/42262d78/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..51c5612a1e58a063e4219eddc2b6fe2d60d1e401 --- /dev/null +++ b/2024-11-14-15-22-43/splats/42262d78/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0b2cf6310d19b7b4e660223d358f3c778e84486e2fd076066399d20d0bee817 +size 88000481 diff --git a/2024-11-14-15-22-43/splats/42262d78/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/42262d78/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..578ccf917050aaa04b983c392e2e187fea48a2b0 --- /dev/null +++ b/2024-11-14-15-22-43/splats/42262d78/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c543ef019c21f93ac2a1cd1471c5799a66ffecf93cf4c6f5853824e70305861 +size 1544748 diff --git a/2024-11-14-15-22-43/splats/42262d78/splatfacto/config.yml b/2024-11-14-15-22-43/splats/42262d78/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..2063b0161e09bd4cd1c384619d11cdeb9f7579b3 --- /dev/null +++ b/2024-11-14-15-22-43/splats/42262d78/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_42262d78 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_42262d78 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/42262d78/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/42262d78/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad577d32b732e35f3344406b39b73aec08eccdc --- /dev/null +++ b/2024-11-14-15-22-43/splats/42262d78/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.8896098136901855, + -0.44122278690338135, + 0.11796831339597702, + 32.73713302612305 + ], + [ + -0.44122278690338135, + 0.8969747424125671, + 0.027545534074306488, + 23.160781860351562 + ], + [ + -0.11796831339597702, + -0.027545534074306488, + -0.9926351308822632, + -0.14104509353637695 + ] + ], + "scale": 0.2572537351221946 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/42262d78/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/42262d78/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..45f0ffb7ce1e692f0283a1eeb0644accba3ad62d --- /dev/null +++ b/2024-11-14-15-22-43/splats/42262d78/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2fd64a738d987579b37208ee41178aeb796adeea83c75610a7211bb9d7c81f3 +size 391604258 diff --git a/2024-11-14-15-22-43/splats/42262d78/transforms.json b/2024-11-14-15-22-43/splats/42262d78/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..82dbe5a0e0c9c70924810626472b37ef907daee9 --- /dev/null +++ b/2024-11-14-15-22-43/splats/42262d78/transforms.json @@ -0,0 +1,13362 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01139.png", + "transform_matrix": [ + [ + 0.07816433161497116, + -0.11237645894289017, + -0.9905866384506226, + 35.312191009521484 + ], + [ + 0.9953534603118896, + -0.04724729061126709, + 0.08390040695667267, + -6.625349998474121 + ], + [ + -0.05623096227645874, + -0.9925417900085449, + 0.10816123336553574, + -4.06636905670166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1139, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_338469505", + "mask_path": "../../mask/hdr_front_01139.png" + }, + { + "file_path": "../../rgb/hdr_front_01140.png", + "transform_matrix": [ + [ + 0.07308874279260635, + -0.12244031578302383, + -0.9897810220718384, + 35.39404296875 + ], + [ + 0.9961946606636047, + -0.03828410059213638, + 0.07829827070236206, + -6.6335954666137695 + ], + [ + -0.04747973382472992, + -0.9917371869087219, + 0.11917624622583389, + -4.080280303955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1140, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_438469409", + "mask_path": "../../mask/hdr_front_01140.png" + }, + { + "file_path": "../../rgb/hdr_front_01141.png", + "transform_matrix": [ + [ + 0.07312175631523132, + -0.12558715045452118, + -0.9893842339515686, + 35.45518493652344 + ], + [ + 0.9962248802185059, + -0.03734452649950981, + 0.07836764305830002, + -6.642432689666748 + ], + [ + -0.04679005220532417, + -0.9913794994354248, + 0.12238233536481857, + -4.085183620452881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1141, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_538470268", + "mask_path": "../../mask/hdr_front_01141.png" + }, + { + "file_path": "../../rgb/hdr_front_01143.png", + "transform_matrix": [ + [ + 0.07629582285881042, + -0.11943136155605316, + -0.9899066090583801, + 35.5921745300293 + ], + [ + 0.9959762096405029, + -0.03768366947770119, + 0.08131012320518494, + -6.649511814117432 + ], + [ + -0.04701428860425949, + -0.9921270608901978, + 0.11607568711042404, + -4.110507011413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1143, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_738470315", + "mask_path": "../../mask/hdr_front_01143.png" + }, + { + "file_path": "../../rgb/hdr_front_01144.png", + "transform_matrix": [ + [ + 0.06382438540458679, + -0.12259440124034882, + -0.9904025197029114, + 35.68118667602539 + ], + [ + 0.9968313574790955, + -0.03937823697924614, + 0.06911300867795944, + -6.6462812423706055 + ], + [ + -0.04747316241264343, + -0.9916753768920898, + 0.11969264596700668, + -4.121816635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1144, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_838470220", + "mask_path": "../../mask/hdr_front_01144.png" + }, + { + "file_path": "../../rgb/hdr_front_01145.png", + "transform_matrix": [ + [ + 0.048123400658369064, + -0.12226599454879761, + -0.9913300275802612, + 35.74762725830078 + ], + [ + 0.9978393912315369, + -0.03855949640274048, + 0.05319513753056526, + -6.639442443847656 + ], + [ + -0.04472914710640907, + -0.991748034954071, + 0.12014622241258621, + -4.132657527923584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1145, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_938470602", + "mask_path": "../../mask/hdr_front_01145.png" + }, + { + "file_path": "../../rgb/hdr_front_01146.png", + "transform_matrix": [ + [ + 0.0331122912466526, + -0.12105068564414978, + -0.9920939207077026, + 35.82075881958008 + ], + [ + 0.998799741268158, + -0.03184008598327637, + 0.03722108155488968, + -6.627726078033447 + ], + [ + -0.03609399124979973, + -0.9921355843544006, + 0.11985109001398087, + -4.146144866943359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1146, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_38470268", + "mask_path": "../../mask/hdr_front_01146.png" + }, + { + "file_path": "../../rgb/hdr_front_01147.png", + "transform_matrix": [ + [ + 0.02263338677585125, + -0.12582440674304962, + -0.9917943477630615, + 35.9061393737793 + ], + [ + 0.9992920160293579, + -0.02697395533323288, + 0.026226554065942764, + -6.621294021606445 + ], + [ + -0.030052555724978447, + -0.9916857481002808, + 0.12512481212615967, + -4.161226749420166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1147, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_138470411", + "mask_path": "../../mask/hdr_front_01147.png" + }, + { + "file_path": "../../rgb/hdr_front_01148.png", + "transform_matrix": [ + [ + 0.018615737557411194, + -0.13415782153606415, + -0.9907851815223694, + 35.98114776611328 + ], + [ + 0.9994047284126282, + -0.026291068643331528, + 0.022337643429636955, + -6.622170448303223 + ], + [ + -0.02904556691646576, + -0.9906111359596252, + 0.1335885375738144, + -4.164120197296143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1148, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_238470077", + "mask_path": "../../mask/hdr_front_01148.png" + }, + { + "file_path": "../../rgb/hdr_front_01149.png", + "transform_matrix": [ + [ + 0.014990154653787613, + -0.1312435120344162, + -0.9912369251251221, + 36.04180145263672 + ], + [ + 0.9995936155319214, + -0.022068921476602554, + 0.018038542941212654, + -6.621770858764648 + ], + [ + -0.02424296922981739, + -0.9911044836044312, + 0.130859375, + -4.1722517013549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1149, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_338470935", + "mask_path": "../../mask/hdr_front_01149.png" + }, + { + "file_path": "../../rgb/hdr_front_01150.png", + "transform_matrix": [ + [ + 0.012073567137122154, + -0.12496614456176758, + -0.9920875430107117, + 36.121280670166016 + ], + [ + 0.9996768832206726, + -0.020683854818344116, + 0.014771326445043087, + -6.620582580566406 + ], + [ + -0.022366110235452652, + -0.9919453859329224, + 0.12467604875564575, + -4.187474250793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1150, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_438469648", + "mask_path": "../../mask/hdr_front_01150.png" + }, + { + "file_path": "../../rgb/hdr_front_01151.png", + "transform_matrix": [ + [ + 0.0008087591268122196, + -0.12320900708436966, + -0.9923804402351379, + 36.22335433959961 + ], + [ + 0.99965500831604, + -0.025952521711587906, + 0.004036822356283665, + -6.614205837249756 + ], + [ + -0.026252146810293198, + -0.9920413494110107, + 0.12314552068710327, + -4.207931995391846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1151, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_538470268", + "mask_path": "../../mask/hdr_front_01151.png" + }, + { + "file_path": "../../rgb/hdr_front_01152.png", + "transform_matrix": [ + [ + -0.01586587354540825, + -0.12352700531482697, + -0.9922143816947937, + 36.30544662475586 + ], + [ + 0.9995436072349548, + -0.027470825240015984, + -0.01256305817514658, + -6.605241775512695 + ], + [ + -0.025705067440867424, + -0.991960883140564, + 0.12390647828578949, + -4.219696521759033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1152, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_638468980", + "mask_path": "../../mask/hdr_front_01152.png" + }, + { + "file_path": "../../rgb/hdr_front_01153.png", + "transform_matrix": [ + [ + -0.03025878220796585, + -0.12016219645738602, + -0.9922930598258972, + 36.37767791748047 + ], + [ + 0.9993904232978821, + -0.0209372378885746, + -0.027939802035689354, + -6.5962324142456055 + ], + [ + -0.017418567091226578, + -0.9925335049629211, + 0.12072247266769409, + -4.237624168395996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1153, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_738470315", + "mask_path": "../../mask/hdr_front_01153.png" + }, + { + "file_path": "../../rgb/hdr_front_01154.png", + "transform_matrix": [ + [ + -0.0429360531270504, + -0.12202993035316467, + -0.9915974140167236, + 36.47025680541992 + ], + [ + 0.9990464448928833, + -0.013106460683047771, + -0.04164566844701767, + -6.588387966156006 + ], + [ + -0.007914312183856964, + -0.9924399256706238, + 0.12247631698846817, + -4.254624366760254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1154, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_838469743", + "mask_path": "../../mask/hdr_front_01154.png" + }, + { + "file_path": "../../rgb/hdr_front_01155.png", + "transform_matrix": [ + [ + -0.04652777686715126, + -0.13149715960025787, + -0.9902240633964539, + 36.55302429199219 + ], + [ + 0.9988954067230225, + -0.012657511979341507, + -0.045254357159137726, + -6.5860185623168945 + ], + [ + -0.006582953035831451, + -0.9912357926368713, + 0.1319408267736435, + -4.258475303649902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1155, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_938469886", + "mask_path": "../../mask/hdr_front_01155.png" + }, + { + "file_path": "../../rgb/hdr_front_01156.png", + "transform_matrix": [ + [ + -0.04767859727144241, + -0.12988510727882385, + -0.9903821349143982, + 36.60965347290039 + ], + [ + 0.9988569617271423, + -0.009585632011294365, + -0.046829476952552795, + -6.582151889801025 + ], + [ + -0.003410985693335533, + -0.9914827942848206, + 0.13019366562366486, + -4.263794422149658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1156, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_38469314", + "mask_path": "../../mask/hdr_front_01156.png" + }, + { + "file_path": "../../rgb/hdr_front_01157.png", + "transform_matrix": [ + [ + -0.04502164572477341, + -0.12381134182214737, + -0.9912838935852051, + 36.67832946777344 + ], + [ + 0.998985767364502, + -0.00625463854521513, + -0.044590242207050323, + -6.575161933898926 + ], + [ + -0.0006793448701500893, + -0.9922861456871033, + 0.12396736443042755, + -4.278783321380615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1157, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_138469696", + "mask_path": "../../mask/hdr_front_01157.png" + }, + { + "file_path": "../../rgb/hdr_front_01158.png", + "transform_matrix": [ + [ + -0.04401465505361557, + -0.12103385478258133, + -0.991672158241272, + 36.78321075439453 + ], + [ + 0.9990109205245972, + -0.011600358411669731, + -0.042924556881189346, + -6.566381931304932 + ], + [ + -0.00630842475220561, + -0.9925805926322937, + 0.12142472714185715, + -4.295553684234619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1158, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_238469362", + "mask_path": "../../mask/hdr_front_01158.png" + }, + { + "file_path": "../../rgb/hdr_front_01159.png", + "transform_matrix": [ + [ + -0.05063430592417717, + -0.12498253583908081, + -0.9908660054206848, + 36.86989974975586 + ], + [ + 0.9986792206764221, + -0.015005107969045639, + -0.049140896648168564, + -6.556380748748779 + ], + [ + -0.008726297877728939, + -0.9920454621315002, + 0.12557721138000488, + -4.306024551391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1159, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_338469505", + "mask_path": "../../mask/hdr_front_01159.png" + }, + { + "file_path": "../../rgb/hdr_front_01160.png", + "transform_matrix": [ + [ + -0.05585417523980141, + -0.12327928841114044, + -0.9907990097999573, + 36.932777404785156 + ], + [ + 0.9984124898910522, + -0.014105958864092827, + -0.05452825874090195, + -6.544473171234131 + ], + [ + -0.007253962568938732, + -0.9922717809677124, + 0.12387148290872574, + -4.321363925933838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1160, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_438468217", + "mask_path": "../../mask/hdr_front_01160.png" + }, + { + "file_path": "../../rgb/hdr_front_01161.png", + "transform_matrix": [ + [ + -0.059492822736501694, + -0.12357161939144135, + -0.9905506372451782, + 37.01108169555664 + ], + [ + 0.9982112646102905, + -0.01323364581912756, + -0.05830201879143715, + -6.533576965332031 + ], + [ + -0.005904120393097401, + -0.9922475218772888, + 0.12413790822029114, + -4.334274768829346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1161, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_538470506", + "mask_path": "../../mask/hdr_front_01161.png" + }, + { + "file_path": "../../rgb/hdr_front_01162.png", + "transform_matrix": [ + [ + -0.059756387025117874, + -0.1286582499742508, + -0.989886999130249, + 37.0953483581543 + ], + [ + 0.9981372356414795, + -0.01991722546517849, + -0.05766574293375015, + -6.531328201293945 + ], + [ + -0.012296627275645733, + -0.9914889931678772, + 0.12960878014564514, + -4.339075565338135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1162, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_638470649", + "mask_path": "../../mask/hdr_front_01162.png" + }, + { + "file_path": "../../rgb/hdr_front_01163.png", + "transform_matrix": [ + [ + -0.056433822959661484, + -0.1265430599451065, + -0.9903545379638672, + 37.16746139526367 + ], + [ + 0.9982935786247253, + -0.022060781717300415, + -0.05406739190220833, + -6.53219747543335 + ], + [ + -0.015006140805780888, + -0.9917158484458923, + 0.12757210433483124, + -4.341908931732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1163, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_738470077", + "mask_path": "../../mask/hdr_front_01163.png" + }, + { + "file_path": "../../rgb/hdr_front_01164.png", + "transform_matrix": [ + [ + -0.050623971968889236, + -0.11711543798446655, + -0.9918271899223328, + 37.23991012573242 + ], + [ + 0.9985473155975342, + -0.024287724867463112, + -0.04809906333684921, + -6.53441858291626 + ], + [ + -0.018456080928444862, + -0.9928213357925415, + 0.11817483603954315, + -4.352874279022217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1164, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_838470220", + "mask_path": "../../mask/hdr_front_01164.png" + }, + { + "file_path": "../../rgb/hdr_front_01165.png", + "transform_matrix": [ + [ + -0.04856431111693382, + -0.1095384806394577, + -0.992795467376709, + 37.325260162353516 + ], + [ + 0.9985172748565674, + -0.029794543981552124, + -0.045556873083114624, + -6.530846118927002 + ], + [ + -0.02458965592086315, + -0.9935359358787537, + 0.11082302033901215, + -4.363943099975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1165, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_938470602", + "mask_path": "../../mask/hdr_front_01165.png" + }, + { + "file_path": "../../rgb/hdr_front_01166.png", + "transform_matrix": [ + [ + -0.056265611201524734, + -0.11023014783859253, + -0.9923122525215149, + 37.409297943115234 + ], + [ + 0.9978466033935547, + -0.03976530581712723, + -0.05216212943196297, + -6.52826452255249 + ], + [ + -0.033709753304719925, + -0.9931102991104126, + 0.11223018914461136, + -4.371191501617432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1166, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_38469791", + "mask_path": "../../mask/hdr_front_01166.png" + }, + { + "file_path": "../../rgb/hdr_front_01167.png", + "transform_matrix": [ + [ + -0.06447950750589371, + -0.10877343267202377, + -0.9919731020927429, + 37.4687614440918 + ], + [ + 0.9973132014274597, + -0.04165550693869591, + -0.06025893613696098, + -6.516982555389404 + ], + [ + -0.03476656973361969, + -0.9931933879852295, + 0.11116711050271988, + -4.377529621124268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1167, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_138469457", + "mask_path": "../../mask/hdr_front_01167.png" + }, + { + "file_path": "../../rgb/hdr_front_01168.png", + "transform_matrix": [ + [ + -0.07243350893259048, + -0.10829681158065796, + -0.99147629737854, + 37.54029846191406 + ], + [ + 0.9969455599784851, + -0.03696960210800171, + -0.06879496574401855, + -6.505436420440674 + ], + [ + -0.02920420654118061, + -0.9934309720993042, + 0.11064387112855911, + -4.38546085357666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1168, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_238469839", + "mask_path": "../../mask/hdr_front_01168.png" + }, + { + "file_path": "../../rgb/hdr_front_01169.png", + "transform_matrix": [ + [ + -0.07634210586547852, + -0.11173275858163834, + -0.9908015727996826, + 37.61804962158203 + ], + [ + 0.9967758655548096, + -0.03316327556967735, + -0.07306260615587234, + -6.49760103225708 + ], + [ + -0.024694735184311867, + -0.9931848645210266, + 0.11390426754951477, + -4.398027420043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1169, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_338470220", + "mask_path": "../../mask/hdr_front_01169.png" + }, + { + "file_path": "../../rgb/hdr_front_01170.png", + "transform_matrix": [ + [ + -0.07638072222471237, + -0.11675962060689926, + -0.9902187585830688, + 37.68944549560547 + ], + [ + 0.9967483878135681, + -0.034503426402807236, + -0.07281599193811417, + -6.495912075042725 + ], + [ + -0.025663968175649643, + -0.9925606846809387, + 0.11901536583900452, + -4.401074409484863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1170, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_438469886", + "mask_path": "../../mask/hdr_front_01170.png" + }, + { + "file_path": "../../rgb/hdr_front_01171.png", + "transform_matrix": [ + [ + -0.07359731197357178, + -0.11337832361459732, + -0.9908223152160645, + 37.75182342529297 + ], + [ + 0.9970709681510925, + -0.029095429927110672, + -0.07073211669921875, + -6.491339206695557 + ], + [ + -0.020808909088373184, + -0.9931257963180542, + 0.11518756300210953, + -4.4060378074646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1171, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_538470745", + "mask_path": "../../mask/hdr_front_01171.png" + }, + { + "file_path": "../../rgb/hdr_front_01172.png", + "transform_matrix": [ + [ + -0.06620065867900848, + -0.10743974894285202, + -0.9920051097869873, + 37.825984954833984 + ], + [ + 0.9976285696029663, + -0.02589132823050022, + -0.06377175450325012, + -6.4818115234375 + ], + [ + -0.018832704052329063, + -0.9938744902610779, + 0.10889898240566254, + -4.41561222076416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1172, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_638470172", + "mask_path": "../../mask/hdr_front_01172.png" + }, + { + "file_path": "../../rgb/hdr_front_01173.png", + "transform_matrix": [ + [ + -0.062234967947006226, + -0.10826234519481659, + -0.992172360420227, + 37.91294479370117 + ], + [ + 0.9977141618728638, + -0.0329740084707737, + -0.058984581381082535, + -6.471999645233154 + ], + [ + -0.026330087333917618, + -0.993575394153595, + 0.11006700992584229, + -4.429908275604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1173, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_738472700", + "mask_path": "../../mask/hdr_front_01173.png" + }, + { + "file_path": "../../rgb/hdr_front_01174.png", + "transform_matrix": [ + [ + -0.06379205733537674, + -0.10921923071146011, + -0.9919686317443848, + 37.98237228393555 + ], + [ + 0.9975487589836121, + -0.03562009707093239, + -0.06022902950644493, + -6.459878921508789 + ], + [ + -0.02875584363937378, + -0.9933792948722839, + 0.11122378706932068, + -4.44010591506958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1174, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_838470697", + "mask_path": "../../mask/hdr_front_01174.png" + }, + { + "file_path": "../../rgb/hdr_front_01175.png", + "transform_matrix": [ + [ + -0.06509331613779068, + -0.10792209953069687, + -0.9920260906219482, + 38.048274993896484 + ], + [ + 0.9975713491439819, + -0.031729817390441895, + -0.06200530752539635, + -6.448715686798096 + ], + [ + -0.024785060435533524, + -0.993652880191803, + 0.10972539335489273, + -4.451558589935303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1175, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_938470363", + "mask_path": "../../mask/hdr_front_01175.png" + }, + { + "file_path": "../../rgb/hdr_front_01176.png", + "transform_matrix": [ + [ + -0.06539428979158401, + -0.11159981787204742, + -0.9915993213653564, + 38.1284294128418 + ], + [ + 0.9976384043693542, + -0.02822796069085598, + -0.06261563301086426, + -6.441135883331299 + ], + [ + -0.021002929657697678, + -0.9933522343635559, + 0.11318223178386688, + -4.465745449066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1176, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_38470506", + "mask_path": "../../mask/hdr_front_01176.png" + }, + { + "file_path": "../../rgb/hdr_front_01177.png", + "transform_matrix": [ + [ + -0.05967167764902115, + -0.12084204703569412, + -0.9908766150474548, + 38.21013641357422 + ], + [ + 0.9979342818260193, + -0.03088979609310627, + -0.05632953718304634, + -6.441015243530273 + ], + [ + -0.02380099892616272, + -0.9921910762786865, + 0.12243565917015076, + -4.476614952087402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1177, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_138470411", + "mask_path": "../../mask/hdr_front_01177.png" + }, + { + "file_path": "../../rgb/hdr_front_01178.png", + "transform_matrix": [ + [ + -0.05001711845397949, + -0.12015624344348907, + -0.9914942979812622, + 38.27726364135742 + ], + [ + 0.9984397888183594, + -0.030691921710968018, + -0.046648040413856506, + -6.441629886627197 + ], + [ + -0.02482580952346325, + -0.9922804236412048, + 0.12150389701128006, + -4.482285022735596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1178, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_238470315", + "mask_path": "../../mask/hdr_front_01178.png" + }, + { + "file_path": "../../rgb/hdr_front_01179.png", + "transform_matrix": [ + [ + -0.037233155220746994, + -0.11285246908664703, + -0.9929139614105225, + 38.34613800048828 + ], + [ + 0.9989696741104126, + -0.030002940446138382, + -0.034050170332193375, + -6.434745788574219 + ], + [ + -0.02594768814742565, + -0.9931586980819702, + 0.11385329812765121, + -4.495835781097412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1179, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_338469982", + "mask_path": "../../mask/hdr_front_01179.png" + }, + { + "file_path": "../../rgb/hdr_front_01180.png", + "transform_matrix": [ + [ + -0.028899678960442543, + -0.10790946334600449, + -0.9937406182289124, + 38.44191360473633 + ], + [ + 0.9990932941436768, + -0.0342102013528347, + -0.0253404900431633, + -6.431760787963867 + ], + [ + -0.03126158565282822, + -0.993571937084198, + 0.10880029946565628, + -4.510394096374512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1180, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_438470363", + "mask_path": "../../mask/hdr_front_01180.png" + }, + { + "file_path": "../../rgb/hdr_front_01181.png", + "transform_matrix": [ + [ + -0.03322187438607216, + -0.10931753367185593, + -0.9934516549110413, + 38.53700637817383 + ], + [ + 0.9988145232200623, + -0.03901466727256775, + -0.029108118265867233, + -6.42634391784668 + ], + [ + -0.03557714819908142, + -0.9932409524917603, + 0.11048408597707748, + -4.516604900360107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1181, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_538471460", + "mask_path": "../../mask/hdr_front_01181.png" + }, + { + "file_path": "../../rgb/hdr_front_01182.png", + "transform_matrix": [ + [ + -0.038061708211898804, + -0.10649023950099945, + -0.9935849905014038, + 38.60078048706055 + ], + [ + 0.9987024664878845, + -0.037719693034887314, + -0.03421503305435181, + -6.414881229400635 + ], + [ + -0.033834151923656464, + -0.9935980439186096, + 0.10778774321079254, + -4.528172969818115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1182, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_638470411", + "mask_path": "../../mask/hdr_front_01182.png" + }, + { + "file_path": "../../rgb/hdr_front_01183.png", + "transform_matrix": [ + [ + -0.03998648375272751, + -0.1072390004992485, + -0.9934288859367371, + 38.67377471923828 + ], + [ + 0.9987494349479675, + -0.03415171802043915, + -0.03651402145624161, + -6.40707540512085 + ], + [ + -0.030011573806405067, + -0.993646502494812, + 0.10847048461437225, + -4.539456844329834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_738470554", + "mask_path": "../../mask/hdr_front_01183.png" + }, + { + "file_path": "../../rgb/hdr_front_01184.png", + "transform_matrix": [ + [ + -0.03521572798490524, + -0.11451143771409988, + -0.9927974939346313, + 38.76144027709961 + ], + [ + 0.9989569783210754, + -0.032925043255090714, + -0.031636569648981094, + -6.409027576446533 + ], + [ + -0.029065147042274475, + -0.9928762316703796, + 0.11555147916078568, + -4.5506696701049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1184, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_838470220", + "mask_path": "../../mask/hdr_front_01184.png" + }, + { + "file_path": "../../rgb/hdr_front_01185.png", + "transform_matrix": [ + [ + -0.02551552653312683, + -0.1173115223646164, + -0.992767333984375, + 38.83604431152344 + ], + [ + 0.9991341233253479, + -0.03563711419701576, + -0.021468063816428185, + -6.413754463195801 + ], + [ + -0.032860904932022095, + -0.9924555420875549, + 0.1181192547082901, + -4.554509162902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_938470840", + "mask_path": "../../mask/hdr_front_01185.png" + }, + { + "file_path": "../../rgb/hdr_front_01186.png", + "transform_matrix": [ + [ + -0.012678256258368492, + -0.11456944048404694, + -0.9933344125747681, + 38.895591735839844 + ], + [ + 0.9993219971656799, + -0.035794250667095184, + -0.008626232855021954, + -6.41534948348999 + ], + [ + -0.03456735238432884, + -0.9927701950073242, + 0.11494556069374084, + -4.562018394470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1186, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_38470983", + "mask_path": "../../mask/hdr_front_01186.png" + }, + { + "file_path": "../../rgb/hdr_front_01187.png", + "transform_matrix": [ + [ + -0.00010780326556414366, + -0.10963065177202225, + -0.9939723610877991, + 38.981407165527344 + ], + [ + 0.9992142915725708, + -0.03940628096461296, + 0.004237962421029806, + -6.41942024230957 + ], + [ + -0.039633359760046005, + -0.9931909441947937, + 0.10954874753952026, + -4.579042911529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_138470172", + "mask_path": "../../mask/hdr_front_01187.png" + }, + { + "file_path": "../../rgb/hdr_front_01188.png", + "transform_matrix": [ + [ + 0.003489941358566284, + -0.11089030653238297, + -0.9938265681266785, + 39.07731628417969 + ], + [ + 0.9988730549812317, + -0.04665539041161537, + 0.008713431656360626, + -6.41989278793335 + ], + [ + -0.047333601862192154, + -0.9927369356155396, + 0.11060250550508499, + -4.5932297706604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1188, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_238470792", + "mask_path": "../../mask/hdr_front_01188.png" + }, + { + "file_path": "../../rgb/hdr_front_01189.png", + "transform_matrix": [ + [ + -0.0003070038219448179, + -0.11301867663860321, + -0.9935927987098694, + 39.14983367919922 + ], + [ + 0.9987394213676453, + -0.04990614578127861, + 0.005368103738874197, + -6.41822624206543 + ], + [ + -0.05019308254122734, + -0.9923387765884399, + 0.11289152503013611, + -4.603085994720459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1189, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_338469982", + "mask_path": "../../mask/hdr_front_01189.png" + }, + { + "file_path": "../../rgb/hdr_front_01190.png", + "transform_matrix": [ + [ + -0.0101589635014534, + -0.11252912878990173, + -0.9935965538024902, + 39.23051834106445 + ], + [ + 0.9990139007568359, + -0.044089846312999725, + -0.005220987368375063, + -6.4153056144714355 + ], + [ + -0.04322000965476036, + -0.9926698207855225, + 0.11286606639623642, + -4.61948299407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1190, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_438469886", + "mask_path": "../../mask/hdr_front_01190.png" + }, + { + "file_path": "../../rgb/hdr_front_01191.png", + "transform_matrix": [ + [ + -0.01751110702753067, + -0.11552830785512924, + -0.9931498169898987, + 39.32532501220703 + ], + [ + 0.9992016553878784, + -0.03769657015800476, + -0.013232752680778503, + -6.412964820861816 + ], + [ + -0.03590958192944527, + -0.9925886988639832, + 0.11609617620706558, + -4.634650707244873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1191, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_538470506", + "mask_path": "../../mask/hdr_front_01191.png" + }, + { + "file_path": "../../rgb/hdr_front_01192.png", + "transform_matrix": [ + [ + -0.015058324672281742, + -0.12208078056573868, + -0.992405891418457, + 39.40983581542969 + ], + [ + 0.9992735385894775, + -0.03659144043922424, + -0.010661235079169273, + -6.415765285491943 + ], + [ + -0.035012029111385345, + -0.9918454885482788, + 0.1225430816411972, + -4.637320041656494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1192, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_638470172", + "mask_path": "../../mask/hdr_front_01192.png" + }, + { + "file_path": "../../rgb/hdr_front_01193.png", + "transform_matrix": [ + [ + -0.010396331548690796, + -0.11944406479597092, + -0.9927865266799927, + 39.47098922729492 + ], + [ + 0.9994513988494873, + -0.03246220946311951, + -0.006560535170137882, + -6.417030334472656 + ], + [ + -0.031444426625967026, + -0.992310106754303, + 0.11971602588891983, + -4.643810749053955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1193, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_738470792", + "mask_path": "../../mask/hdr_front_01193.png" + }, + { + "file_path": "../../rgb/hdr_front_01194.png", + "transform_matrix": [ + [ + -0.006954325828701258, + -0.11470641940832138, + -0.9933751821517944, + 39.54794692993164 + ], + [ + 0.9994897246360779, + -0.03176828846335411, + -0.0033288034610450268, + -6.415473461151123 + ], + [ + -0.031175995245575905, + -0.9928913712501526, + 0.11486880481243134, + -4.657720565795898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1194, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_838470220", + "mask_path": "../../mask/hdr_front_01194.png" + }, + { + "file_path": "../../rgb/hdr_front_01195.png", + "transform_matrix": [ + [ + -0.013539735227823257, + -0.11545050144195557, + -0.9932209849357605, + 39.64208984375 + ], + [ + 0.9993590712547302, + -0.034481633454561234, + -0.009615316987037659, + -6.407442569732666 + ], + [ + -0.033137790858745575, + -0.9927145838737488, + 0.11584337800741196, + -4.677375793457031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1195, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_938470125", + "mask_path": "../../mask/hdr_front_01195.png" + }, + { + "file_path": "../../rgb/hdr_front_01196.png", + "transform_matrix": [ + [ + -0.0279721450060606, + -0.1190560907125473, + -0.9924934506416321, + 39.71871566772461 + ], + [ + 0.9990161061286926, + -0.03751393407583237, + -0.023655937984585762, + -6.392153263092041 + ], + [ + -0.034415945410728455, + -0.9921786189079285, + 0.11998829990625381, + -4.687366008758545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1196, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_38470983", + "mask_path": "../../mask/hdr_front_01196.png" + }, + { + "file_path": "../../rgb/hdr_front_01197.png", + "transform_matrix": [ + [ + -0.039699092507362366, + -0.11691097915172577, + -0.9923486709594727, + 39.78825759887695 + ], + [ + 0.9987344741821289, + -0.035331450402736664, + -0.03579207509756088, + -6.379539489746094 + ], + [ + -0.030876627191901207, + -0.9925137162208557, + 0.11816565692424774, + -4.699235439300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1197, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_138469934", + "mask_path": "../../mask/hdr_front_01197.png" + }, + { + "file_path": "../../rgb/hdr_front_01198.png", + "transform_matrix": [ + [ + -0.04914604872465134, + -0.11900255084037781, + -0.991676926612854, + 39.86991500854492 + ], + [ + 0.9984842538833618, + -0.030479516834020615, + -0.04582583159208298, + -6.370017051696777 + ], + [ + -0.024772439152002335, + -0.9924260377883911, + 0.1203201413154602, + -4.713390350341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_238470315", + "mask_path": "../../mask/hdr_front_01198.png" + }, + { + "file_path": "../../rgb/hdr_front_01199.png", + "transform_matrix": [ + [ + -0.05209102854132652, + -0.12328065186738968, + -0.9910037517547607, + 39.953956604003906 + ], + [ + 0.9983502626419067, + -0.03042765147984028, + -0.048691995441913605, + -6.36447286605835 + ], + [ + -0.024151135236024857, + -0.9919052720069885, + 0.12466227263212204, + -4.720311641693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_338470458", + "mask_path": "../../mask/hdr_front_01199.png" + }, + { + "file_path": "../../rgb/hdr_front_01200.png", + "transform_matrix": [ + [ + -0.048226550221443176, + -0.11993243545293808, + -0.9916101098060608, + 40.02108383178711 + ], + [ + 0.9985939860343933, + -0.027663150802254677, + -0.045220427215099335, + -6.360806941986084 + ], + [ + -0.022007660940289497, + -0.9923965930938721, + 0.12109792232513428, + -4.722854137420654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1200, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_438470125", + "mask_path": "../../mask/hdr_front_01200.png" + }, + { + "file_path": "../../rgb/hdr_front_01201.png", + "transform_matrix": [ + [ + -0.042587123811244965, + -0.11360280960798264, + -0.9926131367683411, + 40.093257904052734 + ], + [ + 0.9987301826477051, + -0.03160339593887329, + -0.03923261910676956, + -6.354363441467285 + ], + [ + -0.026913011446595192, + -0.9930234551429749, + 0.1148044615983963, + -4.733497142791748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_538469314", + "mask_path": "../../mask/hdr_front_01201.png" + }, + { + "file_path": "../../rgb/hdr_front_01202.png", + "transform_matrix": [ + [ + -0.04512716829776764, + -0.11093390733003616, + -0.9928027987480164, + 40.186065673828125 + ], + [ + 0.9983758330345154, + -0.03960171714425087, + -0.04095546901226044, + -6.343655586242676 + ], + [ + -0.034773338586091995, + -0.9930384755134583, + 0.1125408485531807, + -4.752486705780029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1202, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_638470649", + "mask_path": "../../mask/hdr_front_01202.png" + }, + { + "file_path": "../../rgb/hdr_front_01203.png", + "transform_matrix": [ + [ + -0.05874650180339813, + -0.11599740386009216, + -0.9915107488632202, + 40.26500701904297 + ], + [ + 0.997595489025116, + -0.0434064120054245, + -0.05402888357639313, + -6.330503940582275 + ], + [ + -0.03677070885896683, + -0.9923006296157837, + 0.1182684600353241, + -4.762881755828857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1203, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_738469123", + "mask_path": "../../mask/hdr_front_01203.png" + }, + { + "file_path": "../../rgb/hdr_front_01204.png", + "transform_matrix": [ + [ + -0.07347752898931503, + -0.11460854858160019, + -0.9906896352767944, + 40.32836151123047 + ], + [ + 0.9966272711753845, + -0.044834740459918976, + -0.06873117387294769, + -6.3183417320251465 + ], + [ + -0.03654013201594353, + -0.9923985004425049, + 0.11751635372638702, + -4.774486541748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1204, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_838469982", + "mask_path": "../../mask/hdr_front_01204.png" + }, + { + "file_path": "../../rgb/hdr_front_01205.png", + "transform_matrix": [ + [ + -0.09094510227441788, + -0.1158953383564949, + -0.9890891909599304, + 40.40776824951172 + ], + [ + 0.9953460693359375, + -0.04235415160655975, + -0.08655761182308197, + -6.309204578399658 + ], + [ + -0.03186039999127388, + -0.9923580288887024, + 0.11920787394046783, + -4.787115097045898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1205, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_938469886", + "mask_path": "../../mask/hdr_front_01205.png" + }, + { + "file_path": "../../rgb/hdr_front_01206.png", + "transform_matrix": [ + [ + -0.10151766985654831, + -0.1198677122592926, + -0.9875859618186951, + 40.49089431762695 + ], + [ + 0.9944363236427307, + -0.04028710350394249, + -0.09733203053474426, + -6.302398204803467 + ], + [ + -0.028120007365942, + -0.9919721484184265, + 0.12329065054655075, + -4.797420024871826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1206, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_38470268", + "mask_path": "../../mask/hdr_front_01206.png" + }, + { + "file_path": "../../rgb/hdr_front_01207.png", + "transform_matrix": [ + [ + -0.10473611950874329, + -0.12007299065589905, + -0.987224817276001, + 40.54581832885742 + ], + [ + 0.9941450953483582, + -0.039160534739494324, + -0.10070734471082687, + -6.296813488006592 + ], + [ + -0.026568017899990082, + -0.9919924139976501, + 0.12347149848937988, + -4.798551559448242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1207, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_138470888", + "mask_path": "../../mask/hdr_front_01207.png" + }, + { + "file_path": "../../rgb/hdr_front_01209.png", + "transform_matrix": [ + [ + -0.10404108464717865, + -0.11317720264196396, + -0.9881125688552856, + 40.65169906616211 + ], + [ + 0.9942940473556519, + -0.03536464646458626, + -0.10064133256673813, + -6.289743900299072 + ], + [ + -0.023553943261504173, + -0.9929452538490295, + 0.11621078848838806, + -4.8162078857421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1209, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_338470935", + "mask_path": "../../mask/hdr_front_01209.png" + }, + { + "file_path": "../../rgb/hdr_front_01210.png", + "transform_matrix": [ + [ + -0.1124318465590477, + -0.11566179245710373, + -0.9869049787521362, + 40.71487808227539 + ], + [ + 0.9932652115821838, + -0.041059333831071854, + -0.1083444207906723, + -6.276505947113037 + ], + [ + -0.027990354225039482, + -0.9924396872520447, + 0.11949921399354935, + -4.82801628112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1210, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_438471317", + "mask_path": "../../mask/hdr_front_01210.png" + }, + { + "file_path": "../../rgb/hdr_front_01211.png", + "transform_matrix": [ + [ + -0.12605929374694824, + -0.11937711387872696, + -0.9848137497901917, + 40.765403747558594 + ], + [ + 0.9915915131568909, + -0.04442981258034706, + -0.12154117226600647, + -6.26025390625 + ], + [ + -0.029245853424072266, + -0.9918544292449951, + 0.12397412955760956, + -4.83872127532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1211, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_538470029", + "mask_path": "../../mask/hdr_front_01211.png" + }, + { + "file_path": "../../rgb/hdr_front_01212.png", + "transform_matrix": [ + [ + -0.13656958937644958, + -0.1203082725405693, + -0.9832978844642639, + 40.81565856933594 + ], + [ + 0.9902927279472351, + -0.04249510169029236, + -0.13234175741672516, + -6.245193004608154 + ], + [ + -0.025863533839583397, + -0.9918267130851746, + 0.12494394928216934, + -4.847748756408691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1212, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_638470649", + "mask_path": "../../mask/hdr_front_01212.png" + }, + { + "file_path": "../../rgb/hdr_front_01213.png", + "transform_matrix": [ + [ + -0.14601217210292816, + -0.12447775900363922, + -0.9814203381538391, + 40.87392044067383 + ], + [ + 0.9890264272689819, + -0.04095052182674408, + -0.1419498473405838, + -6.228353023529053 + ], + [ + -0.022520072758197784, + -0.9913769960403442, + 0.1290910542011261, + -4.857346534729004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1213, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_738470792", + "mask_path": "../../mask/hdr_front_01213.png" + }, + { + "file_path": "../../rgb/hdr_front_01214.png", + "transform_matrix": [ + [ + -0.15092836320400238, + -0.13025447726249695, + -0.9799257516860962, + 40.93910598754883 + ], + [ + 0.988391637802124, + -0.03732937201857567, + -0.1472703516483307, + -6.215831756591797 + ], + [ + -0.017397385090589523, + -0.9907776713371277, + 0.13437649607658386, + -4.869594097137451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1214, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_838471889", + "mask_path": "../../mask/hdr_front_01214.png" + }, + { + "file_path": "../../rgb/hdr_front_01215.png", + "transform_matrix": [ + [ + -0.15076495707035065, + -0.13235318660736084, + -0.9796696305274963, + 40.99435806274414 + ], + [ + 0.9884620904922485, + -0.03480026498436928, + -0.14741657674312592, + -6.204498291015625 + ], + [ + -0.014581711031496525, + -0.9905915260314941, + 0.1360727846622467, + -4.8730902671813965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1215, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_938470125", + "mask_path": "../../mask/hdr_front_01215.png" + }, + { + "file_path": "../../rgb/hdr_front_01216.png", + "transform_matrix": [ + [ + -0.14474396407604218, + -0.12730389833450317, + -0.9812455773353577, + 41.05048370361328 + ], + [ + 0.9893733859062195, + -0.032412540167570114, + -0.14173781871795654, + -6.1938276290893555 + ], + [ + -0.013760888949036598, + -0.9913340210914612, + 0.1306425929069519, + -4.883098125457764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1216, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_38471460", + "mask_path": "../../mask/hdr_front_01216.png" + }, + { + "file_path": "../../rgb/hdr_front_01217.png", + "transform_matrix": [ + [ + -0.13949991762638092, + -0.12079708278179169, + -0.9828265309333801, + 41.129947662353516 + ], + [ + 0.9900480508804321, + -0.03561889007687569, + -0.1361471265554428, + -6.181689739227295 + ], + [ + -0.01856101118028164, + -0.9920380711555481, + 0.12456375360488892, + -4.895762920379639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1217, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_138469457", + "mask_path": "../../mask/hdr_front_01217.png" + }, + { + "file_path": "../../rgb/hdr_front_01218.png", + "transform_matrix": [ + [ + -0.14361567795276642, + -0.12194984406232834, + -0.9820910096168518, + 41.213871002197266 + ], + [ + 0.989351749420166, + -0.04136868193745613, + -0.13954056799411774, + -6.166207790374756 + ], + [ + -0.023610858246684074, + -0.9916738271713257, + 0.1265925019979477, + -4.9108076095581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1218, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_238470077", + "mask_path": "../../mask/hdr_front_01218.png" + }, + { + "file_path": "../../rgb/hdr_front_01219.png", + "transform_matrix": [ + [ + -0.14746010303497314, + -0.12079300731420517, + -0.98166424036026, + 41.277008056640625 + ], + [ + 0.9887619614601135, + -0.04268939048051834, + -0.14327339828014374, + -6.146259784698486 + ], + [ + -0.02460021898150444, + -0.9917594790458679, + 0.1257305145263672, + -4.920469284057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1219, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_338468074", + "mask_path": "../../mask/hdr_front_01219.png" + }, + { + "file_path": "../../rgb/hdr_front_01220.png", + "transform_matrix": [ + [ + -0.14995281398296356, + -0.12047450244426727, + -0.9813256859779358, + 41.351810455322266 + ], + [ + 0.988483726978302, + -0.038698602467775345, + -0.1462956964969635, + -6.128604412078857 + ], + [ + -0.02035103179514408, + -0.9919618368148804, + 0.1248900443315506, + -4.931371212005615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1220, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_438470840", + "mask_path": "../../mask/hdr_front_01220.png" + }, + { + "file_path": "../../rgb/hdr_front_01221.png", + "transform_matrix": [ + [ + -0.14720137417316437, + -0.12297621369361877, + -0.9814320206642151, + 41.434043884277344 + ], + [ + 0.9889328479766846, + -0.03689252957701683, + -0.14370368421077728, + -6.1173996925354 + ], + [ + -0.018535370007157326, + -0.9917237758636475, + 0.1270458698272705, + -4.945648193359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1221, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_538469791", + "mask_path": "../../mask/hdr_front_01221.png" + }, + { + "file_path": "../../rgb/hdr_front_01222.png", + "transform_matrix": [ + [ + -0.1376601904630661, + -0.12597987055778503, + -0.9824351668357849, + 41.50530242919922 + ], + [ + 0.9902909398078918, + -0.03685624152421951, + -0.13403481245040894, + -6.1095499992370605 + ], + [ + -0.01932317204773426, + -0.9913479685783386, + 0.12983036041259766, + -4.947535991668701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1222, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_638471126", + "mask_path": "../../mask/hdr_front_01222.png" + }, + { + "file_path": "../../rgb/hdr_front_01223.png", + "transform_matrix": [ + [ + -0.12328562140464783, + -0.12297532707452774, + -0.9847221374511719, + 41.56410217285156 + ], + [ + 0.9921517372131348, + -0.03613991662859917, + -0.1197025254368782, + -6.102423667907715 + ], + [ + -0.020867321640253067, + -0.991751492023468, + 0.12646573781967163, + -4.95534086227417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1223, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_738468647", + "mask_path": "../../mask/hdr_front_01223.png" + }, + { + "file_path": "../../rgb/hdr_front_01224.png", + "transform_matrix": [ + [ + -0.1101817861199379, + -0.11451317369937897, + -0.9872926473617554, + 41.65046691894531 + ], + [ + 0.9935871362686157, + -0.038066327571868896, + -0.1064690351486206, + -6.094007968902588 + ], + [ + -0.025390496477484703, + -0.9926921725273132, + 0.11797302216291428, + -4.969396114349365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1224, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_838471174", + "mask_path": "../../mask/hdr_front_01224.png" + }, + { + "file_path": "../../rgb/hdr_front_01225.png", + "transform_matrix": [ + [ + -0.11034753918647766, + -0.1109977662563324, + -0.9876755475997925, + 41.73769760131836 + ], + [ + 0.9935023188591003, + -0.04018129035830498, + -0.1064828634262085, + -6.078009128570557 + ], + [ + -0.02786671742796898, + -0.9930080771446228, + 0.11471045017242432, + -4.979668140411377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1225, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_938468933", + "mask_path": "../../mask/hdr_front_01225.png" + }, + { + "file_path": "../../rgb/hdr_front_01226.png", + "transform_matrix": [ + [ + -0.11442065984010696, + -0.11032243072986603, + -0.9872876405715942, + 41.79459762573242 + ], + [ + 0.9930431842803955, + -0.04051894322037697, + -0.11055998504161835, + -6.059755802154541 + ], + [ + -0.027806604281067848, + -0.993069589138031, + 0.11419112980365753, + -4.987680435180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1226, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_38470268", + "mask_path": "../../mask/hdr_front_01226.png" + }, + { + "file_path": "../../rgb/hdr_front_01227.png", + "transform_matrix": [ + [ + -0.11730518937110901, + -0.11005768924951553, + -0.9869785904884338, + 41.860145568847656 + ], + [ + 0.9928411841392517, + -0.03550366312265396, + -0.1140429750084877, + -6.044192790985107 + ], + [ + -0.02249004878103733, + -0.9932909607887268, + 0.1134345754981041, + -4.997191429138184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1227, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_138469696", + "mask_path": "../../mask/hdr_front_01227.png" + }, + { + "file_path": "../../rgb/hdr_front_01228.png", + "transform_matrix": [ + [ + -0.11623238772153854, + -0.1145649403333664, + -0.9865925908088684, + 41.937538146972656 + ], + [ + 0.9930384159088135, + -0.03250346705317497, + -0.11321743577718735, + -6.0323381423950195 + ], + [ + -0.01909693144261837, + -0.9928838610649109, + 0.11754535138607025, + -5.009214401245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1228, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_238469839", + "mask_path": "../../mask/hdr_front_01228.png" + }, + { + "file_path": "../../rgb/hdr_front_01229.png", + "transform_matrix": [ + [ + -0.10851472616195679, + -0.11995706707239151, + -0.9868308305740356, + 42.00931930541992 + ], + [ + 0.9938803911209106, + -0.033707860857248306, + -0.10519247502088547, + -6.026277542114258 + ], + [ + -0.020645368844270706, + -0.9922066926956177, + 0.12288077920675278, + -5.013251781463623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1229, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_338470458", + "mask_path": "../../mask/hdr_front_01229.png" + }, + { + "file_path": "../../rgb/hdr_front_01230.png", + "transform_matrix": [ + [ + -0.09870462864637375, + -0.11717066168785095, + -0.9881945848464966, + 42.068031311035156 + ], + [ + 0.9949299693107605, + -0.03085910901427269, + -0.09571840614080429, + -6.02658224105835 + ], + [ + -0.019279412925243378, + -0.992632269859314, + 0.11962254345417023, + -5.018157005310059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1230, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_438470363", + "mask_path": "../../mask/hdr_front_01230.png" + }, + { + "file_path": "../../rgb/hdr_front_01231.png", + "transform_matrix": [ + [ + -0.08704271167516708, + -0.11115851998329163, + -0.9899835586547852, + 42.13787841796875 + ], + [ + 0.9959501028060913, + -0.032171830534935, + -0.08395496010780334, + -6.023392200469971 + ], + [ + -0.02251727320253849, + -0.9932818412780762, + 0.11350865662097931, + -5.030838966369629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1231, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_538470268", + "mask_path": "../../mask/hdr_front_01231.png" + }, + { + "file_path": "../../rgb/hdr_front_01232.png", + "transform_matrix": [ + [ + -0.08703567832708359, + -0.10864836722612381, + -0.9902627468109131, + 42.23094940185547 + ], + [ + 0.9957991242408752, + -0.037867624312639236, + -0.08336756378412247, + -6.00937557220459 + ], + [ + -0.02844114787876606, + -0.9933587312698364, + 0.11148777604103088, + -5.048787593841553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1232, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_638469457", + "mask_path": "../../mask/hdr_front_01232.png" + }, + { + "file_path": "../../rgb/hdr_front_01233.png", + "transform_matrix": [ + [ + -0.09813620895147324, + -0.11255672574043274, + -0.9887872934341431, + 42.304786682128906 + ], + [ + 0.994735598564148, + -0.040549371391534805, + -0.09411071985960007, + -5.995872497558594 + ], + [ + -0.02950190380215645, + -0.9928175806999207, + 0.115943543612957, + -5.060731887817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1233, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_738470315", + "mask_path": "../../mask/hdr_front_01233.png" + }, + { + "file_path": "../../rgb/hdr_front_01234.png", + "transform_matrix": [ + [ + -0.111960269510746, + -0.11208226531744003, + -0.9873715043067932, + 42.37556838989258 + ], + [ + 0.9933894276618958, + -0.03796513378620148, + -0.10833300650119781, + -5.983511447906494 + ], + [ + -0.025343477725982666, + -0.9929735064506531, + 0.11559192091226578, + -5.074641704559326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1234, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_838470935", + "mask_path": "../../mask/hdr_front_01234.png" + }, + { + "file_path": "../../rgb/hdr_front_01235.png", + "transform_matrix": [ + [ + -0.12206721305847168, + -0.11554166674613953, + -0.9857736825942993, + 42.46708679199219 + ], + [ + 0.9923854470252991, + -0.030673163011670113, + -0.11929076910018921, + -5.9750823974609375 + ], + [ + -0.016453741118311882, + -0.992828905582428, + 0.11840605735778809, + -5.090818405151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1235, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_938470602", + "mask_path": "../../mask/hdr_front_01235.png" + }, + { + "file_path": "../../rgb/hdr_front_01236.png", + "transform_matrix": [ + [ + -0.12195643782615662, + -0.12360281497240067, + -0.9848091006278992, + 42.55069351196289 + ], + [ + 0.9924700856208801, + -0.02657485567033291, + -0.11956977844238281, + -5.972135543823242 + ], + [ + -0.011391997337341309, + -0.9919759035110474, + 0.12591306865215302, + -5.098214626312256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1236, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_38470983", + "mask_path": "../../mask/hdr_front_01236.png" + }, + { + "file_path": "../../rgb/hdr_front_01237.png", + "transform_matrix": [ + [ + -0.11823789030313492, + -0.12324298918247223, + -0.9853075742721558, + 42.60795593261719 + ], + [ + 0.992936372756958, + -0.024518746882677078, + -0.11608654260635376, + -5.965688228607178 + ], + [ + -0.009851651266217232, + -0.9920735955238342, + 0.1252714991569519, + -5.103667259216309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1237, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_138470649", + "mask_path": "../../mask/hdr_front_01237.png" + }, + { + "file_path": "../../rgb/hdr_front_01238.png", + "transform_matrix": [ + [ + -0.1136712059378624, + -0.11773214489221573, + -0.986518144607544, + 42.6747932434082 + ], + [ + 0.993401825428009, + -0.02868284098803997, + -0.11104133725166321, + -5.958184719085693 + ], + [ + -0.015223005786538124, + -0.9926311373710632, + 0.12021573632955551, + -5.114047527313232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1238, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_238471269", + "mask_path": "../../mask/hdr_front_01238.png" + }, + { + "file_path": "../../rgb/hdr_front_01239.png", + "transform_matrix": [ + [ + -0.11804582923650742, + -0.11632394790649414, + -0.9861713647842407, + 42.76197814941406 + ], + [ + 0.9927250742912292, + -0.03753682225942612, + -0.1144026592373848, + -5.947170734405518 + ], + [ + -0.023709969595074654, + -0.9925017356872559, + 0.11990876495838165, + -5.131301403045654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1239, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_338472127", + "mask_path": "../../mask/hdr_front_01239.png" + }, + { + "file_path": "../../rgb/hdr_front_01240.png", + "transform_matrix": [ + [ + -0.13157102465629578, + -0.1216958686709404, + -0.9838085770606995, + 42.83454895019531 + ], + [ + 0.9909486174583435, + -0.04281823709607124, + -0.12722936272621155, + -5.930000305175781 + ], + [ + -0.026641663163900375, + -0.9916434288024902, + 0.1262279897928238, + -5.147144317626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1240, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_438470840", + "mask_path": "../../mask/hdr_front_01240.png" + }, + { + "file_path": "../../rgb/hdr_front_01241.png", + "transform_matrix": [ + [ + -0.14247307181358337, + -0.11979275941848755, + -0.9825229048728943, + 42.89723205566406 + ], + [ + 0.9894624948501587, + -0.0431092195212841, + -0.138223335146904, + -5.915266513824463 + ], + [ + -0.025797639042139053, + -0.9918625950813293, + 0.12467232346534729, + -5.155411720275879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1241, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_538469791", + "mask_path": "../../mask/hdr_front_01241.png" + }, + { + "file_path": "../../rgb/hdr_front_01242.png", + "transform_matrix": [ + [ + -0.15126776695251465, + -0.1216483861207962, + -0.9809789657592773, + 42.97309875488281 + ], + [ + 0.9882823824882507, + -0.03909076005220413, + -0.1475464254617691, + -5.8991312980651855 + ], + [ + -0.020398426800966263, + -0.9918032288551331, + 0.12613613903522491, + -5.16811466217041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1242, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_638470411", + "mask_path": "../../mask/hdr_front_01242.png" + }, + { + "file_path": "../../rgb/hdr_front_01243.png", + "transform_matrix": [ + [ + -0.15468619763851166, + -0.12780411541461945, + -0.9796624183654785, + 43.0565299987793 + ], + [ + 0.9878462553024292, + -0.035293061286211014, + -0.1513742059469223, + -5.887936592102051 + ], + [ + -0.015229035168886185, + -0.9911713004112244, + 0.13171018660068512, + -5.184863567352295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1243, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_738470315", + "mask_path": "../../mask/hdr_front_01243.png" + }, + { + "file_path": "../../rgb/hdr_front_01244.png", + "transform_matrix": [ + [ + -0.15423700213432312, + -0.12940308451652527, + -0.9795233011245728, + 43.12176513671875 + ], + [ + 0.9879587292671204, + -0.032431572675704956, + -0.15128080546855927, + -5.877495765686035 + ], + [ + -0.012191276997327805, + -0.9910616278648376, + 0.13284702599048615, + -5.190140724182129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1244, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_838471174", + "mask_path": "../../mask/hdr_front_01244.png" + }, + { + "file_path": "../../rgb/hdr_front_01245.png", + "transform_matrix": [ + [ + -0.14945325255393982, + -0.12382823973894119, + -0.9809843897819519, + 43.190467834472656 + ], + [ + 0.9887170195579529, + -0.02886381559073925, + -0.1469879001379013, + -5.865752220153809 + ], + [ + -0.010113699361681938, + -0.9918837547302246, + 0.12674488127231598, + -5.201510906219482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1245, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_938469648", + "mask_path": "../../mask/hdr_front_01245.png" + }, + { + "file_path": "../../rgb/hdr_front_01246.png", + "transform_matrix": [ + [ + -0.1488739252090454, + -0.11777898669242859, + -0.9818170666694641, + 43.28464889526367 + ], + [ + 0.98879075050354, + -0.029159680008888245, + -0.14643335342407227, + -5.849222660064697 + ], + [ + -0.011382694356143475, + -0.9926116466522217, + 0.12079988420009613, + -5.216372013092041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1246, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_38469314", + "mask_path": "../../mask/hdr_front_01246.png" + }, + { + "file_path": "../../rgb/hdr_left_01165.png", + "transform_matrix": [ + [ + 0.9596406817436218, + -0.1126817911863327, + 0.2576674818992615, + 35.225765228271484 + ], + [ + -0.2628908157348633, + -0.03399766981601715, + 0.964226484298706, + -6.720893383026123 + ], + [ + -0.09989066421985626, + -0.9930493235588074, + -0.06224855035543442, + -4.053171157836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1165, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_338469505", + "mask_path": "../../mask/hdr_left_01165.png" + }, + { + "file_path": "../../rgb/hdr_left_01166.png", + "transform_matrix": [ + [ + 0.9597297310829163, + -0.12281063199043274, + 0.2526584267616272, + 35.308189392089844 + ], + [ + -0.25750020146369934, + -0.025031788274645805, + 0.9659540057182312, + -6.7296576499938965 + ], + [ + -0.1123049259185791, + -0.9921144247055054, + -0.05564749985933304, + -4.067108631134033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1166, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_438469409", + "mask_path": "../../mask/hdr_left_01166.png" + }, + { + "file_path": "../../rgb/hdr_left_01167.png", + "transform_matrix": [ + [ + 0.9593218564987183, + -0.1259562075138092, + 0.2526591122150421, + 35.369354248046875 + ], + [ + -0.25757038593292236, + -0.024091802537441254, + 0.9659591913223267, + -6.738491058349609 + ], + [ + -0.11558152735233307, + -0.991743266582489, + -0.055554378777742386, + -4.071828842163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1167, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_538470268", + "mask_path": "../../mask/hdr_left_01167.png" + }, + { + "file_path": "../../rgb/hdr_left_01169.png", + "transform_matrix": [ + [ + 0.9592838287353516, + -0.11975979804992676, + 0.2557966709136963, + 35.505985260009766 + ], + [ + -0.26042047142982483, + -0.02443019673228264, + 0.9651861786842346, + -6.745312690734863 + ], + [ + -0.1093413308262825, + -0.9925022721290588, + -0.05462339147925377, + -4.097628593444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1169, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_738470315", + "mask_path": "../../mask/hdr_left_01169.png" + }, + { + "file_path": "../../rgb/hdr_left_01170.png", + "transform_matrix": [ + [ + 0.9620176553726196, + -0.12308777123689651, + 0.243662491440773, + 35.59623336791992 + ], + [ + -0.24858611822128296, + -0.026129912585020065, + 0.9682572484016418, + -6.743135929107666 + ], + [ + -0.11281373351812363, + -0.9920517802238464, + -0.05573533847928047, + -4.108604907989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1170, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_838470220", + "mask_path": "../../mask/hdr_left_01170.png" + }, + { + "file_path": "../../rgb/hdr_left_01171.png", + "transform_matrix": [ + [ + 0.9657735824584961, + -0.12296778708696365, + 0.22838610410690308, + 35.66421127319336 + ], + [ + -0.23311085999011993, + -0.025319579988718033, + 0.972120463848114, + -6.73765754699707 + ], + [ + -0.11375686526298523, + -0.9920876622200012, + -0.053118109703063965, + -4.119691848754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1171, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_938470602", + "mask_path": "../../mask/hdr_left_01171.png" + }, + { + "file_path": "../../rgb/hdr_left_01172.png", + "transform_matrix": [ + [ + 0.969247043132782, + -0.12195166945457458, + 0.21374724805355072, + 35.738826751708984 + ], + [ + -0.21754969656467438, + -0.018609801307320595, + 0.9758718013763428, + -6.727294445037842 + ], + [ + -0.115031398832798, + -0.9923616051673889, + -0.04456803947687149, + -4.13408899307251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1172, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_38470268", + "mask_path": "../../mask/hdr_left_01172.png" + }, + { + "file_path": "../../rgb/hdr_left_01173.png", + "transform_matrix": [ + [ + 0.9708318114280701, + -0.1268627941608429, + 0.20344895124435425, + 35.82529830932617 + ], + [ + -0.2068079262971878, + -0.013752549886703491, + 0.9782848954200745, + -6.721776485443115 + ], + [ + -0.12131001800298691, + -0.9918249249458313, + -0.03958764299750328, + -4.1493730545043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1173, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_138470411", + "mask_path": "../../mask/hdr_left_01173.png" + }, + { + "file_path": "../../rgb/hdr_left_01174.png", + "transform_matrix": [ + [ + 0.9705355763435364, + -0.1352471262216568, + 0.19942136108875275, + 35.900787353515625 + ], + [ + -0.20300118625164032, + -0.013073520734906197, + 0.979091227054596, + -6.722970962524414 + ], + [ + -0.1298121213912964, + -0.9907256364822388, + -0.04014363884925842, + -4.151700019836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1174, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_238470077", + "mask_path": "../../mask/hdr_left_01174.png" + }, + { + "file_path": "../../rgb/hdr_left_01175.png", + "transform_matrix": [ + [ + 0.9716471433639526, + -0.13238149881362915, + 0.19590070843696594, + 35.9617805480957 + ], + [ + -0.19879160821437836, + -0.008855096064507961, + 0.9800017476081848, + -6.722925662994385 + ], + [ + -0.127999410033226, + -0.9911593198776245, + -0.03492036461830139, + -4.160540580749512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1175, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_338470935", + "mask_path": "../../mask/hdr_left_01175.png" + }, + { + "file_path": "../../rgb/hdr_left_01176.png", + "transform_matrix": [ + [ + 0.9730350971221924, + -0.12614433467388153, + 0.1931067258119583, + 36.041500091552734 + ], + [ + -0.19558832049369812, + -0.0074734934605658054, + 0.9806575179100037, + -6.7220025062561035 + ], + [ + -0.12226121127605438, + -0.9919837713241577, + -0.03194433078169823, + -4.176445007324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1176, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_438469648", + "mask_path": "../../mask/hdr_left_01176.png" + }, + { + "file_path": "../../rgb/hdr_left_01177.png", + "transform_matrix": [ + [ + 0.9753690958023071, + -0.12453635782003403, + 0.18205973505973816, + 36.14470672607422 + ], + [ + -0.1850469559431076, + -0.01275657769292593, + 0.9826468825340271, + -6.716477394104004 + ], + [ + -0.12005279958248138, + -0.9921330809593201, + -0.03548743948340416, + -4.196625232696533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1177, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_538470268", + "mask_path": "../../mask/hdr_left_01177.png" + }, + { + "file_path": "../../rgb/hdr_left_01178.png", + "transform_matrix": [ + [ + 0.9782233834266663, + -0.1250740885734558, + 0.1656360775232315, + 36.22852325439453 + ], + [ + -0.1687069833278656, + -0.014298778027296066, + 0.9855625033378601, + -6.708815574645996 + ], + [ + -0.12089992314577103, + -0.9920443892478943, + -0.03508826717734337, + -4.208385467529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1178, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_638468980", + "mask_path": "../../mask/hdr_left_01178.png" + }, + { + "file_path": "../../rgb/hdr_left_01179.png", + "transform_matrix": [ + [ + 0.9809191226959229, + -0.1218995675444603, + 0.15145373344421387, + 36.30223083496094 + ], + [ + -0.15353238582611084, + -0.007788687013089657, + 0.9881130456924438, + -6.700998306274414 + ], + [ + -0.11927089840173721, + -0.9925119280815125, + -0.026355596259236336, + -4.227416038513184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1179, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_738470315", + "mask_path": "../../mask/hdr_left_01179.png" + }, + { + "file_path": "../../rgb/hdr_left_01180.png", + "transform_matrix": [ + [ + 0.9825230240821838, + -0.12393343448638916, + 0.13888485729694366, + 36.39616012573242 + ], + [ + -0.13996164500713348, + 1.823299317038618e-05, + 0.9901569485664368, + -6.694192886352539 + ], + [ + -0.12271608412265778, + -0.9922905564308167, + -0.017328007146716118, + -4.24525260925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1180, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_838469743", + "mask_path": "../../mask/hdr_left_01180.png" + }, + { + "file_path": "../../rgb/hdr_left_01181.png", + "transform_matrix": [ + [ + 0.981787383556366, + -0.1334453523159027, + 0.13522464036941528, + 36.479393005371094 + ], + [ + -0.13638359308242798, + 0.0004602446570061147, + 0.9906560182571411, + -6.692092418670654 + ], + [ + -0.13226068019866943, + -0.9910561442375183, + -0.01774788834154606, + -4.248490810394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1181, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_938469886", + "mask_path": "../../mask/hdr_left_01181.png" + }, + { + "file_path": "../../rgb/hdr_left_01182.png", + "transform_matrix": [ + [ + 0.9821572303771973, + -0.13184884190559387, + 0.1341010332107544, + 36.5361328125 + ], + [ + -0.13481611013412476, + 0.0035292059183120728, + 0.9908643364906311, + -6.688343524932861 + ], + [ + -0.1311175674200058, + -0.9912636280059814, + -0.014309108257293701, + -4.254273414611816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1182, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_38469314", + "mask_path": "../../mask/hdr_left_01182.png" + }, + { + "file_path": "../../rgb/hdr_left_01183.png", + "transform_matrix": [ + [ + 0.9825856685638428, + -0.12574177980422974, + 0.13679982721805573, + 36.60447311401367 + ], + [ + -0.137029230594635, + 0.006864649243652821, + 0.9905431866645813, + -6.681185722351074 + ], + [ + -0.12549173831939697, + -0.9920393228530884, + -0.010485189035534859, + -4.270035743713379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1183, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_138469696", + "mask_path": "../../mask/hdr_left_01183.png" + }, + { + "file_path": "../../rgb/hdr_left_01184.png", + "transform_matrix": [ + [ + 0.9827955365180969, + -0.12295177578926086, + 0.13782502710819244, + 36.70922088623047 + ], + [ + -0.13869185745716095, + 0.0015219964552670717, + 0.9903343915939331, + -6.672282695770264 + ], + [ + -0.12197314202785492, + -0.9924114942550659, + -0.015556595288217068, + -4.286429405212402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1184, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_238469362", + "mask_path": "../../mask/hdr_left_01184.png" + }, + { + "file_path": "../../rgb/hdr_left_01185.png", + "transform_matrix": [ + [ + 0.9831865429878235, + -0.1269863396883011, + 0.13121967017650604, + 36.79664993286133 + ], + [ + -0.13253091275691986, + -0.001895278925076127, + 0.9911771416664124, + -6.662742614746094 + ], + [ + -0.12561725080013275, + -0.9919027090072632, + -0.018693024292588234, + -4.296323776245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1185, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_338469505", + "mask_path": "../../mask/hdr_left_01185.png" + }, + { + "file_path": "../../rgb/hdr_left_01186.png", + "transform_matrix": [ + [ + 0.9840719103813171, + -0.12535202503204346, + 0.12605269253253937, + 36.860069274902344 + ], + [ + -0.12718097865581512, + -0.0010070500429719687, + 0.9918789267539978, + -6.6512322425842285 + ], + [ + -0.12420710176229477, + -0.9921118021011353, + -0.01693340390920639, + -4.311949253082275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1186, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_438468217", + "mask_path": "../../mask/hdr_left_01186.png" + }, + { + "file_path": "../../rgb/hdr_left_01187.png", + "transform_matrix": [ + [ + 0.984485387802124, + -0.1256919950246811, + 0.12243324518203735, + 36.93876647949219 + ], + [ + -0.12342992424964905, + -0.0001425971568096429, + 0.9923533201217651, + -6.640612602233887 + ], + [ + -0.12471340596675873, + -0.9920694231987, + -0.015654537826776505, + -4.324977874755859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1187, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_538470506", + "mask_path": "../../mask/hdr_left_01187.png" + }, + { + "file_path": "../../rgb/hdr_left_01188.png", + "transform_matrix": [ + [ + 0.98386150598526, + -0.13078075647354126, + 0.12211862206459045, + 37.023109436035156 + ], + [ + -0.12406717985868454, + -0.006825701799243689, + 0.9922503232955933, + -6.6383137702941895 + ], + [ + -0.12893369793891907, + -0.9913878440856934, + -0.022941140457987785, + -4.3286895751953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1188, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_638470649", + "mask_path": "../../mask/hdr_left_01188.png" + }, + { + "file_path": "../../rgb/hdr_left_01189.png", + "transform_matrix": [ + [ + 0.9837275743484497, + -0.12862256169319153, + 0.1254437118768692, + 37.094844818115234 + ], + [ + -0.12764233350753784, + -0.008962118066847324, + 0.9917797446250916, + -6.638916969299316 + ], + [ + -0.12644100189208984, + -0.9916532039642334, + -0.025233961641788483, + -4.331406116485596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1189, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_738470077", + "mask_path": "../../mask/hdr_left_01189.png" + }, + { + "file_path": "../../rgb/hdr_left_01190.png", + "transform_matrix": [ + [ + 0.9841592311859131, + -0.11912111192941666, + 0.13130372762680054, + 37.16659164428711 + ], + [ + -0.133566215634346, + -0.01117740385234356, + 0.990976870059967, + -6.640695095062256 + ], + [ + -0.1165786162018776, + -0.9928168654441833, + -0.026910895481705666, + -4.342761039733887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1190, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_838470220", + "mask_path": "../../mask/hdr_left_01190.png" + }, + { + "file_path": "../../rgb/hdr_left_01191.png", + "transform_matrix": [ + [ + 0.9847669005393982, + -0.1115189641714096, + 0.1334080547094345, + 37.25166320800781 + ], + [ + -0.13608147203922272, + -0.016680678352713585, + 0.9905571937561035, + -6.636924743652344 + ], + [ + -0.10824056714773178, + -0.993622362613678, + -0.03160224109888077, + -4.3537821769714355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1191, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_938470602", + "mask_path": "../../mask/hdr_left_01191.png" + }, + { + "file_path": "../../rgb/hdr_left_01192.png", + "transform_matrix": [ + [ + 0.985683262348175, + -0.11231151223182678, + 0.12575601041316986, + 37.33652877807617 + ], + [ + -0.1295011341571808, + -0.02666838839650154, + 0.9912205338478088, + -6.634807586669922 + ], + [ + -0.10797176510095596, + -0.9933151006698608, + -0.04083104431629181, + -4.359983444213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1192, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_38469791", + "mask_path": "../../mask/hdr_left_01192.png" + }, + { + "file_path": "../../rgb/hdr_left_01193.png", + "transform_matrix": [ + [ + 0.9868422746658325, + -0.11096283048391342, + 0.11759861558675766, + 37.3968620300293 + ], + [ + -0.12144865840673447, + -0.02857646718621254, + 0.9921862483024597, + -6.624112606048584 + ], + [ + -0.1067352369427681, + -0.9934136271476746, + -0.041676752269268036, + -4.366297245025635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1193, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_138469457", + "mask_path": "../../mask/hdr_left_01193.png" + }, + { + "file_path": "../../rgb/hdr_left_01194.png", + "transform_matrix": [ + [ + 0.9877954125404358, + -0.11059051007032394, + 0.10968072712421417, + 37.46925354003906 + ], + [ + -0.11296972632408142, + -0.023907426744699478, + 0.9933107495307922, + -6.613198280334473 + ], + [ + -0.10722856223583221, + -0.9935785531997681, + -0.03610902652144432, + -4.374840259552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1194, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_238469839", + "mask_path": "../../mask/hdr_left_01194.png" + }, + { + "file_path": "../../rgb/hdr_left_01195.png", + "transform_matrix": [ + [ + 0.9878266453742981, + -0.11407680064439774, + 0.10575861483812332, + 37.547454833984375 + ], + [ + -0.10872773081064224, + -0.020109474658966064, + 0.9938681125640869, + -6.605678558349609 + ], + [ + -0.11125054210424423, + -0.9932684898376465, + -0.0322679840028286, + -4.3876118659973145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1195, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_338470220", + "mask_path": "../../mask/hdr_left_01195.png" + }, + { + "file_path": "../../rgb/hdr_left_01196.png", + "transform_matrix": [ + [ + 0.9872417449951172, + -0.11910293996334076, + 0.10567909479141235, + 37.618896484375 + ], + [ + -0.1089702770113945, + -0.021449536085128784, + 0.9938135147094727, + -6.603969097137451 + ], + [ + -0.11609935015439987, + -0.9926502108573914, + -0.034154556691646576, + -4.390154838562012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1196, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_438469886", + "mask_path": "../../mask/hdr_left_01196.png" + }, + { + "file_path": "../../rgb/hdr_left_01197.png", + "transform_matrix": [ + [ + 0.9873440861701965, + -0.11568603664636612, + 0.10848251730203629, + 37.680946350097656 + ], + [ + -0.11105796694755554, + -0.01603492721915245, + 0.9936845898628235, + -6.5992584228515625 + ], + [ + -0.11321590840816498, + -0.9931564331054688, + -0.02867983840405941, + -4.3959197998046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1197, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_538470745", + "mask_path": "../../mask/hdr_left_01197.png" + }, + { + "file_path": "../../rgb/hdr_left_01198.png", + "transform_matrix": [ + [ + 0.987190306186676, + -0.10965201258659363, + 0.1158948764204979, + 37.7542610168457 + ], + [ + -0.11799228191375732, + -0.012814289890229702, + 0.9929318428039551, + -6.589233875274658 + ], + [ + -0.1073918491601944, + -0.9938874840736389, + -0.025588223710656166, + -4.40619421005249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1198, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_638470172", + "mask_path": "../../mask/hdr_left_01198.png" + }, + { + "file_path": "../../rgb/hdr_left_01199.png", + "transform_matrix": [ + [ + 0.986633837223053, + -0.11042244732379913, + 0.11983544379472733, + 37.84080123901367 + ], + [ + -0.1227421909570694, + -0.019888710230588913, + 0.992239236831665, + -6.5790605545043945 + ], + [ + -0.1071821078658104, + -0.993685781955719, + -0.03317636251449585, + -4.419628620147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1199, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_738472700", + "mask_path": "../../mask/hdr_left_01199.png" + }, + { + "file_path": "../../rgb/hdr_left_01200.png", + "transform_matrix": [ + [ + 0.9867117404937744, + -0.11139950901269913, + 0.11827950179576874, + 37.910400390625 + ], + [ + -0.1214982345700264, + -0.0225384421646595, + 0.9923356771469116, + -6.567024230957031 + ], + [ + -0.1078798770904541, + -0.9935201406478882, + -0.035773780196905136, + -4.42948579788208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1200, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_838470697", + "mask_path": "../../mask/hdr_left_01200.png" + }, + { + "file_path": "../../rgb/hdr_left_01201.png", + "transform_matrix": [ + [ + 0.9870086908340454, + -0.11011973768472672, + 0.11699376255273819, + 37.976436614990234 + ], + [ + -0.11974091082811356, + -0.01865062117576599, + 0.9926300048828125, + -6.555999279022217 + ], + [ + -0.1071261465549469, + -0.993743360042572, + -0.031594157218933105, + -4.441464424133301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1201, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_938470363", + "mask_path": "../../mask/hdr_left_01201.png" + }, + { + "file_path": "../../rgb/hdr_left_01202.png", + "transform_matrix": [ + [ + 0.9866296648979187, + -0.1138005331158638, + 0.11666731536388397, + 38.0566520690918 + ], + [ + -0.11913977563381195, + -0.015149015001952648, + 0.9927619099617004, + -6.548470497131348 + ], + [ + -0.111209437251091, + -0.9933881163597107, + -0.028504636138677597, + -4.455766201019287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1202, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_38470506", + "mask_path": "../../mask/hdr_left_01202.png" + }, + { + "file_path": "../../rgb/hdr_left_01203.png", + "transform_matrix": [ + [ + 0.9848484992980957, + -0.12296546250581741, + 0.12228163331747055, + 38.1378173828125 + ], + [ + -0.12538543343544006, + -0.0177981685847044, + 0.9919484853744507, + -6.547886848449707 + ], + [ + -0.11979899555444717, + -0.992251455783844, + -0.032946571707725525, + -4.465616226196289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1203, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_138470411", + "mask_path": "../../mask/hdr_left_01203.png" + }, + { + "file_path": "../../rgb/hdr_left_01204.png", + "transform_matrix": [ + [ + 0.9837105870246887, + -0.12215319275856018, + 0.13187891244888306, + 38.20390701293945 + ], + [ + -0.1349976509809494, + -0.017580483108758926, + 0.9906899929046631, + -6.547788143157959 + ], + [ + -0.11869744211435318, + -0.9923555254936218, + -0.03378450125455856, + -4.471254348754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1204, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_238470315", + "mask_path": "../../mask/hdr_left_01204.png" + }, + { + "file_path": "../../rgb/hdr_left_01205.png", + "transform_matrix": [ + [ + 0.982819676399231, + -0.11468333005905151, + 0.14461460709571838, + 38.271366119384766 + ], + [ + -0.14748062193393707, + -0.01686745136976242, + 0.9889211058616638, + -6.539961814880371 + ], + [ + -0.11097346991300583, + -0.9932588934898376, + -0.03349122405052185, + -4.48529577255249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1205, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_338469982", + "mask_path": "../../mask/hdr_left_01205.png" + }, + { + "file_path": "../../rgb/hdr_left_01206.png", + "transform_matrix": [ + [ + 0.9821423292160034, + -0.10963194072246552, + 0.15289638936519623, + 38.36622619628906 + ], + [ + -0.15608437359333038, + -0.021060870960354805, + 0.9875191450119019, + -6.536305904388428 + ], + [ + -0.10504350811243057, + -0.9937491416931152, + -0.03779660165309906, + -4.499708652496338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1206, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_438470363", + "mask_path": "../../mask/hdr_left_01206.png" + }, + { + "file_path": "../../rgb/hdr_left_01207.png", + "transform_matrix": [ + [ + 0.9826353788375854, + -0.11109651625156403, + 0.14861160516738892, + 38.46178436279297 + ], + [ + -0.15234646201133728, + -0.025873713195323944, + 0.9879884123802185, + -6.531163692474365 + ], + [ + -0.10591693222522736, + -0.9934728145599365, + -0.04234957695007324, + -4.505343437194824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1207, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_538471460", + "mask_path": "../../mask/hdr_left_01207.png" + }, + { + "file_path": "../../rgb/hdr_left_01208.png", + "transform_matrix": [ + [ + 0.9836532473564148, + -0.10833350569009781, + 0.14384032785892487, + 38.52604675292969 + ], + [ + -0.14729885756969452, + -0.024587271735072136, + 0.9887863993644714, + -6.520091533660889 + ], + [ + -0.10358204692602158, + -0.9938105344772339, + -0.04014274850487709, + -4.517303943634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_638470411", + "mask_path": "../../mask/hdr_left_01208.png" + }, + { + "file_path": "../../rgb/hdr_left_01209.png", + "transform_matrix": [ + [ + 0.9838454127311707, + -0.10910738259553909, + 0.1419288069009781, + 38.59925079345703 + ], + [ + -0.1450330913066864, + -0.021022116765379906, + 0.9892034530639648, + -6.512468338012695 + ], + [ + -0.10494572669267654, + -0.9938076138496399, + -0.036506686359643936, + -4.528925895690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1209, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_738470554", + "mask_path": "../../mask/hdr_left_01209.png" + }, + { + "file_path": "../../rgb/hdr_left_01210.png", + "transform_matrix": [ + [ + 0.9823336601257324, + -0.11631537973880768, + 0.14659854769706726, + 38.68647003173828 + ], + [ + -0.14986290037631989, + -0.019786182790994644, + 0.9885087609291077, + -6.514054775238037 + ], + [ + -0.11207814514636993, + -0.9930153489112854, + -0.03686799108982086, + -4.539675235748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_838470220", + "mask_path": "../../mask/hdr_left_01210.png" + }, + { + "file_path": "../../rgb/hdr_left_01211.png", + "transform_matrix": [ + [ + 0.9805374145507812, + -0.11898721009492874, + 0.15616777539253235, + 38.760074615478516 + ], + [ + -0.15990549325942993, + -0.022481855005025864, + 0.9868761897087097, + -6.517999172210693 + ], + [ + -0.11391470581293106, + -0.992641270160675, + -0.041071001440286636, + -4.542922019958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1211, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_938470840", + "mask_path": "../../mask/hdr_left_01211.png" + }, + { + "file_path": "../../rgb/hdr_left_01212.png", + "transform_matrix": [ + [ + 0.9787811636924744, + -0.11607677489519119, + 0.1688595563173294, + 38.81826400756836 + ], + [ + -0.17256960272789001, + -0.02261904627084732, + 0.9847376346588135, + -6.518599033355713 + ], + [ + -0.11048571765422821, + -0.9929827451705933, + -0.042170412838459015, + -4.550507545471191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1212, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_38470983", + "mask_path": "../../mask/hdr_left_01212.png" + }, + { + "file_path": "../../rgb/hdr_left_01213.png", + "transform_matrix": [ + [ + 0.9771512746810913, + -0.11097345501184464, + 0.18127381801605225, + 38.902748107910156 + ], + [ + -0.18521510064601898, + -0.02621469274163246, + 0.9823483228683472, + -6.521646022796631 + ], + [ + -0.10426253080368042, + -0.9934775829315186, + -0.046169672161340714, + -4.567439079284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1213, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_138470172", + "mask_path": "../../mask/hdr_left_01213.png" + }, + { + "file_path": "../../rgb/hdr_left_01214.png", + "transform_matrix": [ + [ + 0.976351797580719, + -0.11218533664941788, + 0.18480141460895538, + 38.998294830322266 + ], + [ + -0.18958181142807007, + -0.03346158564090729, + 0.9812946319580078, + -6.521738052368164 + ], + [ + -0.10390309244394302, + -0.9931237697601318, + -0.053938571363687515, + -4.580752372741699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1214, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_238470792", + "mask_path": "../../mask/hdr_left_01214.png" + }, + { + "file_path": "../../rgb/hdr_left_01215.png", + "transform_matrix": [ + [ + 0.9768014550209045, + -0.11436329036951065, + 0.1810523271560669, + 39.07121658325195 + ], + [ + -0.18627969920635223, + -0.03671836480498314, + 0.9818103313446045, + -6.520326137542725 + ], + [ + -0.10563509911298752, + -0.9927602410316467, + -0.05717010423541069, + -4.5901336669921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1215, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_338469982", + "mask_path": "../../mask/hdr_left_01215.png" + }, + { + "file_path": "../../rgb/hdr_left_01216.png", + "transform_matrix": [ + [ + 0.9785905480384827, + -0.11400377005338669, + 0.17135848104953766, + 39.15291213989258 + ], + [ + -0.17589367926120758, + -0.030913349241018295, + 0.983923614025116, + -6.518263816833496 + ], + [ + -0.10687372833490372, + -0.9929993152618408, + -0.05030405521392822, + -4.607248306274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1216, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_438469886", + "mask_path": "../../mask/hdr_left_01216.png" + }, + { + "file_path": "../../rgb/hdr_left_01217.png", + "transform_matrix": [ + [ + 0.9794710874557495, + -0.11709906905889511, + 0.1640857756137848, + 39.24850845336914 + ], + [ + -0.16802453994750977, + -0.024529047310352325, + 0.9854775667190552, + -6.516568183898926 + ], + [ + -0.11137362569570541, + -0.9928173422813416, + -0.04370100423693657, + -4.622910976409912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1217, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_538470506", + "mask_path": "../../mask/hdr_left_01217.png" + }, + { + "file_path": "../../rgb/hdr_left_01218.png", + "transform_matrix": [ + [ + 0.9782710075378418, + -0.12361759692430496, + 0.1664465069770813, + 39.33281707763672 + ], + [ + -0.17056244611740112, + -0.023419572040438652, + 0.9850686192512512, + -6.519171237945557 + ], + [ + -0.11787368357181549, + -0.9920535683631897, + -0.043995201587677, + -4.625162124633789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1218, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_638470172", + "mask_path": "../../mask/hdr_left_01218.png" + }, + { + "file_path": "../../rgb/hdr_left_01219.png", + "transform_matrix": [ + [ + 0.9778110980987549, + -0.12092012166976929, + 0.17106640338897705, + 39.393463134765625 + ], + [ + -0.17461217939853668, + -0.019282784312963486, + 0.9844484329223633, + -6.520125865936279 + ], + [ + -0.11574098467826843, + -0.9924749732017517, + -0.03996904194355011, + -4.632242679595947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1219, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_738470792", + "mask_path": "../../mask/hdr_left_01219.png" + }, + { + "file_path": "../../rgb/hdr_left_01220.png", + "transform_matrix": [ + [ + 0.9777845144271851, + -0.1161382868885994, + 0.17449751496315002, + 39.47003173828125 + ], + [ + -0.17779482901096344, + -0.018584026023745537, + 0.9838920831680298, + -6.518316745758057 + ], + [ + -0.11102466285228729, + -0.9930592179298401, + -0.03881995752453804, + -4.646563529968262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1220, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_838470220", + "mask_path": "../../mask/hdr_left_01220.png" + }, + { + "file_path": "../../rgb/hdr_left_01221.png", + "transform_matrix": [ + [ + 0.9788222908973694, + -0.11696896702051163, + 0.16800305247306824, + 39.564857482910156 + ], + [ + -0.17159870266914368, + -0.02130740135908127, + 0.9849364757537842, + -6.510772705078125 + ], + [ + -0.11162729561328888, + -0.9929069876670837, + -0.04092787951231003, + -4.665940284729004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1221, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_938470125", + "mask_path": "../../mask/hdr_left_01221.png" + }, + { + "file_path": "../../rgb/hdr_left_01222.png", + "transform_matrix": [ + [ + 0.9807062745094299, + -0.12076365947723389, + 0.1537245661020279, + 39.64301681518555 + ], + [ + -0.15773940086364746, + -0.024363042786717415, + 0.987180233001709, + -6.496561050415039 + ], + [ + -0.115470290184021, + -0.9923823475837708, + -0.04294217377901077, + -4.675471305847168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1222, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_38470983", + "mask_path": "../../mask/hdr_left_01222.png" + }, + { + "file_path": "../../rgb/hdr_left_01223.png", + "transform_matrix": [ + [ + 0.9826949834823608, + -0.11877325177192688, + 0.14213891327381134, + 39.71377944946289 + ], + [ + -0.14574478566646576, + -0.02220096066594124, + 0.9890730977058411, + -6.484875202178955 + ], + [ + -0.1143198013305664, + -0.9926732182502747, + -0.039127349853515625, + -4.687848091125488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1223, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_138469934", + "mask_path": "../../mask/hdr_left_01223.png" + }, + { + "file_path": "../../rgb/hdr_left_01224.png", + "transform_matrix": [ + [ + 0.9837368130683899, + -0.12098835408687592, + 0.1327538937330246, + 39.796451568603516 + ], + [ + -0.13581353425979614, + -0.01736639253795147, + 0.9905821681022644, + -6.476114273071289 + ], + [ + -0.11754345148801804, + -0.9925020933151245, + -0.0335158109664917, + -4.70245885848999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_238470315", + "mask_path": "../../mask/hdr_left_01224.png" + }, + { + "file_path": "../../rgb/hdr_left_01225.png", + "transform_matrix": [ + [ + 0.9835920333862305, + -0.12530401349067688, + 0.12979041039943695, + 39.8808479309082 + ], + [ + -0.13297030329704285, + -0.017320195212960243, + 0.9909687042236328, + -6.470783233642578 + ], + [ + -0.12192435562610626, + -0.9919672608375549, + -0.033697716891765594, + -4.709100246429443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1225, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_338470458", + "mask_path": "../../mask/hdr_left_01225.png" + }, + { + "file_path": "../../rgb/hdr_left_01226.png", + "transform_matrix": [ + [ + 0.9835010766983032, + -0.12190593779087067, + 0.13365784287452698, + 39.94753646850586 + ], + [ + -0.13641828298568726, + -0.014548003673553467, + 0.9905445575714111, + -6.466864109039307 + ], + [ + -0.1188088059425354, + -0.9924350380897522, + -0.030938178300857544, + -4.71214485168457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_438470125", + "mask_path": "../../mask/hdr_left_01226.png" + }, + { + "file_path": "../../rgb/hdr_left_01227.png", + "transform_matrix": [ + [ + 0.9834902882575989, + -0.11550383269786835, + 0.13930466771125793, + 40.01905822753906 + ], + [ + -0.14234645664691925, + -0.018477968871593475, + 0.9896443486213684, + -6.45996618270874 + ], + [ + -0.11173365265130997, + -0.9931351542472839, + -0.03461446240544319, + -4.722782611846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1227, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_538469314", + "mask_path": "../../mask/hdr_left_01227.png" + }, + { + "file_path": "../../rgb/hdr_left_01228.png", + "transform_matrix": [ + [ + 0.9841465353965759, + -0.11286893486976624, + 0.1368071734905243, + 40.11211395263672 + ], + [ + -0.1406177282333374, + -0.026482602581381798, + 0.9897096753120422, + -6.449367046356201 + ], + [ + -0.10808446258306503, + -0.9932569265365601, + -0.04193412885069847, + -4.741145133972168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1228, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_638470649", + "mask_path": "../../mask/hdr_left_01228.png" + }, + { + "file_path": "../../rgb/hdr_left_01229.png", + "transform_matrix": [ + [ + 0.9853226542472839, + -0.11810990422964096, + 0.12324460595846176, + 40.19255065917969 + ], + [ + -0.12763333320617676, + -0.03031502664089203, + 0.9913579821586609, + -6.437172889709473 + ], + [ + -0.11335302144289017, + -0.9925377368927002, + -0.04494484141469002, + -4.750881671905518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1229, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_738469123", + "mask_path": "../../mask/hdr_left_01229.png" + }, + { + "file_path": "../../rgb/hdr_left_01230.png", + "transform_matrix": [ + [ + 0.9871872663497925, + -0.11691439151763916, + 0.1085919439792633, + 40.25748062133789 + ], + [ + -0.11300414055585861, + -0.03177598863840103, + 0.9930862784385681, + -6.426074504852295 + ], + [ + -0.11265546083450317, + -0.992633581161499, + -0.04458066076040268, + -4.762569427490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1230, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_838469982", + "mask_path": "../../mask/hdr_left_01230.png" + }, + { + "file_path": "../../rgb/hdr_left_01231.png", + "transform_matrix": [ + [ + 0.9887708425521851, + -0.11842934042215347, + 0.09114113450050354, + 40.33880615234375 + ], + [ + -0.09523122012615204, + -0.029336746782064438, + 0.9950227737426758, + -6.418211936950684 + ], + [ + -0.11516610532999039, + -0.992529034614563, + -0.04028547927737236, + -4.7755446434021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1231, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_938469886", + "mask_path": "../../mask/hdr_left_01231.png" + }, + { + "file_path": "../../rgb/hdr_left_01232.png", + "transform_matrix": [ + [ + 0.9891917705535889, + -0.12253880500793457, + 0.0805225744843483, + 40.42313003540039 + ], + [ + -0.08446250855922699, + -0.027296530082821846, + 0.9960527420043945, + -6.412161350250244 + ], + [ + -0.11985711753368378, + -0.9920883178710938, + -0.03735143318772316, + -4.785910129547119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1232, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_38470268", + "mask_path": "../../mask/hdr_left_01232.png" + }, + { + "file_path": "../../rgb/hdr_left_01233.png", + "transform_matrix": [ + [ + 0.9894185662269592, + -0.1227860376238823, + 0.07729481905698776, + 40.47841262817383 + ], + [ + -0.08108607679605484, + -0.02617848850786686, + 0.9963632225990295, + -6.40681266784668 + ], + [ + -0.1203160285949707, + -0.9920878410339355, + -0.03585771471261978, + -4.787186622619629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1233, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_138470888", + "mask_path": "../../mask/hdr_left_01233.png" + }, + { + "file_path": "../../rgb/hdr_left_01235.png", + "transform_matrix": [ + [ + 0.9901914596557617, + -0.11588288843631744, + 0.07805128395557404, + 40.58415985107422 + ], + [ + -0.08116381615400314, + -0.022380877286195755, + 0.9964494705200195, + -6.399748802185059 + ], + [ + -0.11372456699609756, + -0.9930106997489929, + -0.03156685084104538, + -4.805727005004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1235, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_338470935", + "mask_path": "../../mask/hdr_left_01235.png" + }, + { + "file_path": "../../rgb/hdr_left_01236.png", + "transform_matrix": [ + [ + 0.9905137419700623, + -0.11847632378339767, + 0.06961289048194885, + 40.648292541503906 + ], + [ + -0.07342303544282913, + -0.02809910848736763, + 0.9969050288200378, + -6.387020587921143 + ], + [ + -0.11615356802940369, + -0.9925592541694641, + -0.036531444638967514, + -4.816819667816162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1236, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_438471317", + "mask_path": "../../mask/hdr_left_01236.png" + }, + { + "file_path": "../../rgb/hdr_left_01237.png", + "transform_matrix": [ + [ + 0.9909103512763977, + -0.12236825376749039, + 0.055880460888147354, + 40.70037841796875 + ], + [ + -0.06015399843454361, + -0.03150931000709534, + 0.9976916313171387, + -6.371643543243408 + ], + [ + -0.12032502144575119, + -0.991984486579895, + -0.03858383372426033, + -4.8270416259765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1237, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_538470029", + "mask_path": "../../mask/hdr_left_01237.png" + }, + { + "file_path": "../../rgb/hdr_left_01238.png", + "transform_matrix": [ + [ + 0.9913187623023987, + -0.12343592941761017, + 0.045282114297151566, + 40.751827239990234 + ], + [ + -0.049289632588624954, + -0.02960658259689808, + 0.9983456134796143, + -6.357300281524658 + ], + [ + -0.12189105898141861, + -0.9919108748435974, + -0.03543367236852646, + -4.836339473724365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1238, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_638470649", + "mask_path": "../../mask/hdr_left_01238.png" + }, + { + "file_path": "../../rgb/hdr_left_01239.png", + "transform_matrix": [ + [ + 0.9911662936210632, + -0.12772707641124725, + 0.03570951148867607, + 40.81120300292969 + ], + [ + -0.03960535675287247, + -0.028091905638575554, + 0.998820424079895, + -6.34108829498291 + ], + [ + -0.12657323479652405, + -0.9914115071296692, + -0.032902419567108154, + -4.845952033996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1239, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_738470792", + "mask_path": "../../mask/hdr_left_01239.png" + }, + { + "file_path": "../../rgb/hdr_left_01240.png", + "transform_matrix": [ + [ + 0.9905650019645691, + -0.13356611132621765, + 0.03067789413034916, + 40.87700271606445 + ], + [ + -0.034244392067193985, + -0.024486679583787918, + 0.9991135001182556, + -6.328917980194092 + ], + [ + -0.1326964944601059, + -0.9907373785972595, + -0.028829529881477356, + -4.858306407928467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1240, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_838471889", + "mask_path": "../../mask/hdr_left_01240.png" + }, + { + "file_path": "../../rgb/hdr_left_01241.png", + "transform_matrix": [ + [ + 0.9902756214141846, + -0.13566212356090546, + 0.030818913131952286, + 40.93225860595703 + ], + [ + -0.034103937447071075, + -0.021957067772746086, + 0.999177098274231, + -6.317600250244141 + ], + [ + -0.13487380743026733, + -0.9905118346214294, + -0.026370158419013023, + -4.861957550048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1241, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_938470125", + "mask_path": "../../mask/hdr_left_01241.png" + }, + { + "file_path": "../../rgb/hdr_left_01242.png", + "transform_matrix": [ + [ + 0.9907543063163757, + -0.13053598999977112, + 0.036960966885089874, + 40.987648010253906 + ], + [ + -0.03984488919377327, + -0.019549811258912086, + 0.9990144968032837, + -6.3065714836120605 + ], + [ + -0.12968474626541138, + -0.9912508130073547, + -0.024570247158408165, + -4.872479438781738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1242, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_38471460", + "mask_path": "../../mask/hdr_left_01242.png" + }, + { + "file_path": "../../rgb/hdr_left_01243.png", + "transform_matrix": [ + [ + 0.991383969783783, + -0.12396271526813507, + 0.042321354150772095, + 41.06645202636719 + ], + [ + -0.045477259904146194, + -0.02273937501013279, + 0.9987064599990845, + -6.294064998626709 + ], + [ + -0.12284000217914581, + -0.9920263886451721, + -0.028180930763483047, + -4.885133266448975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1243, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_138469457", + "mask_path": "../../mask/hdr_left_01243.png" + }, + { + "file_path": "../../rgb/hdr_left_01244.png", + "transform_matrix": [ + [ + 0.9914014935493469, + -0.12516866624355316, + 0.03815547004342079, + 41.150856018066406 + ], + [ + -0.04203527793288231, + -0.028502464294433594, + 0.9987093806266785, + -6.2787861824035645 + ], + [ + -0.12391961365938187, + -0.9917260408401489, + -0.03351888060569763, + -4.89949893951416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1244, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_238470077", + "mask_path": "../../mask/hdr_left_01244.png" + }, + { + "file_path": "../../rgb/hdr_left_01245.png", + "transform_matrix": [ + [ + 0.9916820526123047, + -0.12406207621097565, + 0.03428288921713829, + 41.21442413330078 + ], + [ + -0.03826230391860008, + -0.029835907742381096, + 0.9988221526145935, + -6.2590742111206055 + ], + [ + -0.1228930875658989, + -0.9918258786201477, + -0.03433462977409363, + -4.909127235412598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1245, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_338468074", + "mask_path": "../../mask/hdr_left_01245.png" + }, + { + "file_path": "../../rgb/hdr_left_01246.png", + "transform_matrix": [ + [ + 0.9918015599250793, + -0.12377602607011795, + 0.03176623582839966, + 41.28950881958008 + ], + [ + -0.03522472083568573, + -0.025853252038359642, + 0.9990449547767639, + -6.24162483215332 + ], + [ + -0.12283654510974884, + -0.991973340511322, + -0.030001269653439522, + -4.9205322265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1246, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_438470840", + "mask_path": "../../mask/hdr_left_01246.png" + }, + { + "file_path": "../../rgb/hdr_left_01247.png", + "transform_matrix": [ + [ + 0.9913986921310425, + -0.12624135613441467, + 0.03452306240797043, + 41.3714485168457 + ], + [ + -0.037848468869924545, + -0.024037888273596764, + 0.9989942908287048, + -6.230258941650391 + ], + [ + -0.12528453767299652, + -0.9917083978652954, + -0.02860916778445244, + -4.934824466705322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1247, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_538469791", + "mask_path": "../../mask/hdr_left_01247.png" + }, + { + "file_path": "../../rgb/hdr_left_01248.png", + "transform_matrix": [ + [ + 0.9906467199325562, + -0.12912024557590485, + 0.04412560909986496, + 41.441646575927734 + ], + [ + -0.047603216022253036, + -0.02397054433822632, + 0.9985786080360413, + -6.221784591674805 + ], + [ + -0.12787899374961853, + -0.9913392663002014, + -0.029892869293689728, + -4.936410903930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1248, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_638471126", + "mask_path": "../../mask/hdr_left_01248.png" + }, + { + "file_path": "../../rgb/hdr_left_01249.png", + "transform_matrix": [ + [ + 0.990304708480835, + -0.12592943012714386, + 0.05863725394010544, + 41.49879455566406 + ], + [ + -0.0620327889919281, + -0.023210253566503525, + 0.9978041648864746, + -6.213715553283691 + ], + [ + -0.12429192662239075, + -0.9917677044868469, + -0.030796976760029793, + -4.944323539733887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1249, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_738468647", + "mask_path": "../../mask/hdr_left_01249.png" + }, + { + "file_path": "../../rgb/hdr_left_01250.png", + "transform_matrix": [ + [ + 0.9904918074607849, + -0.11729864031076431, + 0.07188113778829575, + 41.583621978759766 + ], + [ + -0.07531454414129257, + -0.02509956993162632, + 0.9968439340591431, + -6.204403877258301 + ], + [ + -0.11512424051761627, + -0.9927794933319092, + -0.03369520604610443, + -4.958587169647217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1250, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_838471174", + "mask_path": "../../mask/hdr_left_01250.png" + }, + { + "file_path": "../../rgb/hdr_left_01251.png", + "transform_matrix": [ + [ + 0.9909114837646484, + -0.1137862503528595, + 0.0717427134513855, + 41.67084503173828 + ], + [ + -0.07529347389936447, + -0.027215486392378807, + 0.9967899918556213, + -6.188399791717529 + ], + [ + -0.11146847158670425, + -0.993132472038269, + -0.03553549945354462, + -4.968863487243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1251, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_938468933", + "mask_path": "../../mask/hdr_left_01251.png" + }, + { + "file_path": "../../rgb/hdr_left_01252.png", + "transform_matrix": [ + [ + 0.9912700057029724, + -0.11316417902708054, + 0.0676584467291832, + 41.72819137573242 + ], + [ + -0.0712018832564354, + -0.02756470814347267, + 0.9970809817314148, + -6.170421600341797 + ], + [ + -0.11096885800361633, + -0.9931938648223877, + -0.03538156673312187, + -4.976922988891602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1252, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_38470268", + "mask_path": "../../mask/hdr_left_01252.png" + }, + { + "file_path": "../../rgb/hdr_left_01253.png", + "transform_matrix": [ + [ + 0.9914892315864563, + -0.11293710023164749, + 0.06476251035928726, + 41.79405975341797 + ], + [ + -0.06772121042013168, + -0.022557266056537628, + 0.9974492192268372, + -6.1551079750061035 + ], + [ + -0.11118815094232559, + -0.993346095085144, + -0.030013520270586014, + -4.987039566040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1253, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_138469696", + "mask_path": "../../mask/hdr_left_01253.png" + }, + { + "file_path": "../../rgb/hdr_left_01254.png", + "transform_matrix": [ + [ + 0.9908985495567322, + -0.11742927879095078, + 0.06580493599176407, + 41.871368408203125 + ], + [ + -0.06855764240026474, + -0.019553611055016518, + 0.9974554777145386, + -6.143204689025879 + ], + [ + -0.1158437430858612, + -0.9928887486457825, + -0.02742631919682026, + -4.999085426330566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1254, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_238469839", + "mask_path": "../../mask/hdr_left_01254.png" + }, + { + "file_path": "../../rgb/hdr_left_01255.png", + "transform_matrix": [ + [ + 0.9897154569625854, + -0.12271943688392639, + 0.07350616157054901, + 41.94233322143555 + ], + [ + -0.0766068547964096, + -0.020735884085297585, + 0.9968456625938416, + -6.136597633361816 + ], + [ + -0.12080812454223633, + -0.9922248125076294, + -0.02992377057671547, + -5.0025410652160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1255, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_338470458", + "mask_path": "../../mask/hdr_left_01255.png" + }, + { + "file_path": "../../rgb/hdr_left_01256.png", + "transform_matrix": [ + [ + 0.9892910718917847, + -0.119805708527565, + 0.08336475491523743, + 41.999935150146484 + ], + [ + -0.08610371500253677, + -0.0178606566041708, + 0.9961260557174683, + -6.136258125305176 + ], + [ + -0.11785263568162918, + -0.9926367402076721, + -0.0279850997030735, + -5.007844924926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1256, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_438470363", + "mask_path": "../../mask/hdr_left_01256.png" + }, + { + "file_path": "../../rgb/hdr_left_01257.png", + "transform_matrix": [ + [ + 0.9889615774154663, + -0.11364267766475677, + 0.09508036077022552, + 42.06844711303711 + ], + [ + -0.09786225110292435, + -0.019143816083669662, + 0.9950157999992371, + -6.13224458694458 + ], + [ + -0.11125604808330536, + -0.9933372735977173, + -0.030053826048970222, + -5.020678520202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1257, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_538470268", + "mask_path": "../../mask/hdr_left_01257.png" + }, + { + "file_path": "../../rgb/hdr_left_01258.png", + "transform_matrix": [ + [ + 0.989244282245636, + -0.11113302409648895, + 0.09510587155818939, + 42.1614990234375 + ], + [ + -0.09843383729457855, + -0.024840302765369415, + 0.9948335289955139, + -6.1181721687316895 + ], + [ + -0.10819638520479202, + -0.9934950470924377, + -0.035512372851371765, + -5.03817892074585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1258, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_638469457", + "mask_path": "../../mask/hdr_left_01258.png" + }, + { + "file_path": "../../rgb/hdr_left_01259.png", + "transform_matrix": [ + [ + 0.989788293838501, + -0.11518548429012299, + 0.08397234231233597, + 42.23658752441406 + ], + [ + -0.0876857191324234, + -0.02755044773221016, + 0.9957671165466309, + -6.105412483215332 + ], + [ + -0.11238443851470947, + -0.9929619431495667, + -0.03736922889947891, + -5.049661636352539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1259, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_738470315", + "mask_path": "../../mask/hdr_left_01259.png" + }, + { + "file_path": "../../rgb/hdr_left_01260.png", + "transform_matrix": [ + [ + 0.990900456905365, + -0.11489151418209076, + 0.07011553645133972, + 42.30889892578125 + ], + [ + -0.07344520837068558, + -0.025003530085086823, + 0.996985673904419, + -6.094034194946289 + ], + [ + -0.11279205977916718, + -0.9930634498596191, + -0.033214230090379715, + -5.064026355743408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1260, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_838470935", + "mask_path": "../../mask/hdr_left_01260.png" + }, + { + "file_path": "../../rgb/hdr_left_01261.png", + "transform_matrix": [ + [ + 0.9911459684371948, + -0.11848177760839462, + 0.05993121117353439, + 42.401580810546875 + ], + [ + -0.062459684908390045, + -0.017740335315465927, + 0.9978898167610168, + -6.086359977722168 + ], + [ + -0.11716854572296143, + -0.9927977323532104, + -0.024983592331409454, + -5.080892562866211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1261, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_938470602", + "mask_path": "../../mask/hdr_left_01261.png" + }, + { + "file_path": "../../rgb/hdr_left_01262.png", + "transform_matrix": [ + [ + 0.9901472330093384, + -0.1265394538640976, + 0.059968095272779465, + 42.4852409362793 + ], + [ + -0.062185339629650116, + -0.013641652651131153, + 0.9979713559150696, + -6.083439350128174 + ], + [ + -0.12546467781066895, + -0.9918678402900696, + -0.02137613855302334, + -5.088213920593262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1262, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_38470983", + "mask_path": "../../mask/hdr_left_01262.png" + }, + { + "file_path": "../../rgb/hdr_left_01263.png", + "transform_matrix": [ + [ + 0.9899656176567078, + -0.12613126635551453, + 0.0637105405330658, + 42.542083740234375 + ], + [ + -0.06568775326013565, + -0.011574838310480118, + 0.9977730512619019, + -6.0767621994018555 + ], + [ + -0.12511293590068817, + -0.9919460415840149, + -0.019743965938687325, + -5.093875408172607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1263, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_138470649", + "mask_path": "../../mask/hdr_left_01263.png" + }, + { + "file_path": "../../rgb/hdr_left_01264.png", + "transform_matrix": [ + [ + 0.9903498291969299, + -0.12056231498718262, + 0.0683503970503807, + 42.60836410522461 + ], + [ + -0.07074932754039764, + -0.015725567936897278, + 0.997370183467865, + -6.068912029266357 + ], + [ + -0.11917039006948471, + -0.9925812482833862, + -0.02410351112484932, + -5.104104518890381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1264, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_238471269", + "mask_path": "../../mask/hdr_left_01264.png" + }, + { + "file_path": "../../rgb/hdr_left_01265.png", + "transform_matrix": [ + [ + 0.9908061027526855, + -0.11921148002147675, + 0.0639677420258522, + 42.69602584838867 + ], + [ + -0.06735403835773468, + -0.024592269212007523, + 0.9974259734153748, + -6.058104515075684 + ], + [ + -0.11733151972293854, + -0.9925642609596252, + -0.03239554166793823, + -5.120511531829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1265, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_338472127", + "mask_path": "../../mask/hdr_left_01265.png" + }, + { + "file_path": "../../rgb/hdr_left_01266.png", + "transform_matrix": [ + [ + 0.9909109473228455, + -0.12475815415382385, + 0.05030779540538788, + 42.770164489746094 + ], + [ + -0.05443744361400604, + -0.029914090409874916, + 0.9980689287185669, + -6.041771411895752 + ], + [ + -0.12301232665777206, + -0.991736114025116, + -0.036433715373277664, + -5.13555383682251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1266, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_438470840", + "mask_path": "../../mask/hdr_left_01266.png" + }, + { + "file_path": "../../rgb/hdr_left_01267.png", + "transform_matrix": [ + [ + 0.9916273355484009, + -0.12299729138612747, + 0.039329830557107925, + 42.834068298339844 + ], + [ + -0.0433572456240654, + -0.030239596962928772, + 0.9986019134521484, + -6.027753829956055 + ], + [ + -0.12163598835468292, + -0.9919462203979492, + -0.03531923145055771, + -5.144030570983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1267, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_538469791", + "mask_path": "../../mask/hdr_left_01267.png" + }, + { + "file_path": "../../rgb/hdr_left_01268.png", + "transform_matrix": [ + [ + 0.9916943311691284, + -0.12496668100357056, + 0.030425287783145905, + 42.91095733642578 + ], + [ + -0.033959660679101944, + -0.026249730959534645, + 0.9990784525871277, + -6.012229919433594 + ], + [ + -0.12405285984277725, + -0.9918136596679688, + -0.030275531113147736, + -5.157171726226807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1268, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_638470411", + "mask_path": "../../mask/hdr_left_01268.png" + }, + { + "file_path": "../../rgb/hdr_left_01269.png", + "transform_matrix": [ + [ + 0.9909953474998474, + -0.13116519153118134, + 0.026903610676527023, + 42.99483871459961 + ], + [ + -0.0301020797342062, + -0.022463321685791016, + 0.9992943406105042, + -6.001288890838623 + ], + [ + -0.13046829402446747, + -0.9911060333251953, + -0.02620939165353775, + -5.174009799957275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1269, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_738470315", + "mask_path": "../../mask/hdr_left_01269.png" + }, + { + "file_path": "../../rgb/hdr_left_01270.png", + "transform_matrix": [ + [ + 0.9907713532447815, + -0.13275788724422455, + 0.027340495958924294, + 43.060035705566406 + ], + [ + -0.030203621834516525, + -0.01960047148168087, + 0.9993516206741333, + -5.990849018096924 + ], + [ + -0.13213589787483215, + -0.9909547567367554, + -0.023429349064826965, + -5.179508686065674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1270, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_838471174", + "mask_path": "../../mask/hdr_left_01270.png" + }, + { + "file_path": "../../rgb/hdr_left_01271.png", + "transform_matrix": [ + [ + 0.991362988948822, + -0.1271224170923233, + 0.03223840519785881, + 43.12813949584961 + ], + [ + -0.03454956039786339, + -0.016017192974686623, + 0.9992745518684387, + -5.978839874267578 + ], + [ + -0.12651380896568298, + -0.9917576909065247, + -0.02027086727321148, + -5.191575050354004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1271, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_938469648", + "mask_path": "../../mask/hdr_left_01271.png" + }, + { + "file_path": "../../rgb/hdr_left_01272.png", + "transform_matrix": [ + [ + 0.9920995235443115, + -0.12106717377901077, + 0.03288185968995094, + 43.22220230102539 + ], + [ + -0.035109374672174454, + -0.01631130278110504, + 0.9992504119873047, + -5.962274551391602 + ], + [ + -0.12044006586074829, + -0.9925103187561035, + -0.02043302357196808, + -5.206777095794678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1272, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_38469314", + "mask_path": "../../mask/hdr_left_01272.png" + }, + { + "file_path": "../../rgb/hdr_right_01152.png", + "transform_matrix": [ + [ + -0.9903174638748169, + -0.10871529579162598, + 0.08632630109786987, + 35.24468994140625 + ], + [ + -0.08196590840816498, + -0.04396625980734825, + -0.9956649541854858, + -6.514883518218994 + ], + [ + 0.1120394617319107, + -0.993100106716156, + 0.034629613161087036, + -4.063416481018066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1152, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_338469505", + "mask_path": "../../mask/hdr_right_01152.png" + }, + { + "file_path": "../../rgb/hdr_right_01153.png", + "transform_matrix": [ + [ + -0.9887238144874573, + -0.11879996955394745, + 0.09116896986961365, + 35.32607650756836 + ], + [ + -0.08759452402591705, + -0.03498105704784393, + -0.9955419301986694, + -6.52347469329834 + ], + [ + 0.12145954370498657, + -0.9923017621040344, + 0.024180373176932335, + -4.075571537017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1153, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_438469409", + "mask_path": "../../mask/hdr_right_01153.png" + }, + { + "file_path": "../../rgb/hdr_right_01154.png", + "transform_matrix": [ + [ + -0.9883503913879395, + -0.1219479963183403, + 0.09106146544218063, + 35.38725662231445 + ], + [ + -0.08752737939357758, + -0.034041620790958405, + -0.9955803751945496, + -6.532303810119629 + ], + [ + 0.12450890243053436, + -0.9919525384902954, + 0.022971265017986298, + -4.08015775680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1154, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_538470268", + "mask_path": "../../mask/hdr_right_01154.png" + }, + { + "file_path": "../../rgb/hdr_right_01156.png", + "transform_matrix": [ + [ + -0.9893658757209778, + -0.11577913165092468, + 0.08803572505712509, + 35.5245361328125 + ], + [ + -0.08458564430475235, + -0.03439169004559517, + -0.9958226084709167, + -6.539183616638184 + ], + [ + 0.11832316964864731, + -0.9926794171333313, + 0.024232715368270874, + -4.105986595153809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1156, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_738470315", + "mask_path": "../../mask/hdr_right_01156.png" + }, + { + "file_path": "../../rgb/hdr_right_01157.png", + "transform_matrix": [ + [ + -0.9878060817718506, + -0.1189851313829422, + 0.10040810704231262, + 35.612205505371094 + ], + [ + -0.09676293283700943, + -0.03604155778884888, + -0.994654655456543, + -6.536795139312744 + ], + [ + 0.12196799367666245, + -0.9922416806221008, + 0.024088716134428978, + -4.117067813873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1157, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_838470220", + "mask_path": "../../mask/hdr_right_01157.png" + }, + { + "file_path": "../../rgb/hdr_right_01158.png", + "transform_matrix": [ + [ + -0.9861242175102234, + -0.11870982497930527, + 0.11604730784893036, + 35.67693328857422 + ], + [ + -0.11262509971857071, + -0.035164907574653625, + -0.9930151104927063, + -6.531068801879883 + ], + [ + 0.12196145951747894, + -0.9923060536384583, + 0.021307267248630524, + -4.12758731842041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1158, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_938470602", + "mask_path": "../../mask/hdr_right_01158.png" + }, + { + "file_path": "../../rgb/hdr_right_01159.png", + "transform_matrix": [ + [ + -0.9843915700912476, + -0.1175457164645195, + 0.13098174333572388, + 35.74843978881836 + ], + [ + -0.1285114586353302, + -0.028387634083628654, + -0.9913017153739929, + -6.520476818084717 + ], + [ + 0.12024153023958206, + -0.9926616549491882, + 0.012838581576943398, + -4.140194416046143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1159, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_38470268", + "mask_path": "../../mask/hdr_right_01159.png" + }, + { + "file_path": "../../rgb/hdr_right_01160.png", + "transform_matrix": [ + [ + -0.9823829531669617, + -0.12235794216394424, + 0.14125272631645203, + 35.83274841308594 + ], + [ + -0.13941676914691925, + -0.023482291027903557, + -0.9899553656578064, + -6.51483678817749 + ], + [ + 0.124445840716362, + -0.9922081828117371, + 0.006009853444993496, + -4.154242038726807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1160, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_138470411", + "mask_path": "../../mask/hdr_right_01160.png" + }, + { + "file_path": "../../rgb/hdr_right_01161.png", + "transform_matrix": [ + [ + -0.9807565212249756, + -0.13070911169052124, + 0.14502350986003876, + 35.90741729736328 + ], + [ + -0.14326809346675873, + -0.022785739973187447, + -0.9894216656684875, + -6.5159993171691895 + ], + [ + 0.1326308697462082, + -0.9911588430404663, + 0.003620821051299572, + -4.156383514404297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1161, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_238470077", + "mask_path": "../../mask/hdr_right_01161.png" + }, + { + "file_path": "../../rgb/hdr_right_01162.png", + "transform_matrix": [ + [ + -0.9805911779403687, + -0.12780627608299255, + 0.14868253469467163, + 35.96765899658203 + ], + [ + -0.14752253890037537, + -0.018548298627138138, + -0.988884687423706, + -6.515910625457764 + ], + [ + 0.12914350628852844, + -0.9916256666183472, + -0.000666006759274751, + -4.16422176361084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1162, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_338470935", + "mask_path": "../../mask/hdr_right_01162.png" + }, + { + "file_path": "../../rgb/hdr_right_01163.png", + "transform_matrix": [ + [ + -0.9809232354164124, + -0.12153653800487518, + 0.15171824395656586, + 36.0467643737793 + ], + [ + -0.15075306594371796, + -0.017151804640889168, + -0.9884226322174072, + -6.514964580535889 + ], + [ + 0.12273170799016953, + -0.9924387335777283, + -0.001497400924563408, + -4.179720401763916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1163, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_438469648", + "mask_path": "../../mask/hdr_right_01163.png" + }, + { + "file_path": "../../rgb/hdr_right_01164.png", + "transform_matrix": [ + [ + -0.9793431162834167, + -0.1198187917470932, + 0.16288165748119354, + 36.14763641357422 + ], + [ + -0.16135704517364502, + -0.022383861243724823, + -0.9866422414779663, + -6.5094075202941895 + ], + [ + 0.1218641996383667, + -0.9925433993339539, + 0.002587878843769431, + -4.2007012367248535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1164, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_538470268", + "mask_path": "../../mask/hdr_right_01164.png" + }, + { + "file_path": "../../rgb/hdr_right_01165.png", + "transform_matrix": [ + [ + -0.9764244556427002, + -0.1201971024274826, + 0.17929843068122864, + 36.227996826171875 + ], + [ + -0.17771606147289276, + -0.023845909163355827, + -0.9837928414344788, + -6.501723766326904 + ], + [ + 0.12252458184957504, + -0.9924635887145996, + 0.0019227741286158562, + -4.212350368499756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1165, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_638468980", + "mask_path": "../../mask/hdr_right_01165.png" + }, + { + "file_path": "../../rgb/hdr_right_01166.png", + "transform_matrix": [ + [ + -0.9741097092628479, + -0.11688364297151566, + 0.19351625442504883, + 36.2987174987793 + ], + [ + -0.19282999634742737, + -0.017260488122701645, + -0.9810804724693298, + -6.4939093589782715 + ], + [ + 0.1180124282836914, + -0.9929956197738647, + -0.005725058726966381, + -4.2296552658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1166, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_738470315", + "mask_path": "../../mask/hdr_right_01166.png" + }, + { + "file_path": "../../rgb/hdr_right_01167.png", + "transform_matrix": [ + [ + -0.9713354706764221, + -0.11879914999008179, + 0.20589852333068848, + 36.3900260925293 + ], + [ + -0.20625938475131989, + -0.009384279139339924, + -0.9784523844718933, + -6.487153053283691 + ], + [ + 0.11817152053117752, + -0.9928739666938782, + -0.015388155356049538, + -4.245528221130371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1167, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_838469743", + "mask_path": "../../mask/hdr_right_01167.png" + }, + { + "file_path": "../../rgb/hdr_right_01168.png", + "transform_matrix": [ + [ + -0.9694249033927917, + -0.12828382849693298, + 0.2091856747865677, + 36.47252655029297 + ], + [ + -0.2097916454076767, + -0.008923565037548542, + -0.9777054786682129, + -6.4850754737854 + ], + [ + 0.12729047238826752, + -0.991697371006012, + -0.018262146040797234, + -4.248517036437988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1168, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594283_938469886", + "mask_path": "../../mask/hdr_right_01168.png" + }, + { + "file_path": "../../rgb/hdr_right_01169.png", + "transform_matrix": [ + [ + -0.9693841934204102, + -0.12667536735534668, + 0.21035155653953552, + 36.52902603149414 + ], + [ + -0.21132656931877136, + -0.005846486426889896, + -0.9773980975151062, + -6.481335639953613 + ], + [ + 0.12504208087921143, + -0.9919270277023315, + -0.021102380007505417, + -4.253637790679932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1169, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_38469314", + "mask_path": "../../mask/hdr_right_01169.png" + }, + { + "file_path": "../../rgb/hdr_right_01170.png", + "transform_matrix": [ + [ + -0.9706886410713196, + -0.12058908492326736, + 0.20789828896522522, + 36.597904205322266 + ], + [ + -0.209126278758049, + -0.0025227125734090805, + -0.977885365486145, + -6.474162578582764 + ], + [ + 0.11844677478075027, + -0.9926993250846863, + -0.02276957780122757, + -4.268816947937012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1170, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_138469696", + "mask_path": "../../mask/hdr_right_01170.png" + }, + { + "file_path": "../../rgb/hdr_right_01171.png", + "transform_matrix": [ + [ + -0.9712269902229309, + -0.11780669540166855, + 0.20697759091854095, + 36.70286178588867 + ], + [ + -0.20750883221626282, + -0.00787395890802145, + -0.9782015085220337, + -6.465249538421631 + ], + [ + 0.11686841398477554, + -0.9930052757263184, + -0.016798529773950577, + -4.286369800567627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1171, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_238469362", + "mask_path": "../../mask/hdr_right_01171.png" + }, + { + "file_path": "../../rgb/hdr_right_01172.png", + "transform_matrix": [ + [ + -0.969353437423706, + -0.12178180366754532, + 0.21336117386817932, + 36.78892135620117 + ], + [ + -0.21359825134277344, + -0.011258646845817566, + -0.9768568873405457, + -6.455756187438965 + ], + [ + 0.12136553227901459, + -0.9924930334091187, + -0.015098768286406994, + -4.296776294708252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1172, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_338469505", + "mask_path": "../../mask/hdr_right_01172.png" + }, + { + "file_path": "../../rgb/hdr_right_01173.png", + "transform_matrix": [ + [ + -0.9684178233146667, + -0.12009751051664352, + 0.2185031771659851, + 36.85125732421875 + ], + [ + -0.2188638299703598, + -0.010342083871364594, + -0.9757005572319031, + -6.444289207458496 + ], + [ + 0.1194390058517456, + -0.9927082061767578, + -0.016269544139504433, + -4.312091827392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1173, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_438468217", + "mask_path": "../../mask/hdr_right_01173.png" + }, + { + "file_path": "../../rgb/hdr_right_01174.png", + "transform_matrix": [ + [ + -0.9675725698471069, + -0.1204037219285965, + 0.22204981744289398, + 36.929203033447266 + ], + [ + -0.2225489318370819, + -0.00945762638002634, + -0.9748756885528564, + -6.4337029457092285 + ], + [ + 0.1194787323474884, + -0.992680013179779, + -0.01764477975666523, + -4.324841499328613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1174, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_538470506", + "mask_path": "../../mask/hdr_right_01174.png" + }, + { + "file_path": "../../rgb/hdr_right_01175.png", + "transform_matrix": [ + [ + -0.9668946266174316, + -0.12549349665641785, + 0.2221849411725998, + 37.01349639892578 + ], + [ + -0.22193562984466553, + -0.0161435604095459, + -0.9749277234077454, + -6.4314093589782715 + ], + [ + 0.1259339451789856, + -0.9919630885124207, + -0.012242356315255165, + -4.329892635345459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1175, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_638470649", + "mask_path": "../../mask/hdr_right_01175.png" + }, + { + "file_path": "../../rgb/hdr_right_01176.png", + "transform_matrix": [ + [ + -0.967896580696106, + -0.12336483597755432, + 0.21899166703224182, + 37.08591842651367 + ], + [ + -0.2184211164712906, + -0.018298808485269547, + -0.9756830334663391, + -6.431986331939697 + ], + [ + 0.12437226623296738, + -0.9921926856040955, + -0.009234132245182991, + -4.333164691925049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1176, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_738470077", + "mask_path": "../../mask/hdr_right_01176.png" + }, + { + "file_path": "../../rgb/hdr_right_01177.png", + "transform_matrix": [ + [ + -0.9702720046043396, + -0.11391148716211319, + 0.2135332226753235, + 37.15885543823242 + ], + [ + -0.2125856876373291, + -0.020545177161693573, + -0.9769265055656433, + -6.433723449707031 + ], + [ + 0.11567021161317825, + -0.993278443813324, + -0.00428153807297349, + -4.345208168029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1177, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_838470220", + "mask_path": "../../mask/hdr_right_01177.png" + }, + { + "file_path": "../../rgb/hdr_right_01178.png", + "transform_matrix": [ + [ + -0.9715374112129211, + -0.10632393509149551, + 0.2116844803094864, + 37.24434280395508 + ], + [ + -0.21009531617164612, + -0.026060709729790688, + -0.9773334860801697, + -6.429956436157227 + ], + [ + 0.10943060368299484, + -0.9939899444580078, + 0.002980791963636875, + -4.357479572296143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1178, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594284_938470602", + "mask_path": "../../mask/hdr_right_01178.png" + }, + { + "file_path": "../../rgb/hdr_right_01179.png", + "transform_matrix": [ + [ + -0.9697906374931335, + -0.10704483836889267, + 0.2191978543996811, + 37.327613830566406 + ], + [ + -0.21653825044631958, + -0.036011215299367905, + -0.9756097793579102, + -6.427944660186768 + ], + [ + 0.11232757568359375, + -0.9936017990112305, + 0.011744029819965363, + -4.365573883056641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1179, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_38469791", + "mask_path": "../../mask/hdr_right_01179.png" + }, + { + "file_path": "../../rgb/hdr_right_01180.png", + "transform_matrix": [ + [ + -0.9680927395820618, + -0.10561873763799667, + 0.2272469848394394, + 37.3862419128418 + ], + [ + -0.22444294393062592, + -0.03787568211555481, + -0.9737508893013, + -6.4173359870910645 + ], + [ + 0.11145347356796265, + -0.9936850666999817, + 0.012961791828274727, + -4.372103691101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1180, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_138469457", + "mask_path": "../../mask/hdr_right_01180.png" + }, + { + "file_path": "../../rgb/hdr_right_01181.png", + "transform_matrix": [ + [ + -0.9662860631942749, + -0.10517231374979019, + 0.2350107878446579, + 37.45698547363281 + ], + [ + -0.23278218507766724, + -0.03316202759742737, + -0.9719633460044861, + -6.406483173370361 + ], + [ + 0.1100170761346817, + -0.9939009547233582, + 0.0075617642141878605, + -4.379493236541748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1181, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_238469839", + "mask_path": "../../mask/hdr_right_01181.png" + }, + { + "file_path": "../../rgb/hdr_right_01182.png", + "transform_matrix": [ + [ + -0.964988112449646, + -0.10862452536821365, + 0.238743856549263, + 37.53438186645508 + ], + [ + -0.2369479537010193, + -0.029341794550418854, + -0.9710792303085327, + -6.398994445800781 + ], + [ + 0.11248818784952164, + -0.9936497807502747, + 0.0025761225260794163, + -4.3913397789001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1182, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_338470220", + "mask_path": "../../mask/hdr_right_01182.png" + }, + { + "file_path": "../../rgb/hdr_right_01183.png", + "transform_matrix": [ + [ + -0.9644269347190857, + -0.11365345865488052, + 0.2386706918478012, + 37.6058235168457 + ], + [ + -0.2367054969072342, + -0.030682871118187904, + -0.9710968136787415, + -6.397288799285889 + ], + [ + 0.11769162863492966, + -0.9930465221405029, + 0.002688984852284193, + -4.394097805023193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1183, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_438469886", + "mask_path": "../../mask/hdr_right_01183.png" + }, + { + "file_path": "../../rgb/hdr_right_01184.png", + "transform_matrix": [ + [ + -0.9654688835144043, + -0.11026016622781754, + 0.23603539168834686, + 37.6684455871582 + ], + [ + -0.23468223214149475, + -0.025280894711613655, + -0.9717434048652649, + -6.392525672912598 + ], + [ + 0.11311175674200058, + -0.9935811758041382, + -0.0014681840548291802, + -4.39884614944458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1184, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_538470745", + "mask_path": "../../mask/hdr_right_01184.png" + }, + { + "file_path": "../../rgb/hdr_right_01185.png", + "transform_matrix": [ + [ + -0.9678344130516052, + -0.10429111868143082, + 0.22895368933677673, + 37.743282318115234 + ], + [ + -0.22789715230464935, + -0.022098582237958908, + -0.9734344482421875, + -6.38240909576416 + ], + [ + 0.10658011585474014, + -0.9943013191223145, + -0.0023798842448741198, + -4.408693790435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1185, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_638470172", + "mask_path": "../../mask/hdr_right_01185.png" + }, + { + "file_path": "../../rgb/hdr_right_01186.png", + "transform_matrix": [ + [ + -0.9686582088470459, + -0.10509892553091049, + 0.22506777942180634, + 37.83064651489258 + ], + [ + -0.22321805357933044, + -0.029197199270129204, + -0.9743312001228333, + -6.372218608856201 + ], + [ + 0.10897251963615417, + -0.9940330982208252, + 0.004822127521038055, + -4.423684597015381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1186, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_738472700", + "mask_path": "../../mask/hdr_right_01186.png" + }, + { + "file_path": "../../rgb/hdr_right_01187.png", + "transform_matrix": [ + [ + -0.968203604221344, + -0.10606207698583603, + 0.22656694054603577, + 37.899925231933594 + ], + [ + -0.22442848980426788, + -0.031839605420827866, + -0.9739702343940735, + -6.360208988189697 + ], + [ + 0.11051511019468307, + -0.9938496351242065, + 0.007023865357041359, + -4.434047698974609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1187, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_838470697", + "mask_path": "../../mask/hdr_right_01187.png" + }, + { + "file_path": "../../rgb/hdr_right_01188.png", + "transform_matrix": [ + [ + -0.9680401086807251, + -0.10476943105459213, + 0.2278636246919632, + 37.9656867980957 + ], + [ + -0.2261686623096466, + -0.027943231165409088, + -0.9736872911453247, + -6.349181175231934 + ], + [ + 0.10837990045547485, + -0.9941039085388184, + 0.0033546043559908867, + -4.445199489593506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1188, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594285_938470363", + "mask_path": "../../mask/hdr_right_01188.png" + }, + { + "file_path": "../../rgb/hdr_right_01189.png", + "transform_matrix": [ + [ + -0.9675838947296143, + -0.10844963788986206, + 0.2280789613723755, + 38.04584884643555 + ], + [ + -0.22676782310009003, + -0.024439094588160515, + -0.9736422300338745, + -6.341643333435059 + ], + [ + 0.11116520315408707, + -0.993801474571228, + -0.0009460157016292214, + -4.45872688293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1189, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_38470506", + "mask_path": "../../mask/hdr_right_01189.png" + }, + { + "file_path": "../../rgb/hdr_right_01190.png", + "transform_matrix": [ + [ + -0.9678537845611572, + -0.11767370998859406, + 0.22228822112083435, + 38.128211975097656 + ], + [ + -0.22062768042087555, + -0.027121281251311302, + -0.9749810099601746, + -6.341009616851807 + ], + [ + 0.12075836956501007, + -0.9926819205284119, + 0.00028735934756696224, + -4.46918249130249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1190, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_138470411", + "mask_path": "../../mask/hdr_right_01190.png" + }, + { + "file_path": "../../rgb/hdr_right_01191.png", + "transform_matrix": [ + [ + -0.9700559377670288, + -0.11695121973752975, + 0.21287064254283905, + 38.1963005065918 + ], + [ + -0.21116220951080322, + -0.02695463038980961, + -0.9770793914794922, + -6.340831279754639 + ], + [ + 0.12000847607851028, + -0.9927717447280884, + 0.0014518247917294502, + -4.475030422210693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1191, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_238470315", + "mask_path": "../../mask/hdr_right_01191.png" + }, + { + "file_path": "../../rgb/hdr_right_01192.png", + "transform_matrix": [ + [ + -0.9735403060913086, + -0.10959687829017639, + 0.20051899552345276, + 38.26639938354492 + ], + [ + -0.19882257282733917, + -0.026306740939617157, + -0.9796823859214783, + -6.3329291343688965 + ], + [ + 0.11264511942863464, + -0.9936279058456421, + 0.0038203378207981586, + -4.489282608032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1192, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_338469982", + "mask_path": "../../mask/hdr_right_01192.png" + }, + { + "file_path": "../../rgb/hdr_right_01193.png", + "transform_matrix": [ + [ + -0.9757134914398193, + -0.10462124645709991, + 0.19245152175426483, + 38.36297607421875 + ], + [ + -0.19026988744735718, + -0.030543223023414612, + -0.9812566637992859, + -6.329262733459473 + ], + [ + 0.10853838175535202, + -0.9940429925918579, + 0.009895160794258118, + -4.504782676696777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1193, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_438470363", + "mask_path": "../../mask/hdr_right_01193.png" + }, + { + "file_path": "../../rgb/hdr_right_01194.png", + "transform_matrix": [ + [ + -0.9747196435928345, + -0.10604577511548996, + 0.1966622918844223, + 38.457645416259766 + ], + [ + -0.193958580493927, + -0.03533577546477318, + -0.9803731441497803, + -6.324160575866699 + ], + [ + 0.11091364175081253, + -0.9937331676483154, + 0.013873981311917305, + -4.511316299438477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1194, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_538471460", + "mask_path": "../../mask/hdr_right_01194.png" + }, + { + "file_path": "../../rgb/hdr_right_01195.png", + "transform_matrix": [ + [ + -0.9740399718284607, + -0.1032354012131691, + 0.20146596431732178, + 38.52090072631836 + ], + [ + -0.19897153973579407, + -0.034023791551589966, + -0.9794145226478577, + -6.313100814819336 + ], + [ + 0.1079648956656456, + -0.994074821472168, + 0.01259963121265173, + -4.522907733917236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_638470411", + "mask_path": "../../mask/hdr_right_01195.png" + }, + { + "file_path": "../../rgb/hdr_right_01196.png", + "transform_matrix": [ + [ + -0.9735708236694336, + -0.10399158298969269, + 0.2033362239599228, + 38.59370422363281 + ], + [ + -0.20123253762722015, + -0.03044785186648369, + -0.9790703058242798, + -6.30546760559082 + ], + [ + 0.10800620168447495, + -0.994111955165863, + 0.008716654032468796, + -4.533740043640137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1196, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_738470554", + "mask_path": "../../mask/hdr_right_01196.png" + }, + { + "file_path": "../../rgb/hdr_right_01197.png", + "transform_matrix": [ + [ + -0.97376549243927, + -0.11124899238348007, + 0.19850516319274902, + 38.681922912597656 + ], + [ + -0.19645167887210846, + -0.029237087815999985, + -0.9800775647163391, + -6.307025909423828 + ], + [ + 0.11483635008335114, + -0.9933624863624573, + 0.006615016609430313, + -4.544312953948975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_838470220", + "mask_path": "../../mask/hdr_right_01197.png" + }, + { + "file_path": "../../rgb/hdr_right_01198.png", + "transform_matrix": [ + [ + -0.9753502607345581, + -0.1140143871307373, + 0.1889251470565796, + 38.75754165649414 + ], + [ + -0.1864631325006485, + -0.031983181834220886, + -0.9819412231445312, + -6.310955047607422 + ], + [ + 0.11799785494804382, + -0.9929641485214233, + 0.009935318492352962, + -4.54835319519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1198, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594286_938470840", + "mask_path": "../../mask/hdr_right_01198.png" + }, + { + "file_path": "../../rgb/hdr_right_01199.png", + "transform_matrix": [ + [ + -0.9780204892158508, + -0.11122439801692963, + 0.1763664186000824, + 38.81838607788086 + ], + [ + -0.17382971942424774, + -0.0321834571659565, + -0.9842497706413269, + -6.311549186706543 + ], + [ + 0.11514866352081299, + -0.9932740926742554, + 0.012141975574195385, + -4.556282997131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1199, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_38470983", + "mask_path": "../../mask/hdr_right_01199.png" + }, + { + "file_path": "../../rgb/hdr_right_01200.png", + "transform_matrix": [ + [ + -0.9807080030441284, + -0.106238454580307, + 0.16408908367156982, + 38.90546798706055 + ], + [ + -0.16113907098770142, + -0.03583971783518791, + -0.9862807393074036, + -6.314644813537598 + ], + [ + 0.11066184192895889, + -0.993694543838501, + 0.018029136583209038, + -4.574249744415283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1200, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_138470172", + "mask_path": "../../mask/hdr_right_01200.png" + }, + { + "file_path": "../../rgb/hdr_right_01201.png", + "transform_matrix": [ + [ + -0.9811637997627258, + -0.10748569667339325, + 0.1605130136013031, + 39.00175857543945 + ], + [ + -0.15669748187065125, + -0.04310523346066475, + -0.9867056012153625, + -6.314806938171387 + ], + [ + 0.11297567933797836, + -0.9932717084884644, + 0.025450564920902252, + -4.589160919189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1201, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_238470792", + "mask_path": "../../mask/hdr_right_01201.png" + }, + { + "file_path": "../../rgb/hdr_right_01202.png", + "transform_matrix": [ + [ + -0.9803141355514526, + -0.10962844640016556, + 0.16421274840831757, + 39.07389831542969 + ], + [ + -0.15998753905296326, + -0.04634501412510872, + -0.9860304594039917, + -6.313408851623535 + ], + [ + 0.11570741981267929, + -0.9928916096687317, + 0.027893487364053726, + -4.5991411209106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1202, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_338469982", + "mask_path": "../../mask/hdr_right_01202.png" + }, + { + "file_path": "../../rgb/hdr_right_01203.png", + "transform_matrix": [ + [ + -0.9786874055862427, + -0.1091741994023323, + 0.17393119633197784, + 39.1535530090332 + ], + [ + -0.1704532504081726, + -0.040491677820682526, + -0.984533429145813, + -6.311272144317627 + ], + [ + 0.11452841013669968, + -0.9931976199150085, + 0.021019604057073593, + -4.614810943603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1203, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_438469886", + "mask_path": "../../mask/hdr_right_01203.png" + }, + { + "file_path": "../../rgb/hdr_right_01204.png", + "transform_matrix": [ + [ + -0.9770434498786926, + -0.11220120638608932, + 0.18109941482543945, + 39.24763107299805 + ], + [ + -0.1783604770898819, + -0.034070469439029694, + -0.9833752512931824, + -6.30952787399292 + ], + [ + 0.11650602519512177, + -0.9931012988090515, + 0.013276071287691593, + -4.628967761993408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1204, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_538470506", + "mask_path": "../../mask/hdr_right_01204.png" + }, + { + "file_path": "../../rgb/hdr_right_01205.png", + "transform_matrix": [ + [ + -0.9767411351203918, + -0.11874734610319138, + 0.17853794991970062, + 39.33245849609375 + ], + [ + -0.1758318543434143, + -0.032973870635032654, + -0.9838680028915405, + -6.312124729156494 + ], + [ + 0.12271877378225327, + -0.9923768639564514, + 0.01132737472653389, + -4.631051063537598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1205, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_638470172", + "mask_path": "../../mask/hdr_right_01205.png" + }, + { + "file_path": "../../rgb/hdr_right_01206.png", + "transform_matrix": [ + [ + -0.9778766632080078, + -0.11609265953302383, + 0.17401085793972015, + 39.394065856933594 + ], + [ + -0.1718006730079651, + -0.028858043253421783, + -0.9847089648246765, + -6.3130598068237305 + ], + [ + 0.11933910101652145, + -0.99281907081604, + 0.008274812251329422, + -4.63738489151001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1206, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_738470792", + "mask_path": "../../mask/hdr_right_01206.png" + }, + { + "file_path": "../../rgb/hdr_right_01207.png", + "transform_matrix": [ + [ + -0.979007363319397, + -0.11134073138237, + 0.17072759568691254, + 39.471336364746094 + ], + [ + -0.16861699521541595, + -0.028175020590424538, + -0.9852789044380188, + -6.311252593994141 + ], + [ + 0.11451192200183868, + -0.9933828115463257, + 0.008809616789221764, + -4.651636600494385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1207, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_838470220", + "mask_path": "../../mask/hdr_right_01207.png" + }, + { + "file_path": "../../rgb/hdr_right_01208.png", + "transform_matrix": [ + [ + -0.9777697324752808, + -0.11210892349481583, + 0.17719468474388123, + 39.56480407714844 + ], + [ + -0.1748061180114746, + -0.030867353081703186, + -0.9841188788414001, + -6.303714275360107 + ], + [ + 0.11579804122447968, + -0.993216335773468, + 0.010583841241896152, + -4.671422004699707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1208, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594287_938470125", + "mask_path": "../../mask/hdr_right_01208.png" + }, + { + "file_path": "../../rgb/hdr_right_01209.png", + "transform_matrix": [ + [ + -0.9746809601783752, + -0.1157686710357666, + 0.1912974864244461, + 39.639976501464844 + ], + [ + -0.1886088103055954, + -0.03385293856263161, + -0.981468677520752, + -6.289532661437988 + ], + [ + 0.12009931355714798, + -0.992699146270752, + 0.011160822585225105, + -4.681229591369629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1209, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_38470983", + "mask_path": "../../mask/hdr_right_01209.png" + }, + { + "file_path": "../../rgb/hdr_right_01210.png", + "transform_matrix": [ + [ + -0.9725912809371948, + -0.1136661022901535, + 0.2028454840183258, + 39.70830535888672 + ], + [ + -0.20052273571491241, + -0.03163008391857147, + -0.9791783690452576, + -6.2778778076171875 + ], + [ + 0.11771540343761444, + -0.9930153489112854, + 0.007970506325364113, + -4.692868232727051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1210, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_138469934", + "mask_path": "../../mask/hdr_right_01210.png" + }, + { + "file_path": "../../rgb/hdr_right_01211.png", + "transform_matrix": [ + [ + -0.9703755378723145, + -0.11579379439353943, + 0.21204519271850586, + 39.78902816772461 + ], + [ + -0.21035782992839813, + -0.026744872331619263, + -0.977258563041687, + -6.269151210784912 + ], + [ + 0.11883160471916199, + -0.9929131865501404, + 0.0015944381011649966, + -4.706220626831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_238470315", + "mask_path": "../../mask/hdr_right_01211.png" + }, + { + "file_path": "../../rgb/hdr_right_01212.png", + "transform_matrix": [ + [ + -0.969241738319397, + -0.12008468806743622, + 0.21482564508914948, + 39.8728141784668 + ], + [ + -0.21316219866275787, + -0.026683712378144264, + -0.9766524434089661, + -6.263840198516846 + ], + [ + 0.12301334738731384, + -0.9924049973487854, + 0.00026545775472186506, + -4.712745189666748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1212, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_338470458", + "mask_path": "../../mask/hdr_right_01212.png" + }, + { + "file_path": "../../rgb/hdr_right_01213.png", + "transform_matrix": [ + [ + -0.9704651832580566, + -0.11672060191631317, + 0.21112452447414398, + 39.94029998779297 + ], + [ + -0.20976775884628296, + -0.02393021620810032, + -0.9774584174156189, + -6.259884357452393 + ], + [ + 0.11914179474115372, + -0.992876410484314, + -0.0012607730459421873, + -4.715335845947266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_438470125", + "mask_path": "../../mask/hdr_right_01213.png" + }, + { + "file_path": "../../rgb/hdr_right_01214.png", + "transform_matrix": [ + [ + -0.97236168384552, + -0.11036741733551025, + 0.2057473361492157, + 40.01298522949219 + ], + [ + -0.20390045642852783, + -0.02789035439491272, + -0.9785942435264587, + -6.25296688079834 + ], + [ + 0.11374329030513763, + -0.9934993982315063, + 0.004615544807165861, + -4.726972579956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1214, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_538469314", + "mask_path": "../../mask/hdr_right_01214.png" + }, + { + "file_path": "../../rgb/hdr_right_01215.png", + "transform_matrix": [ + [ + -0.9721182584762573, + -0.10770700871944427, + 0.2082916796207428, + 40.105506896972656 + ], + [ + -0.20557266473770142, + -0.03588396683335304, + -0.9779837727546692, + -6.242423057556152 + ], + [ + 0.11281004548072815, + -0.9935348629951477, + 0.01274183951318264, + -4.746956825256348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1215, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_638470649", + "mask_path": "../../mask/hdr_right_01215.png" + }, + { + "file_path": "../../rgb/hdr_right_01216.png", + "transform_matrix": [ + [ + -0.968612790107727, + -0.11282365024089813, + 0.22149497270584106, + 40.183128356933594 + ], + [ + -0.21835222840309143, + -0.03964680805802345, + -0.9750643372535706, + -6.230350494384766 + ], + [ + 0.11879187822341919, + -0.9928237199783325, + 0.013767114840447903, + -4.757122993469238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1216, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_738469123", + "mask_path": "../../mask/hdr_right_01216.png" + }, + { + "file_path": "../../rgb/hdr_right_01217.png", + "transform_matrix": [ + [ + -0.9653626084327698, + -0.111490398645401, + 0.2358916699886322, + 40.2450065612793 + ], + [ + -0.2326977699995041, + -0.041028428822755814, + -0.9716833829879761, + -6.219412803649902 + ], + [ + 0.11801163107156754, + -0.9929181933403015, + 0.013663746416568756, + -4.768761157989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1217, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_838469982", + "mask_path": "../../mask/hdr_right_01217.png" + }, + { + "file_path": "../../rgb/hdr_right_01218.png", + "transform_matrix": [ + [ + -0.9609019756317139, + -0.11284522712230682, + 0.2528504431247711, + 40.32270812988281 + ], + [ + -0.25005728006362915, + -0.038491640239953995, + -0.9674656987190247, + -6.211773872375488 + ], + [ + 0.11890650540590286, + -0.9928667545318604, + 0.008768920786678791, + -4.780771255493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1218, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594288_938469886", + "mask_path": "../../mask/hdr_right_01218.png" + }, + { + "file_path": "../../rgb/hdr_right_01219.png", + "transform_matrix": [ + [ + -0.9576876163482666, + -0.11686056852340698, + 0.2630172371864319, + 40.40484619140625 + ], + [ + -0.26052483916282654, + -0.03639111667871475, + -0.9647811651229858, + -6.205887317657471 + ], + [ + 0.12231635302305222, + -0.9924814105033875, + 0.004406248219311237, + -4.7903733253479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1219, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_38470268", + "mask_path": "../../mask/hdr_right_01219.png" + }, + { + "file_path": "../../rgb/hdr_right_01220.png", + "transform_matrix": [ + [ + -0.9568003416061401, + -0.11707860976457596, + 0.26613110303878784, + 40.45946502685547 + ], + [ + -0.26380109786987305, + -0.035254087299108505, + -0.9639326333999634, + -6.200592041015625 + ], + [ + 0.12223810702562332, + -0.9924967288970947, + 0.0028456596191972494, + -4.7913289070129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1220, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_138470888", + "mask_path": "../../mask/hdr_right_01220.png" + }, + { + "file_path": "../../rgb/hdr_right_01222.png", + "transform_matrix": [ + [ + -0.9577634334564209, + -0.11017738282680511, + 0.2656128704547882, + 40.565345764160156 + ], + [ + -0.26374560594558716, + -0.03145793825387955, + -0.9640792012214661, + -6.1935038566589355 + ], + [ + 0.1145753487944603, + -0.9934139251708984, + 0.001070464844815433, + -4.809225082397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1222, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_338470935", + "mask_path": "../../mask/hdr_right_01222.png" + }, + { + "file_path": "../../rgb/hdr_right_01223.png", + "transform_matrix": [ + [ + -0.9551953673362732, + -0.11269613355398178, + 0.2736811637878418, + 40.62773895263672 + ], + [ + -0.2711951434612274, + -0.0371299609541893, + -0.9618080854415894, + -6.180959224700928 + ], + [ + 0.11855381727218628, + -0.9929355382919312, + 0.0049037327989935875, + -4.8212456703186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1223, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_438471317", + "mask_path": "../../mask/hdr_right_01223.png" + }, + { + "file_path": "../../rgb/hdr_right_01224.png", + "transform_matrix": [ + [ + -0.9508951902389526, + -0.11646737158298492, + 0.28676435351371765, + 40.677005767822266 + ], + [ + -0.2839469313621521, + -0.04046137258410454, + -0.9579859375953674, + -6.165889263153076 + ], + [ + 0.12317698448896408, + -0.9923700094223022, + 0.00540396710857749, + -4.831739902496338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1224, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_538470029", + "mask_path": "../../mask/hdr_right_01224.png" + }, + { + "file_path": "../../rgb/hdr_right_01225.png", + "transform_matrix": [ + [ + -0.9476664662361145, + -0.11744135618209839, + 0.2968766391277313, + 40.72627639770508 + ], + [ + -0.29437655210494995, + -0.03849449008703232, + -0.9549139738082886, + -6.151790618896484 + ], + [ + 0.12357450276613235, + -0.9923334717750549, + 0.001907959464006126, + -4.8403401374816895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1225, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_638470649", + "mask_path": "../../mask/hdr_right_01225.png" + }, + { + "file_path": "../../rgb/hdr_right_01226.png", + "transform_matrix": [ + [ + -0.9442705512046814, + -0.12165103107690811, + 0.305866539478302, + 40.78369903564453 + ], + [ + -0.30363696813583374, + -0.03692168742418289, + -0.9520722031593323, + -6.1358184814453125 + ], + [ + 0.12711365520954132, + -0.9918859601020813, + -0.0020736923906952143, + -4.849271297454834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1226, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_738470792", + "mask_path": "../../mask/hdr_right_01226.png" + }, + { + "file_path": "../../rgb/hdr_right_01227.png", + "transform_matrix": [ + [ + -0.9420067667961121, + -0.1274503916501999, + 0.31045085191726685, + 40.84848403930664 + ], + [ + -0.3087649941444397, + -0.03328470140695572, + -0.9505558609962463, + -6.123772621154785 + ], + [ + 0.13148197531700134, + -0.9912862777709961, + -0.007997807115316391, + -4.860579490661621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1227, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_838471889", + "mask_path": "../../mask/hdr_right_01227.png" + }, + { + "file_path": "../../rgb/hdr_right_01228.png", + "transform_matrix": [ + [ + -0.941789448261261, + -0.12954936921596527, + 0.31024110317230225, + 40.903778076171875 + ], + [ + -0.3089108169078827, + -0.030754877254366875, + -0.9505936503410339, + -6.112443923950195 + ], + [ + 0.13269023597240448, + -0.9910959005355835, + -0.011054584756493568, + -4.863652229309082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1228, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594289_938470125", + "mask_path": "../../mask/hdr_right_01228.png" + }, + { + "file_path": "../../rgb/hdr_right_01229.png", + "transform_matrix": [ + [ + -0.944318950176239, + -0.12447317689657211, + 0.3045784831047058, + 40.960411071777344 + ], + [ + -0.30345144867897034, + -0.0283832885324955, + -0.9524240493774414, + -6.101245403289795 + ], + [ + 0.12719617784023285, + -0.9918169379234314, + -0.010968680493533611, + -4.873989105224609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1229, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_38471460", + "mask_path": "../../mask/hdr_right_01229.png" + }, + { + "file_path": "../../rgb/hdr_right_01230.png", + "transform_matrix": [ + [ + -0.946719229221344, + -0.11794226616621017, + 0.2996872663497925, + 41.0402946472168 + ], + [ + -0.29806187748908997, + -0.03160625696182251, + -0.9540231823921204, + -6.0886077880859375 + ], + [ + 0.12199164927005768, + -0.992517352104187, + -0.005231847986578941, + -4.887619972229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1230, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_138469457", + "mask_path": "../../mask/hdr_right_01230.png" + }, + { + "file_path": "../../rgb/hdr_right_01231.png", + "transform_matrix": [ + [ + -0.9453181028366089, + -0.11911226809024811, + 0.303621381521225, + 41.123844146728516 + ], + [ + -0.3013162612915039, + -0.03734689578413963, + -0.9527925252914429, + -6.073454856872559 + ], + [ + 0.12482860684394836, + -0.9921781420707703, + -0.000585772271733731, + -4.9030375480651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1231, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_238470077", + "mask_path": "../../mask/hdr_right_01231.png" + }, + { + "file_path": "../../rgb/hdr_right_01232.png", + "transform_matrix": [ + [ + -0.9442570805549622, + -0.11797068268060684, + 0.30734580755233765, + 41.18661117553711 + ], + [ + -0.304905503988266, + -0.038656964898109436, + -0.9515978097915649, + -6.053853511810303 + ], + [ + 0.12414169311523438, + -0.9922643899917603, + 0.0005322054494172335, + -4.912868499755859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1232, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_338468074", + "mask_path": "../../mask/hdr_right_01232.png" + }, + { + "file_path": "../../rgb/hdr_right_01233.png", + "transform_matrix": [ + [ + -0.9435098767280579, + -0.11766226589679718, + 0.30974915623664856, + 41.26118087768555 + ], + [ + -0.30782437324523926, + -0.034656912088394165, + -0.9508118033409119, + -6.0364603996276855 + ], + [ + 0.12260963022708893, + -0.9924486875534058, + -0.003520171856507659, + -4.9233903884887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1233, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_438470840", + "mask_path": "../../mask/hdr_right_01233.png" + }, + { + "file_path": "../../rgb/hdr_right_01234.png", + "transform_matrix": [ + [ + -0.9440794587135315, + -0.12015372514724731, + 0.30704575777053833, + 41.34369659423828 + ], + [ + -0.305335134267807, + -0.032858092337846756, + -0.9516778588294983, + -6.02501106262207 + ], + [ + 0.12443659454584122, + -0.9922114610671997, + -0.005666504148393869, + -4.937313079833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1234, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_538469791", + "mask_path": "../../mask/hdr_right_01234.png" + }, + { + "file_path": "../../rgb/hdr_right_01235.png", + "transform_matrix": [ + [ + -0.9466578364372253, + -0.12311974167823792, + 0.2977927625179291, + 41.41587448120117 + ], + [ + -0.2960236966609955, + -0.032849930226802826, + -0.9546154737472534, + -6.016280174255371 + ], + [ + 0.1273144781589508, + -0.9918479919433594, + -0.0053487191908061504, + -4.939070224761963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1235, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_638471126", + "mask_path": "../../mask/hdr_right_01235.png" + }, + { + "file_path": "../../rgb/hdr_right_01236.png", + "transform_matrix": [ + [ + -0.9512775540351868, + -0.1200559139251709, + 0.28400301933288574, + 41.47600173950195 + ], + [ + -0.2821934223175049, + -0.03217584267258644, + -0.9588178396224976, + -6.007863998413086 + ], + [ + 0.12424980103969574, + -0.9922455549240112, + -0.0032708309590816498, + -4.947293281555176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1236, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_738468647", + "mask_path": "../../mask/hdr_right_01236.png" + }, + { + "file_path": "../../rgb/hdr_right_01237.png", + "transform_matrix": [ + [ + -0.9559450745582581, + -0.11153814196586609, + 0.27152955532073975, + 41.563533782958984 + ], + [ + -0.2693869173526764, + -0.03414223715662956, + -0.9624267220497131, + -5.99828577041626 + ], + [ + 0.11661789566278458, + -0.9931734800338745, + 0.0025911876000463963, + -4.962470531463623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1237, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_838471174", + "mask_path": "../../mask/hdr_right_01237.png" + }, + { + "file_path": "../../rgb/hdr_right_01238.png", + "transform_matrix": [ + [ + -0.9562813639640808, + -0.1080220565199852, + 0.2717667520046234, + 41.650718688964844 + ], + [ + -0.2693949341773987, + -0.03625743091106415, + -0.9623470902442932, + -5.982295989990234 + ], + [ + 0.1138082817196846, + -0.9934870600700378, + 0.005571714136749506, + -4.973250389099121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1238, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594290_938468933", + "mask_path": "../../mask/hdr_right_01238.png" + }, + { + "file_path": "../../rgb/hdr_right_01239.png", + "transform_matrix": [ + [ + -0.9552229642868042, + -0.10736265033483505, + 0.2757217288017273, + 41.70722198486328 + ], + [ + -0.2733413875102997, + -0.036582816392183304, + -0.9612212181091309, + -5.964401721954346 + ], + [ + 0.11328592896461487, + -0.9935466051101685, + 0.005598091520369053, + -4.981296062469482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1239, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_38470268", + "mask_path": "../../mask/hdr_right_01239.png" + }, + { + "file_path": "../../rgb/hdr_right_01240.png", + "transform_matrix": [ + [ + -0.9544402956962585, + -0.10710930824279785, + 0.2785162627696991, + 41.77248764038086 + ], + [ + -0.2767232060432434, + -0.03155643492937088, + -0.9604313969612122, + -5.949129104614258 + ], + [ + 0.11166012287139893, + -0.9937463402748108, + 0.00047910501598380506, + -4.990309238433838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1240, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_138469696", + "mask_path": "../../mask/hdr_right_01240.png" + }, + { + "file_path": "../../rgb/hdr_right_01241.png", + "transform_matrix": [ + [ + -0.9542547464370728, + -0.11161398142576218, + 0.2773810029029846, + 41.85002899169922 + ], + [ + -0.2759297490119934, + -0.028558386489748955, + -0.9607535004615784, + -5.937192440032959 + ], + [ + 0.11515507847070694, + -0.9933411478996277, + -0.0035456372424960136, + -5.001663684844971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1241, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_238469839", + "mask_path": "../../mask/hdr_right_01241.png" + }, + { + "file_path": "../../rgb/hdr_right_01242.png", + "transform_matrix": [ + [ + -0.9557866454124451, + -0.11697756499052048, + 0.26979291439056396, + 41.92259979248047 + ], + [ + -0.2681591808795929, + -0.029787128791213036, + -0.962913990020752, + -5.930429458618164 + ], + [ + 0.1206756979227066, + -0.9926877617835999, + -0.002898471662774682, + -5.005455017089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1242, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_338470458", + "mask_path": "../../mask/hdr_right_01242.png" + }, + { + "file_path": "../../rgb/hdr_right_01243.png", + "transform_matrix": [ + [ + -0.9587421417236328, + -0.11415138840675354, + 0.2603515386581421, + 41.98223114013672 + ], + [ + -0.2589777112007141, + -0.026966974139213562, + -0.9655067920684814, + -5.929902076721191 + ], + [ + 0.11723484098911285, + -0.9930973052978516, + -0.003708291333168745, + -5.010466575622559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1243, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_438470363", + "mask_path": "../../mask/hdr_right_01243.png" + }, + { + "file_path": "../../rgb/hdr_right_01244.png", + "transform_matrix": [ + [ + -0.9624103903770447, + -0.10809143632650375, + 0.24916371703147888, + 42.05315399169922 + ], + [ + -0.24754998087882996, + -0.028316158801317215, + -0.968461275100708, + -5.925705432891846 + ], + [ + 0.11173772811889648, + -0.9937375783920288, + 0.0004937362973578274, + -5.023953914642334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1244, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_538470268", + "mask_path": "../../mask/hdr_right_01244.png" + }, + { + "file_path": "../../rgb/hdr_right_01245.png", + "transform_matrix": [ + [ + -0.9626769423484802, + -0.10558032989501953, + 0.24921037256717682, + 42.14620590209961 + ], + [ + -0.24696826934814453, + -0.03401442617177963, + -0.9684264659881592, + -5.911655902862549 + ], + [ + 0.11072352528572083, + -0.9938288331031799, + 0.00666991900652647, + -5.042675971984863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1245, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_638469457", + "mask_path": "../../mask/hdr_right_01245.png" + }, + { + "file_path": "../../rgb/hdr_right_01246.png", + "transform_matrix": [ + [ + -0.9594024419784546, + -0.10953345149755478, + 0.25990259647369385, + 42.218997955322266 + ], + [ + -0.2573983669281006, + -0.036663301289081573, + -0.965609610080719, + -5.899084091186523 + ], + [ + 0.11529544740915298, + -0.9933066964149475, + 0.00698112603276968, + -5.054390907287598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1246, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_738470315", + "mask_path": "../../mask/hdr_right_01246.png" + }, + { + "file_path": "../../rgb/hdr_right_01247.png", + "transform_matrix": [ + [ + -0.9557192325592041, + -0.10911336541175842, + 0.2733038365840912, + 42.2884407043457 + ], + [ + -0.27119219303131104, + -0.034035395830869675, + -0.9619233012199402, + -5.88795280456543 + ], + [ + 0.11426068842411041, + -0.9934465289115906, + 0.002937590004876256, + -5.067893028259277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1247, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_838470935", + "mask_path": "../../mask/hdr_right_01247.png" + }, + { + "file_path": "../../rgb/hdr_right_01248.png", + "transform_matrix": [ + [ + -0.952486515045166, + -0.11261439323425293, + 0.2829972803592682, + 42.3790283203125 + ], + [ + -0.28180432319641113, + -0.026709724217653275, + -0.9591001272201538, + -5.880470275878906 + ], + [ + 0.11556724458932877, + -0.9932796955108643, + -0.006294567603617907, + -5.082925796508789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1248, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594291_938470602", + "mask_path": "../../mask/hdr_right_01248.png" + }, + { + "file_path": "../../rgb/hdr_right_01249.png", + "transform_matrix": [ + [ + -0.9515854120254517, + -0.12067833542823792, + 0.282704621553421, + 42.46272277832031 + ], + [ + -0.28207725286483765, + -0.022610211744904518, + -0.959125280380249, + -5.877538204193115 + ], + [ + 0.1221376433968544, + -0.9924341440200806, + -0.012525063939392567, + -5.089219093322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1249, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_38470983", + "mask_path": "../../mask/hdr_right_01249.png" + }, + { + "file_path": "../../rgb/hdr_right_01250.png", + "transform_matrix": [ + [ + -0.9526903033256531, + -0.12030348926782608, + 0.27912071347236633, + 42.52033996582031 + ], + [ + -0.27871090173721313, + -0.02056434191763401, + -0.9601548910140991, + -5.870777130126953 + ], + [ + 0.12124992161989212, + -0.9925241470336914, + -0.013938447460532188, + -5.094560146331787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1250, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_138470649", + "mask_path": "../../mask/hdr_right_01250.png" + }, + { + "file_path": "../../rgb/hdr_right_01251.png", + "transform_matrix": [ + [ + -0.9546172022819519, + -0.11477222293615341, + 0.2748333513736725, + 42.587554931640625 + ], + [ + -0.27382853627204895, + -0.024743929505348206, + -0.9614602327346802, + -5.862836837768555 + ], + [ + 0.11714936792850494, + -0.993083655834198, + -0.007806926965713501, + -5.1058878898620605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1251, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_238471269", + "mask_path": "../../mask/hdr_right_01251.png" + }, + { + "file_path": "../../rgb/hdr_right_01252.png", + "transform_matrix": [ + [ + -0.9535464644432068, + -0.11338090151548386, + 0.2790946364402771, + 42.67430877685547 + ], + [ + -0.27706676721572876, + -0.03358876332640648, + -0.9602634906768799, + -5.852145195007324 + ], + [ + 0.11824996769428253, + -0.9929836392402649, + 0.0006143676000647247, + -5.124052047729492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1252, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_338472127", + "mask_path": "../../mask/hdr_right_01252.png" + }, + { + "file_path": "../../rgb/hdr_right_01253.png", + "transform_matrix": [ + [ + -0.9490018486976624, + -0.118809275329113, + 0.29202714562416077, + 42.74565124511719 + ], + [ + -0.2894442081451416, + -0.038832712918519974, + -0.956406831741333, + -5.8361382484436035 + ], + [ + 0.12497022747993469, + -0.9921573996543884, + 0.0024636625312268734, + -5.139719009399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1253, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_438470840", + "mask_path": "../../mask/hdr_right_01253.png" + }, + { + "file_path": "../../rgb/hdr_right_01254.png", + "transform_matrix": [ + [ + -0.9459244012832642, + -0.1169496402144432, + 0.3025723099708557, + 42.80729293823242 + ], + [ + -0.30004236102104187, + -0.03909150883555412, + -0.9531246423721313, + -5.822400093078613 + ], + [ + 0.12329558283090591, + -0.992368221282959, + 0.001887767342850566, + -5.148016452789307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1254, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_538469791", + "mask_path": "../../mask/hdr_right_01254.png" + }, + { + "file_path": "../../rgb/hdr_right_01255.png", + "transform_matrix": [ + [ + -0.9429553151130676, + -0.11884203553199768, + 0.3109852373600006, + 42.88235855102539 + ], + [ + -0.30902618169784546, + -0.03504551947116852, + -0.9504076838493347, + -5.807103157043457 + ], + [ + 0.12384702265262604, + -0.9922944903373718, + -0.003678940236568451, + -5.160043239593506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1255, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_638470411", + "mask_path": "../../mask/hdr_right_01255.png" + }, + { + "file_path": "../../rgb/hdr_right_01256.png", + "transform_matrix": [ + [ + -0.9411161541938782, + -0.12501443922519684, + 0.31412070989608765, + 42.96553421020508 + ], + [ + -0.312714159488678, + -0.031236369162797928, + -0.9493336081504822, + -5.7962493896484375 + ], + [ + 0.12849240005016327, + -0.9916630983352661, + -0.00969673227518797, + -5.175826072692871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1256, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_738470315", + "mask_path": "../../mask/hdr_right_01256.png" + }, + { + "file_path": "../../rgb/hdr_right_01257.png", + "transform_matrix": [ + [ + -0.9410595893859863, + -0.12661223113536835, + 0.3136499524116516, + 43.03083038330078 + ], + [ + -0.3126293122768402, + -0.02837483026087284, + -0.9494513869285583, + -5.785790920257568 + ], + [ + 0.12911191582679749, + -0.9915463924407959, + -0.012880285270512104, + -5.180699348449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1257, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_838471174", + "mask_path": "../../mask/hdr_right_01257.png" + }, + { + "file_path": "../../rgb/hdr_right_01258.png", + "transform_matrix": [ + [ + -0.9432692527770996, + -0.12101534008979797, + 0.30919012427330017, + 43.099918365478516 + ], + [ + -0.30850669741630554, + -0.02481904812157154, + -0.950898289680481, + -5.773642063140869 + ], + [ + 0.12274707853794098, + -0.9923402667045593, + -0.013922997750341892, + -5.192318439483643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1258, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594292_938469648", + "mask_path": "../../mask/hdr_right_01258.png" + }, + { + "file_path": "../../rgb/hdr_right_01259.png", + "transform_matrix": [ + [ + -0.9441622495651245, + -0.11496123671531677, + 0.3087743818759918, + 43.194095611572266 + ], + [ + -0.307973176240921, + -0.025116534903645515, + -0.9510635733604431, + -5.757061958312988 + ], + [ + 0.11709077656269073, + -0.9930524230003357, + -0.011690892279148102, + -5.207766532897949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1259, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594293_38469314", + "mask_path": "../../mask/hdr_right_01259.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/43e4474f/mesh.ply b/2024-11-14-15-22-43/splats/43e4474f/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..e9a1077f49fe06bd457f37370ed8070f0757fb7a --- /dev/null +++ b/2024-11-14-15-22-43/splats/43e4474f/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1af9b367a56da8ecc1420473e4431b85bbf3ccf834210854843a298c82efc5b7 +size 110145864 diff --git a/2024-11-14-15-22-43/splats/43e4474f/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/43e4474f/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..8c797009857f751a5f0d111ee24e2b00a16dab00 --- /dev/null +++ b/2024-11-14-15-22-43/splats/43e4474f/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b02eef61ad012728615bf5628213b12e7fe257023d8bfddf8a0c71d279d648bc +size 1552347 diff --git a/2024-11-14-15-22-43/splats/43e4474f/splatfacto/config.yml b/2024-11-14-15-22-43/splats/43e4474f/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..44b56c0521b17451b065f7f4644ed9e4f724fd13 --- /dev/null +++ b/2024-11-14-15-22-43/splats/43e4474f/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_43e4474f +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_43e4474f + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/43e4474f/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/43e4474f/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bc20bc5eb369259ca09821fdc16467fab3b9544e --- /dev/null +++ b/2024-11-14-15-22-43/splats/43e4474f/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9056961536407471, + -0.4154106676578522, + 0.08454932272434235, + 34.160369873046875 + ], + [ + -0.4154106676578522, + 0.9094472527503967, + 0.018430372700095177, + 18.179250717163086 + ], + [ + -0.08454932272434235, + -0.018430372700095177, + -0.9962488412857056, + -1.4353723526000977 + ] + ], + "scale": 0.17853307696354698 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/43e4474f/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/43e4474f/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..22bfeb16a5a2a0b5946fe6a6a6ae5774d0188079 --- /dev/null +++ b/2024-11-14-15-22-43/splats/43e4474f/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acfbf47108cd0ded32d03f1c72f57ff8c26aee8113e54ca38fba1d344a35f6b1 +size 297544306 diff --git a/2024-11-14-15-22-43/splats/43e4474f/transforms.json b/2024-11-14-15-22-43/splats/43e4474f/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a69770978163d63c2de794f732d7b0b3534e8b7a --- /dev/null +++ b/2024-11-14-15-22-43/splats/43e4474f/transforms.json @@ -0,0 +1,19536 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02638.png", + "transform_matrix": [ + [ + 0.8931822776794434, + -0.06655072420835495, + 0.44474315643310547, + 40.59777069091797 + ], + [ + -0.4488476812839508, + -0.07125701755285263, + 0.8907626867294312, + 4.674210548400879 + ], + [ + -0.027589835226535797, + -0.9952354431152344, + -0.09351664781570435, + -5.071439266204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2638, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_238467693", + "mask_path": "../../mask/hdr_front_02638.png" + }, + { + "file_path": "../../rgb/hdr_front_02640.png", + "transform_matrix": [ + [ + 0.8881102204322815, + -0.07314518839120865, + 0.45377305150032043, + 40.554988861083984 + ], + [ + -0.4582380950450897, + -0.0641164556145668, + 0.8865139484405518, + 4.590915203094482 + ], + [ + -0.035749904811382294, + -0.9952582716941833, + -0.0904603898525238, + -5.068829536437988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2640, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_438468933", + "mask_path": "../../mask/hdr_front_02640.png" + }, + { + "file_path": "../../rgb/hdr_front_02642.png", + "transform_matrix": [ + [ + 0.8890564441680908, + -0.07961681485176086, + 0.4508213996887207, + 40.515743255615234 + ], + [ + -0.45517274737358093, + -0.048426538705825806, + 0.8890852928161621, + 4.527986526489258 + ], + [ + -0.04895441234111786, + -0.9956485033035278, + -0.07929331809282303, + -5.08036994934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2642, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_638467788", + "mask_path": "../../mask/hdr_front_02642.png" + }, + { + "file_path": "../../rgb/hdr_front_02643.png", + "transform_matrix": [ + [ + 0.8867104649543762, + -0.07859468460083008, + 0.45559555292129517, + 40.47936248779297 + ], + [ + -0.4596138596534729, + -0.04329141601920128, + 0.887063205242157, + 4.49183464050293 + ], + [ + -0.0499950647354126, + -0.9959661960601807, + -0.07451015710830688, + -5.072920322418213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2643, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_738468647", + "mask_path": "../../mask/hdr_front_02643.png" + }, + { + "file_path": "../../rgb/hdr_front_02661.png", + "transform_matrix": [ + [ + 0.9669472575187683, + -0.041747868061065674, + 0.25153565406799316, + 40.318817138671875 + ], + [ + -0.2518700659275055, + -0.002867995761334896, + 0.9677568674087524, + 3.963869094848633 + ], + [ + -0.039680372923612595, + -0.9991241693496704, + -0.013288237154483795, + -5.06904935836792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2661, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_538465976", + "mask_path": "../../mask/hdr_front_02661.png" + }, + { + "file_path": "../../rgb/hdr_front_02662.png", + "transform_matrix": [ + [ + 0.9661533832550049, + -0.04235837608575821, + 0.25446707010269165, + 40.30867385864258 + ], + [ + -0.25459590554237366, + 0.0024150703102350235, + 0.967044472694397, + 3.9016733169555664 + ], + [ + -0.041576988995075226, + -0.999099612236023, + -0.008450941182672977, + -5.0736517906188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2662, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_638466358", + "mask_path": "../../mask/hdr_front_02662.png" + }, + { + "file_path": "../../rgb/hdr_front_02663.png", + "transform_matrix": [ + [ + 0.9681928753852844, + -0.045209914445877075, + 0.24608662724494934, + 40.30622100830078 + ], + [ + -0.2458527386188507, + 0.010749832727015018, + 0.969247579574585, + 3.8472585678100586 + ], + [ + -0.046464983373880386, + -0.998919665813446, + -0.0007070708670653403, + -5.07905387878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2663, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_738468408", + "mask_path": "../../mask/hdr_front_02663.png" + }, + { + "file_path": "../../rgb/hdr_front_02665.png", + "transform_matrix": [ + [ + 0.9695798754692078, + -0.044715989381074905, + 0.24065616726875305, + 40.278602600097656 + ], + [ + -0.2400686889886856, + 0.0181546863168478, + 0.9705861806869507, + 3.7703890800476074 + ], + [ + -0.047769755125045776, + -0.9988347887992859, + 0.006867508869618177, + -5.089855194091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2665, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_938467979", + "mask_path": "../../mask/hdr_front_02665.png" + }, + { + "file_path": "../../rgb/hdr_front_02666.png", + "transform_matrix": [ + [ + 0.9684634208679199, + -0.03955002501606941, + 0.2459966391324997, + 40.25983810424805 + ], + [ + -0.24533943831920624, + 0.020766988396644592, + 0.9692148566246033, + 3.7246999740600586 + ], + [ + -0.043441079556941986, + -0.9990018010139465, + 0.010408886708319187, + -5.086592197418213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2666, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_38470745", + "mask_path": "../../mask/hdr_front_02666.png" + }, + { + "file_path": "../../rgb/hdr_front_02668.png", + "transform_matrix": [ + [ + 0.9632068276405334, + -0.03522050753235817, + 0.2664434313774109, + 40.22724533081055 + ], + [ + -0.2661724090576172, + 0.012258414179086685, + 0.9638475179672241, + 3.6482062339782715 + ], + [ + -0.03721337020397186, + -0.9993044137954712, + 0.002432659501209855, + -5.087532997131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2668, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_238469839", + "mask_path": "../../mask/hdr_front_02668.png" + }, + { + "file_path": "../../rgb/hdr_front_02670.png", + "transform_matrix": [ + [ + 0.967344343662262, + -0.03816194832324982, + 0.2505761384963989, + 40.207740783691406 + ], + [ + -0.2503822147846222, + 0.009856109507381916, + 0.968096911907196, + 3.5509190559387207 + ], + [ + -0.039414163678884506, + -0.999222993850708, + -2.0818450138904154e-05, + -5.080183982849121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2670, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_438470602", + "mask_path": "../../mask/hdr_front_02670.png" + }, + { + "file_path": "../../rgb/hdr_front_02672.png", + "transform_matrix": [ + [ + 0.9788284301757812, + -0.03890829533338547, + 0.20095089077949524, + 40.21328353881836 + ], + [ + -0.20062851905822754, + 0.012060248292982578, + 0.9795932173728943, + 3.4745025634765625 + ], + [ + -0.04053781181573868, + -0.9991700053215027, + 0.0039987992495298386, + -5.091643810272217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2672, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_638469457", + "mask_path": "../../mask/hdr_front_02672.png" + }, + { + "file_path": "../../rgb/hdr_front_02674.png", + "transform_matrix": [ + [ + 0.9826025366783142, + -0.03207429125905037, + 0.18293048441410065, + 40.20189666748047 + ], + [ + -0.18279314041137695, + 0.007188412360846996, + 0.9831251502037048, + 3.3994927406311035 + ], + [ + -0.032848019152879715, + -0.9994597434997559, + 0.0012003914453089237, + -5.081247806549072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2674, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_838469028", + "mask_path": "../../mask/hdr_front_02674.png" + }, + { + "file_path": "../../rgb/hdr_front_02676.png", + "transform_matrix": [ + [ + 0.9855972528457642, + -0.026955775916576385, + 0.1669481098651886, + 40.20361328125 + ], + [ + -0.16717831790447235, + -0.006508480757474899, + 0.9859052300453186, + 3.3105788230895996 + ], + [ + -0.025489255785942078, + -0.9996155500411987, + -0.010921160690486431, + -5.081398963928223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2676, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_38470268", + "mask_path": "../../mask/hdr_front_02676.png" + }, + { + "file_path": "../../rgb/hdr_front_02683.png", + "transform_matrix": [ + [ + 0.9896751046180725, + -0.026085246354341507, + 0.14093457162380219, + 40.22394943237305 + ], + [ + -0.14146541059017181, + -0.019758064299821854, + 0.9897460341453552, + 3.0074996948242188 + ], + [ + -0.023033173754811287, + -0.9994645118713379, + -0.023244228214025497, + -5.066646575927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2683, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_738468647", + "mask_path": "../../mask/hdr_front_02683.png" + }, + { + "file_path": "../../rgb/hdr_front_02684.png", + "transform_matrix": [ + [ + 0.9904976487159729, + -0.025335488840937614, + 0.13517585396766663, + 40.22935485839844 + ], + [ + -0.1357455998659134, + -0.022299885749816895, + 0.9904927611351013, + 2.948840379714966 + ], + [ + -0.022080209106206894, + -0.9994302988052368, + -0.025527164340019226, + -5.062383651733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2684, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_838471174", + "mask_path": "../../mask/hdr_front_02684.png" + }, + { + "file_path": "../../rgb/hdr_front_02686.png", + "transform_matrix": [ + [ + 0.9912246465682983, + -0.029827727004885674, + 0.12877874076366425, + 40.23188018798828 + ], + [ + -0.12937375903129578, + -0.018951991572976112, + 0.9914147257804871, + 2.8747832775115967 + ], + [ + -0.027131034061312675, + -0.9993753433227539, + -0.022644609212875366, + -5.066953659057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2686, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_38469314", + "mask_path": "../../mask/hdr_front_02686.png" + }, + { + "file_path": "../../rgb/hdr_front_02688.png", + "transform_matrix": [ + [ + 0.9874838590621948, + -0.03902309387922287, + 0.15281593799591064, + 40.205013275146484 + ], + [ + -0.15402644872665405, + -0.03015163354575634, + 0.9876065850257874, + 2.787116289138794 + ], + [ + -0.033931806683540344, + -0.9987833499908447, + -0.03578484430909157, + -5.039737224578857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2688, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_238468647", + "mask_path": "../../mask/hdr_front_02688.png" + }, + { + "file_path": "../../rgb/hdr_front_02690.png", + "transform_matrix": [ + [ + 0.9855325222015381, + -0.0471600666642189, + 0.16279348731040955, + 40.191139221191406 + ], + [ + -0.1646171361207962, + -0.037757277488708496, + 0.9856346249580383, + 2.692671298980713 + ], + [ + -0.04033595323562622, + -0.9981734752655029, + -0.044974375516176224, + -5.035614013671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2690, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_438467025", + "mask_path": "../../mask/hdr_front_02690.png" + }, + { + "file_path": "../../rgb/hdr_front_02692.png", + "transform_matrix": [ + [ + 0.9855551719665527, + -0.052428726106882095, + 0.1610346883535385, + 40.17259979248047 + ], + [ + -0.1628476083278656, + -0.032341014593839645, + 0.9861210584640503, + 2.6120314598083496 + ], + [ + -0.0464930385351181, + -0.9981008172035217, + -0.04041174799203873, + -5.04556941986084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2692, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_638469934", + "mask_path": "../../mask/hdr_front_02692.png" + }, + { + "file_path": "../../rgb/hdr_front_02694.png", + "transform_matrix": [ + [ + 0.9821755290031433, + -0.05441104620695114, + 0.17991846799850464, + 40.14396286010742 + ], + [ + -0.18179616332054138, + -0.03175238147377968, + 0.9828234314918518, + 2.5364649295806885 + ], + [ + -0.047763608396053314, + -0.9980136156082153, + -0.04107813537120819, + -5.0332136154174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2694, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_838469266", + "mask_path": "../../mask/hdr_front_02694.png" + }, + { + "file_path": "../../rgb/hdr_front_02696.png", + "transform_matrix": [ + [ + 0.9791723489761353, + -0.05102024972438812, + 0.19651579856872559, + 40.11842727661133 + ], + [ + -0.19869135320186615, + -0.04175318777561188, + 0.9791723489761353, + 2.458204746246338 + ], + [ + -0.041752446442842484, + -0.9978244304656982, + -0.051020849496126175, + -5.0272650718688965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2696, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594438_38469552", + "mask_path": "../../mask/hdr_front_02696.png" + }, + { + "file_path": "../../rgb/hdr_front_02703.png", + "transform_matrix": [ + [ + 0.9888017177581787, + -0.057016655802726746, + 0.13791362941265106, + 40.11054992675781 + ], + [ + -0.14042536914348602, + -0.042664770036935806, + 0.9891716241836548, + 2.1599154472351074 + ], + [ + -0.050515204668045044, + -0.997461199760437, + -0.050193581730127335, + -5.013111591339111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2703, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594438_738471269", + "mask_path": "../../mask/hdr_front_02703.png" + }, + { + "file_path": "../../rgb/hdr_front_02723.png", + "transform_matrix": [ + [ + 0.9977273344993591, + -0.05083923786878586, + -0.044220685958862305, + 40.197479248046875 + ], + [ + 0.0418207161128521, + -0.047339584678411484, + 0.9980030655860901, + 1.307437539100647 + ], + [ + -0.052831102162599564, + -0.9975842833518982, + -0.045105863362550735, + -4.962193489074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2723, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594440_738470077", + "mask_path": "../../mask/hdr_front_02723.png" + }, + { + "file_path": "../../rgb/hdr_front_02725.png", + "transform_matrix": [ + [ + 0.9968727827072144, + -0.05223287269473076, + -0.059300124645233154, + 40.21617889404297 + ], + [ + 0.05713731050491333, + -0.04197126626968384, + 0.9974837899208069, + 1.2237426042556763 + ], + [ + -0.054590336978435516, + -0.9977526068687439, + -0.03885556012392044, + -4.970627784729004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2725, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594440_938470363", + "mask_path": "../../mask/hdr_front_02725.png" + }, + { + "file_path": "../../rgb/hdr_front_02727.png", + "transform_matrix": [ + [ + 0.9972302913665771, + -0.05569048598408699, + -0.049298014491796494, + 40.22074508666992 + ], + [ + 0.04676365479826927, + -0.045929934829473495, + 0.9978495240211487, + 1.1398497819900513 + ], + [ + -0.05783497169613838, + -0.9973911046981812, + -0.04319843649864197, + -4.956542491912842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2727, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_138468980", + "mask_path": "../../mask/hdr_front_02727.png" + }, + { + "file_path": "../../rgb/hdr_front_02729.png", + "transform_matrix": [ + [ + 0.9971031546592712, + -0.055590637028217316, + -0.051914941519498825, + 40.237205505371094 + ], + [ + 0.0488705188035965, + -0.0547914132475853, + 0.9973011612892151, + 1.0503523349761963 + ], + [ + -0.05828508734703064, + -0.9969491362571716, + -0.05191594362258911, + -4.948962211608887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2729, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_338469743", + "mask_path": "../../mask/hdr_front_02729.png" + }, + { + "file_path": "../../rgb/hdr_front_02731.png", + "transform_matrix": [ + [ + 0.992489755153656, + -0.07041806727647781, + -0.10002690553665161, + 40.256553649902344 + ], + [ + 0.09661026298999786, + -0.05036705732345581, + 0.9940470457077026, + 0.9680070877075195 + ], + [ + -0.0750369280576706, + -0.9962451457977295, + -0.043185681104660034, + -4.952101230621338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2731, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_538469314", + "mask_path": "../../mask/hdr_front_02731.png" + }, + { + "file_path": "../../rgb/hdr_front_02733.png", + "transform_matrix": [ + [ + 0.9895357489585876, + -0.06816084682941437, + -0.12717318534851074, + 40.2691650390625 + ], + [ + 0.12385595589876175, + -0.05088072270154953, + 0.9909948706626892, + 0.8884811997413635 + ], + [ + -0.0740177184343338, + -0.996376097202301, + -0.04190616309642792, + -4.943848133087158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2733, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_738471031", + "mask_path": "../../mask/hdr_front_02733.png" + }, + { + "file_path": "../../rgb/hdr_front_02735.png", + "transform_matrix": [ + [ + 0.9875887036323547, + -0.05927469953894615, + -0.14544741809368134, + 40.29624938964844 + ], + [ + 0.14242640137672424, + -0.05237043648958206, + 0.9884190559387207, + 0.8089820146560669 + ], + [ + -0.06620538234710693, + -0.9968670606613159, + -0.04327817261219025, + -4.94141149520874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2735, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_938470602", + "mask_path": "../../mask/hdr_front_02735.png" + }, + { + "file_path": "../../rgb/hdr_front_02737.png", + "transform_matrix": [ + [ + 0.9840039610862732, + -0.06838050484657288, + -0.16450029611587524, + 40.31874084472656 + ], + [ + 0.16152851283550262, + -0.04696464166045189, + 0.9857499003410339, + 0.7279979586601257 + ], + [ + -0.07513176649808884, + -0.9965533018112183, + -0.035167984664440155, + -4.94976806640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2737, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_138470411", + "mask_path": "../../mask/hdr_front_02737.png" + }, + { + "file_path": "../../rgb/hdr_front_02739.png", + "transform_matrix": [ + [ + 0.985215961933136, + -0.07253524661064148, + -0.155203178524971, + 40.32895278930664 + ], + [ + 0.15194259583950043, + -0.048526257276535034, + 0.9871973395347595, + 0.6422940492630005 + ], + [ + -0.07913803309202194, + -0.9961847066879272, + -0.03678765147924423, + -4.930655479431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2739, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_338470697", + "mask_path": "../../mask/hdr_front_02739.png" + }, + { + "file_path": "../../rgb/hdr_front_02741.png", + "transform_matrix": [ + [ + 0.9881641864776611, + -0.06277298182249069, + -0.13996809720993042, + 40.34063720703125 + ], + [ + 0.13627998530864716, + -0.059639208018779755, + 0.9888736009597778, + 0.5596480369567871 + ], + [ + -0.07042212039232254, + -0.9962443709373474, + -0.05037862807512283, + -4.9213104248046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2741, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_538470268", + "mask_path": "../../mask/hdr_front_02741.png" + }, + { + "file_path": "../../rgb/hdr_front_02769.png", + "transform_matrix": [ + [ + 0.9054282903671265, + -0.07910998165607452, + -0.4170626699924469, + 40.728858947753906 + ], + [ + 0.4163782000541687, + -0.025751033797860146, + 0.9088267683982849, + -0.15524953603744507 + ], + [ + -0.08263705670833588, + -0.9965332746505737, + 0.009623955003917217, + -4.936521530151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2769, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_338469266", + "mask_path": "../../mask/hdr_front_02769.png" + }, + { + "file_path": "../../rgb/hdr_front_02771.png", + "transform_matrix": [ + [ + 0.9029827117919922, + -0.0839337408542633, + -0.42139920592308044, + 40.750370025634766 + ], + [ + 0.42148923873901367, + -0.01751481182873249, + 0.906664252281189, + -0.22597990930080414 + ], + [ + -0.08348044753074646, + -0.996317446231842, + 0.01956159807741642, + -4.952114582061768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2771, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_538466215", + "mask_path": "../../mask/hdr_front_02771.png" + }, + { + "file_path": "../../rgb/hdr_front_02773.png", + "transform_matrix": [ + [ + 0.9094821810722351, + -0.0836387351155281, + -0.40724289417266846, + 40.7808837890625 + ], + [ + 0.4065569341182709, + -0.025851963087916374, + 0.9132596850395203, + -0.29152315855026245 + ], + [ + -0.08691190183162689, + -0.9961608052253723, + 0.010492010042071342, + -4.932226657867432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2773, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_738469362", + "mask_path": "../../mask/hdr_front_02773.png" + }, + { + "file_path": "../../rgb/hdr_front_02774.png", + "transform_matrix": [ + [ + 0.9111904501914978, + -0.0869961753487587, + -0.40269535779953003, + 40.809783935546875 + ], + [ + 0.4020830988883972, + -0.02522999420762062, + 0.9152554869651794, + -0.3387138843536377 + ], + [ + -0.08978372812271118, + -0.9958891272544861, + 0.01199035532772541, + -4.942331314086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2774, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_838469505", + "mask_path": "../../mask/hdr_front_02774.png" + }, + { + "file_path": "../../rgb/hdr_front_02778.png", + "transform_matrix": [ + [ + 0.909362256526947, + -0.10150893032550812, + -0.40343067049980164, + 40.879634857177734 + ], + [ + 0.40373101830482483, + -0.01848703995347023, + 0.9146909713745117, + -0.4918370246887207 + ], + [ + -0.10030753165483475, + -0.994662880897522, + 0.0241708941757679, + -4.956396102905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2778, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_238467454", + "mask_path": "../../mask/hdr_front_02778.png" + }, + { + "file_path": "../../rgb/hdr_front_02780.png", + "transform_matrix": [ + [ + 0.9217057824134827, + -0.1027706116437912, + -0.37402746081352234, + 40.8766975402832 + ], + [ + 0.37322723865509033, + -0.02763873152434826, + 0.9273281693458557, + -0.5541026592254639 + ], + [ + -0.10563972592353821, + -0.9943210482597351, + 0.012882011942565441, + -4.957888126373291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2780, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_438469648", + "mask_path": "../../mask/hdr_front_02780.png" + }, + { + "file_path": "../../rgb/hdr_front_02782.png", + "transform_matrix": [ + [ + 0.9239469170570374, + -0.10474412143230438, + -0.36790040135383606, + 40.898719787597656 + ], + [ + 0.36784905195236206, + -0.020516401156783104, + 0.9296591281890869, + -0.6213276386260986 + ], + [ + -0.10492431372404099, + -0.9942876696586609, + 0.019573958590626717, + -4.964059352874756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2782, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_638470649", + "mask_path": "../../mask/hdr_front_02782.png" + }, + { + "file_path": "../../rgb/hdr_front_02784.png", + "transform_matrix": [ + [ + 0.9233530163764954, + -0.09707589447498322, + -0.371477335691452, + 40.924137115478516 + ], + [ + 0.3712210953235626, + -0.02136238105595112, + 0.9282987713813782, + -0.691604495048523 + ], + [ + -0.09805106371641159, + -0.9950476884841919, + 0.016311602666974068, + -4.956212520599365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2784, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_838470458", + "mask_path": "../../mask/hdr_front_02784.png" + }, + { + "file_path": "../../rgb/hdr_front_02786.png", + "transform_matrix": [ + [ + 0.9318029284477234, + -0.09066030383110046, + -0.35145971179008484, + 40.92795944213867 + ], + [ + 0.35201242566108704, + -0.010349441319704056, + 0.9359381198883057, + -0.7548602819442749 + ], + [ + -0.0884898379445076, + -0.9958281517028809, + 0.02226991206407547, + -4.953831672668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2786, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_38470029", + "mask_path": "../../mask/hdr_front_02786.png" + }, + { + "file_path": "../../rgb/hdr_front_02788.png", + "transform_matrix": [ + [ + 0.9412738084793091, + -0.08869431167840958, + -0.3257865607738495, + 40.93212127685547 + ], + [ + 0.32634496688842773, + -0.008539797738194466, + 0.9452121257781982, + -0.8175015449523926 + ], + [ + -0.08661708235740662, + -0.9960223436355591, + 0.020906655117869377, + -4.964102745056152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2788, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_238470077", + "mask_path": "../../mask/hdr_front_02788.png" + }, + { + "file_path": "../../rgb/hdr_front_02790.png", + "transform_matrix": [ + [ + 0.9383226633071899, + -0.09615341573953629, + -0.33212217688560486, + 40.94776916503906 + ], + [ + 0.33338698744773865, + -0.0030708361882716417, + 0.9427851438522339, + -0.8709926605224609 + ], + [ + -0.09167187660932541, + -0.9953618049621582, + 0.02917485497891903, + -4.976199626922607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2790, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_438471794", + "mask_path": "../../mask/hdr_front_02790.png" + }, + { + "file_path": "../../rgb/hdr_front_02792.png", + "transform_matrix": [ + [ + 0.9399173855781555, + -0.08680331707000732, + -0.3301824629306793, + 40.95222473144531 + ], + [ + 0.3327290117740631, + 0.016299137845635414, + 0.9428816437721252, + -0.9368456602096558 + ], + [ + -0.07646356523036957, + -0.9960922002792358, + 0.044201821088790894, + -4.981132984161377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2792, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_638469457", + "mask_path": "../../mask/hdr_front_02792.png" + }, + { + "file_path": "../../rgb/hdr_front_02794.png", + "transform_matrix": [ + [ + 0.9478884935379028, + -0.083162821829319, + -0.30755677819252014, + 40.954898834228516 + ], + [ + 0.3092678189277649, + 0.008219359442591667, + 0.9509394764900208, + -0.9914547204971313 + ], + [ + -0.07655489444732666, + -0.996502161026001, + 0.03351062163710594, + -4.97820520401001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2794, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_838469743", + "mask_path": "../../mask/hdr_front_02794.png" + }, + { + "file_path": "../../rgb/hdr_front_02830.png", + "transform_matrix": [ + [ + 0.9485887885093689, + -0.13711415231227875, + 0.2852701246738434, + 40.82628631591797 + ], + [ + -0.28273287415504456, + 0.03805619105696678, + 0.9584435224533081, + -1.490216612815857 + ], + [ + -0.1422724425792694, + -0.9898239374160767, + -0.002666998654603958, + -4.968567848205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2830, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594451_438469409", + "mask_path": "../../mask/hdr_front_02830.png" + }, + { + "file_path": "../../rgb/hdr_front_02834.png", + "transform_matrix": [ + [ + 0.89400714635849, + -0.13917212188243866, + 0.4258902370929718, + 40.747108459472656 + ], + [ + -0.4270767867565155, + 0.022741395980119705, + 0.9039294123649597, + -1.4152939319610596 + ], + [ + -0.13548706471920013, + -0.9900071024894714, + -0.03910621255636215, + -4.946286201477051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2834, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594451_838470220", + "mask_path": "../../mask/hdr_front_02834.png" + }, + { + "file_path": "../../rgb/hdr_front_02838.png", + "transform_matrix": [ + [ + 0.8899626731872559, + -0.13132131099700928, + 0.4367162585258484, + 40.71472930908203 + ], + [ + -0.4377702474594116, + 0.022281602025032043, + 0.8988106846809387, + -1.4650059938430786 + ], + [ + -0.12776371836662292, + -0.9910894632339478, + -0.03765876591205597, + -4.950068950653076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2838, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_238469600", + "mask_path": "../../mask/hdr_front_02838.png" + }, + { + "file_path": "../../rgb/hdr_front_02840.png", + "transform_matrix": [ + [ + 0.8769588470458984, + -0.13205616176128387, + 0.46206530928611755, + 40.67316818237305 + ], + [ + -0.46545571088790894, + 0.005803439766168594, + 0.8850520849227905, + -1.5075328350067139 + ], + [ + -0.11955816298723221, + -0.9912253022193909, + -0.05637691542506218, + -4.94459342956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2840, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_438469409", + "mask_path": "../../mask/hdr_front_02840.png" + }, + { + "file_path": "../../rgb/hdr_front_02842.png", + "transform_matrix": [ + [ + 0.8684770464897156, + -0.132528156042099, + 0.4776860475540161, + 40.632511138916016 + ], + [ + -0.4816976487636566, + 0.002035476267337799, + 0.8763352036476135, + -1.5679206848144531 + ], + [ + -0.11711136996746063, + -0.9911772012710571, + -0.06207071617245674, + -4.928208351135254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2842, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_638469457", + "mask_path": "../../mask/hdr_front_02842.png" + }, + { + "file_path": "../../rgb/hdr_front_02844.png", + "transform_matrix": [ + [ + 0.8635762929916382, + -0.13706821203231812, + 0.485230416059494, + 40.586822509765625 + ], + [ + -0.48928213119506836, + 0.004693472757935524, + 0.8721129298210144, + -1.6422743797302246 + ], + [ + -0.12181637436151505, + -0.9905505180358887, + -0.06301184743642807, + -4.921804904937744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2844, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_838470697", + "mask_path": "../../mask/hdr_front_02844.png" + }, + { + "file_path": "../../rgb/hdr_front_02845.png", + "transform_matrix": [ + [ + 0.8585687279701233, + -0.1383979469537735, + 0.4936654567718506, + 40.552032470703125 + ], + [ + -0.4981977045536041, + 0.0021744929254055023, + 0.8670607805252075, + -1.6788545846939087 + ], + [ + -0.12107289582490921, + -0.9903743267059326, + -0.06708258390426636, + -4.912680149078369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2845, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_938470840", + "mask_path": "../../mask/hdr_front_02845.png" + }, + { + "file_path": "../../rgb/hdr_front_02847.png", + "transform_matrix": [ + [ + 0.8425537347793579, + -0.13553310930728912, + 0.5212810635566711, + 40.510074615478516 + ], + [ + -0.5276573896408081, + -0.013499404303729534, + 0.8493500351905823, + -1.7363306283950806 + ], + [ + -0.10807807743549347, + -0.9906808137893677, + -0.08288901299238205, + -4.905271530151367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2847, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_138469934", + "mask_path": "../../mask/hdr_front_02847.png" + }, + { + "file_path": "../../rgb/hdr_front_02849.png", + "transform_matrix": [ + [ + 0.8359129428863525, + -0.13419108092784882, + 0.5322051048278809, + 40.46531295776367 + ], + [ + -0.5395210385322571, + -0.022763274610042572, + 0.8416643738746643, + -1.826960563659668 + ], + [ + -0.1008290946483612, + -0.9906940460205078, + -0.0914270207285881, + -4.8935394287109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2849, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_338471174", + "mask_path": "../../mask/hdr_front_02849.png" + }, + { + "file_path": "../../rgb/hdr_front_02851.png", + "transform_matrix": [ + [ + 0.8352690935134888, + -0.12592746317386627, + 0.5352270007133484, + 40.42197799682617 + ], + [ + -0.5408766865730286, + -0.013117581605911255, + 0.8409996628761292, + -1.8999595642089844 + ], + [ + -0.09888406842947006, + -0.9919527173042297, + -0.07906793057918549, + -4.896780014038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2851, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_538469314", + "mask_path": "../../mask/hdr_front_02851.png" + }, + { + "file_path": "../../rgb/hdr_front_02856.png", + "transform_matrix": [ + [ + 0.8086133003234863, + -0.10517668724060059, + 0.5788629055023193, + 40.30021667480469 + ], + [ + -0.5837421417236328, + -0.02065339684486389, + 0.8116763830184937, + -2.0764057636260986 + ], + [ + -0.07341394573450089, + -0.994239091873169, + -0.0780966728925705, + -4.861904144287109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2856, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_38468837", + "mask_path": "../../mask/hdr_front_02856.png" + }, + { + "file_path": "../../rgb/hdr_front_02858.png", + "transform_matrix": [ + [ + 0.8066613078117371, + -0.11017224192619324, + 0.5806543827056885, + 40.26447296142578 + ], + [ + -0.5853144526481628, + -0.012807348743081093, + 0.810705304145813, + -2.139784574508667 + ], + [ + -0.08188056945800781, + -0.9938300251960754, + -0.07481659203767776, + -4.8651533126831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2858, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_238469600", + "mask_path": "../../mask/hdr_front_02858.png" + }, + { + "file_path": "../../rgb/hdr_front_02860.png", + "transform_matrix": [ + [ + 0.7981997132301331, + -0.10998723655939102, + 0.5922667980194092, + 40.218807220458984 + ], + [ + -0.5973654389381409, + -0.017764490097761154, + 0.8017723560333252, + -2.2038793563842773 + ], + [ + -0.07766340672969818, + -0.9937742352485657, + -0.0798821970820427, + -4.847777843475342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2860, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_438469409", + "mask_path": "../../mask/hdr_front_02860.png" + }, + { + "file_path": "../../rgb/hdr_front_02862.png", + "transform_matrix": [ + [ + 0.7938451170921326, + -0.11582236737012863, + 0.5969883799552917, + 40.1768684387207 + ], + [ + -0.6036199927330017, + -0.030870972201228142, + 0.7966741919517517, + -2.267176866531372 + ], + [ + -0.0738430842757225, + -0.9927901029586792, + -0.09441947191953659, + -4.8392791748046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2862, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_638469219", + "mask_path": "../../mask/hdr_front_02862.png" + }, + { + "file_path": "../../rgb/hdr_front_02883.png", + "transform_matrix": [ + [ + 0.9291741847991943, + -0.06174856424331665, + 0.36444807052612305, + 39.8763427734375 + ], + [ + -0.3638325333595276, + 0.02133747935295105, + 0.9312199354171753, + -3.0365827083587646 + ], + [ + -0.06527789682149887, + -0.9978636503219604, + -0.002639898331835866, + -4.8627424240112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2883, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594456_738470077", + "mask_path": "../../mask/hdr_front_02883.png" + }, + { + "file_path": "../../rgb/hdr_front_02885.png", + "transform_matrix": [ + [ + 0.9406808018684387, + -0.06802041083574295, + 0.33240464329719543, + 39.87405776977539 + ], + [ + -0.3310253620147705, + 0.0309635940939188, + 0.9431136846542358, + -3.11624813079834 + ], + [ + -0.07444341480731964, + -0.9972034096717834, + 0.006610380485653877, + -4.873000144958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2885, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594456_938470363", + "mask_path": "../../mask/hdr_front_02885.png" + }, + { + "file_path": "../../rgb/hdr_front_02887.png", + "transform_matrix": [ + [ + 0.9444275498390198, + -0.06809201836585999, + 0.32158955931663513, + 39.85498809814453 + ], + [ + -0.31970536708831787, + 0.03726164996623993, + 0.9467840790748596, + -3.194561243057251 + ], + [ + -0.0764513835310936, + -0.996982991695404, + 0.013421549461781979, + -4.8688154220581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2887, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594457_138470649", + "mask_path": "../../mask/hdr_front_02887.png" + }, + { + "file_path": "../../rgb/hdr_front_02889.png", + "transform_matrix": [ + [ + 0.9385910034179688, + -0.06517749279737473, + 0.33881956338882446, + 39.83456039428711 + ], + [ + -0.3378194272518158, + 0.02613561972975731, + 0.9408480525016785, + -3.2676053047180176 + ], + [ + -0.07017736881971359, + -0.9975314140319824, + 0.002512437989935279, + -4.8680033683776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2889, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594457_338470935", + "mask_path": "../../mask/hdr_front_02889.png" + }, + { + "file_path": "../../rgb/hdr_front_02897.png", + "transform_matrix": [ + [ + 0.9297163486480713, + -0.06828737258911133, + 0.3618902862071991, + 39.7099494934082 + ], + [ + -0.3621486723423004, + 0.008993428200483322, + 0.9320769906044006, + -3.5927023887634277 + ], + [ + -0.06690371036529541, + -0.9976252317428589, + -0.016368843615055084, + -4.858985424041748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2897, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_138470172", + "mask_path": "../../mask/hdr_front_02897.png" + }, + { + "file_path": "../../rgb/hdr_front_02899.png", + "transform_matrix": [ + [ + 0.9341609477996826, + -0.07547838240861893, + 0.3487783670425415, + 39.69169616699219 + ], + [ + -0.3490571677684784, + 0.009895693510770798, + 0.937049150466919, + -3.6715445518493652 + ], + [ + -0.07417835295200348, + -0.9970983862876892, + -0.01710209995508194, + -4.860400199890137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_338469982", + "mask_path": "../../mask/hdr_front_02899.png" + }, + { + "file_path": "../../rgb/hdr_front_02901.png", + "transform_matrix": [ + [ + 0.9316877722740173, + -0.07478401064872742, + 0.35547858476638794, + 39.65655517578125 + ], + [ + -0.3556230068206787, + 0.011826612986624241, + 0.9345546960830688, + -3.7516286373138428 + ], + [ + -0.07409384846687317, + -0.9971296191215515, + -0.015576205216348171, + -4.848880290985107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2901, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_538469791", + "mask_path": "../../mask/hdr_front_02901.png" + }, + { + "file_path": "../../rgb/hdr_front_02903.png", + "transform_matrix": [ + [ + 0.92564857006073, + -0.07087626308202744, + 0.3716871738433838, + 39.634403228759766 + ], + [ + -0.3728453814983368, + -0.003386054653674364, + 0.9278873801231384, + -3.824983596801758 + ], + [ + -0.06450662761926651, + -0.9974793791770935, + -0.029560185968875885, + -4.847715854644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2903, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_738469839", + "mask_path": "../../mask/hdr_front_02903.png" + }, + { + "file_path": "../../rgb/hdr_front_02904.png", + "transform_matrix": [ + [ + 0.9257314205169678, + -0.06708358973264694, + 0.3721843957901001, + 39.62358474731445 + ], + [ + -0.3737095594406128, + -0.011366689577698708, + 0.9274760484695435, + -3.8767755031585693 + ], + [ + -0.057987917214632034, + -0.9976826310157776, + -0.03559228032827377, + -4.8396477699279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_838470458", + "mask_path": "../../mask/hdr_front_02904.png" + }, + { + "file_path": "../../rgb/hdr_front_02906.png", + "transform_matrix": [ + [ + 0.9298334717750549, + -0.06593021005392075, + 0.3620259165763855, + 39.61247253417969 + ], + [ + -0.36355799436569214, + -0.012526432052254677, + 0.9314874410629272, + -3.960297107696533 + ], + [ + -0.056878261268138885, + -0.9977456331253052, + -0.035616956651210785, + -4.842187404632568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_38470506", + "mask_path": "../../mask/hdr_front_02906.png" + }, + { + "file_path": "../../rgb/hdr_front_02908.png", + "transform_matrix": [ + [ + 0.928210437297821, + -0.06389057636260986, + 0.36652877926826477, + 39.59221649169922 + ], + [ + -0.3681611120700836, + -0.015561371110379696, + 0.929631769657135, + -4.037591934204102 + ], + [ + -0.053691018372774124, + -0.9978355765342712, + -0.037966255098581314, + -4.829111576080322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_238471031", + "mask_path": "../../mask/hdr_front_02908.png" + }, + { + "file_path": "../../rgb/hdr_front_02910.png", + "transform_matrix": [ + [ + 0.9217820763587952, + -0.0679713562130928, + 0.38170337677001953, + 39.55560302734375 + ], + [ + -0.38410624861717224, + -0.02621442638337612, + 0.9229167103767395, + -4.1124186515808105 + ], + [ + -0.05272575095295906, + -0.9973428249359131, + -0.05027220770716667, + -4.822465419769287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2910, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_438469648", + "mask_path": "../../mask/hdr_front_02910.png" + }, + { + "file_path": "../../rgb/hdr_front_02911.png", + "transform_matrix": [ + [ + 0.9207000136375427, + -0.07705295085906982, + 0.3825889229774475, + 39.53844451904297 + ], + [ + -0.3854816257953644, + -0.026438601315021515, + 0.9223366975784302, + -4.163284778594971 + ], + [ + -0.060953643172979355, + -0.9966763854026794, + -0.05404452234506607, + -4.814187526702881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_538468122", + "mask_path": "../../mask/hdr_front_02911.png" + }, + { + "file_path": "../../rgb/hdr_front_02913.png", + "transform_matrix": [ + [ + 0.9230992197990417, + -0.08332214504480362, + 0.3754267990589142, + 39.513736724853516 + ], + [ + -0.3787075877189636, + -0.02726583369076252, + 0.925114631652832, + -4.247162818908691 + ], + [ + -0.06684621423482895, + -0.9961495995521545, + -0.05672379955649376, + -4.809805393218994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_738468408", + "mask_path": "../../mask/hdr_front_02913.png" + }, + { + "file_path": "../../rgb/hdr_front_02915.png", + "transform_matrix": [ + [ + 0.9155535697937012, + -0.0835539773106575, + 0.3934215009212494, + 39.475547790527344 + ], + [ + -0.3973552882671356, + -0.036602336913347244, + 0.9169345498085022, + -4.319072246551514 + ], + [ + -0.06221337988972664, + -0.9958308339118958, + -0.06671201437711716, + -4.796541213989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2915, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_938469648", + "mask_path": "../../mask/hdr_front_02915.png" + }, + { + "file_path": "../../rgb/hdr_front_02917.png", + "transform_matrix": [ + [ + 0.9117238521575928, + -0.08815420418977737, + 0.4012337923049927, + 39.443016052246094 + ], + [ + -0.4061541259288788, + -0.046898093074560165, + 0.9126003980636597, + -4.411558628082275 + ], + [ + -0.06163245067000389, + -0.9950022101402283, + -0.07856229692697525, + -4.780540466308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_138470888", + "mask_path": "../../mask/hdr_front_02917.png" + }, + { + "file_path": "../../rgb/hdr_front_02919.png", + "transform_matrix": [ + [ + 0.9039033055305481, + -0.09182487428188324, + 0.41776424646377563, + 39.404754638671875 + ], + [ + -0.4229549169540405, + -0.04624289646744728, + 0.9049699902534485, + -4.485633850097656 + ], + [ + -0.06378012150526047, + -0.9947009086608887, + -0.0806368887424469, + -4.785171031951904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2919, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_338469982", + "mask_path": "../../mask/hdr_front_02919.png" + }, + { + "file_path": "../../rgb/hdr_front_02921.png", + "transform_matrix": [ + [ + 0.8779546022415161, + -0.09431738406419754, + 0.4693611264228821, + 39.34410095214844 + ], + [ + -0.4750538766384125, + -0.050142668187618256, + 0.8785269260406494, + -4.542240619659424 + ], + [ + -0.059325337409973145, + -0.9942786693572998, + -0.08882881700992584, + -4.76029109954834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_538470506", + "mask_path": "../../mask/hdr_front_02921.png" + }, + { + "file_path": "../../rgb/hdr_front_02923.png", + "transform_matrix": [ + [ + 0.8459368944168091, + -0.0956965759396553, + 0.524626612663269, + 39.287017822265625 + ], + [ + -0.5309881567955017, + -0.059980057179927826, + 0.8452537655830383, + -4.621963024139404 + ], + [ + -0.04942076653242111, + -0.9936018586158752, + -0.10155309736728668, + -4.734440326690674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_738470554", + "mask_path": "../../mask/hdr_front_02923.png" + }, + { + "file_path": "../../rgb/hdr_front_02930.png", + "transform_matrix": [ + [ + 0.7114800214767456, + -0.10454418510198593, + 0.6948861479759216, + 39.06492614746094 + ], + [ + -0.70181804895401, + -0.05600866302847862, + 0.7101510167121887, + -4.790570259094238 + ], + [ + -0.035322509706020355, + -0.9929419159889221, + -0.11322003602981567, + -4.694578647613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2930, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_438468933", + "mask_path": "../../mask/hdr_front_02930.png" + }, + { + "file_path": "../../rgb/hdr_front_02932.png", + "transform_matrix": [ + [ + 0.675581157207489, + -0.10550681501626968, + 0.729697585105896, + 39.00857925415039 + ], + [ + -0.736388623714447, + -0.04775143787264824, + 0.6748716235160828, + -4.831459999084473 + ], + [ + -0.03635944053530693, + -0.9932714104652405, + -0.10995399951934814, + -4.698668956756592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2932, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_638468265", + "mask_path": "../../mask/hdr_front_02932.png" + }, + { + "file_path": "../../rgb/hdr_front_02934.png", + "transform_matrix": [ + [ + 0.6164571046829224, + -0.1043313592672348, + 0.7804457545280457, + 38.935848236083984 + ], + [ + -0.7868508696556091, + -0.045006051659584045, + 0.6154999136924744, + -4.859673023223877 + ], + [ + -0.029091158881783485, + -0.9935237765312195, + -0.10983752459287643, + -4.6836700439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_838468074", + "mask_path": "../../mask/hdr_front_02934.png" + }, + { + "file_path": "../../rgb/hdr_front_02936.png", + "transform_matrix": [ + [ + 0.5417355895042419, + -0.1080620214343071, + 0.8335736989974976, + 38.84749221801758 + ], + [ + -0.8403237462043762, + -0.04667177051305771, + 0.540071964263916, + -4.8905792236328125 + ], + [ + -0.019456906244158745, + -0.9930480122566223, + -0.11609084904193878, + -4.659721374511719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_38469314", + "mask_path": "../../mask/hdr_front_02936.png" + }, + { + "file_path": "../../rgb/hdr_front_02938.png", + "transform_matrix": [ + [ + 0.4737623929977417, + -0.11213003098964691, + 0.8734850883483887, + 38.784629821777344 + ], + [ + -0.88039630651474, + -0.03637099266052246, + 0.4728419780731201, + -4.903356075286865 + ], + [ + -0.021250270307064056, + -0.9930277466773987, + -0.1159500777721405, + -4.668670177459717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_238469600", + "mask_path": "../../mask/hdr_front_02938.png" + }, + { + "file_path": "../../rgb/hdr_front_02940.png", + "transform_matrix": [ + [ + 0.3919178247451782, + -0.11137644201517105, + 0.9132336974143982, + 38.71931457519531 + ], + [ + -0.9198039174079895, + -0.026934204623103142, + 0.3914526402950287, + -4.892727851867676 + ], + [ + -0.01900138147175312, + -0.9934132695198059, + -0.11300048977136612, + -4.646034240722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_438468933", + "mask_path": "../../mask/hdr_front_02940.png" + }, + { + "file_path": "../../rgb/hdr_front_02942.png", + "transform_matrix": [ + [ + 0.29677775502204895, + -0.11374980956315994, + 0.9481476545333862, + 38.639434814453125 + ], + [ + -0.95493483543396, + -0.030412059277296066, + 0.2952536344528198, + -4.878946304321289 + ], + [ + -0.004749923478811979, + -0.9930438995361328, + -0.11764927953481674, + -4.627854824066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_638469457", + "mask_path": "../../mask/hdr_front_02942.png" + }, + { + "file_path": "../../rgb/hdr_front_02944.png", + "transform_matrix": [ + [ + 0.2128717452287674, + -0.11703029274940491, + 0.9700462222099304, + 38.554588317871094 + ], + [ + -0.9770746827125549, + -0.022167380899190903, + 0.21173976361751556, + -4.878783702850342 + ], + [ + -0.003276580711826682, + -0.9928809404373169, + -0.11906614154577255, + -4.612925052642822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2944, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_838469505", + "mask_path": "../../mask/hdr_front_02944.png" + }, + { + "file_path": "../../rgb/hdr_front_02946.png", + "transform_matrix": [ + [ + 0.11650343239307404, + -0.10652592033147812, + 0.9874610304832458, + 38.49795150756836 + ], + [ + -0.9931721687316895, + -0.006491529289633036, + 0.11647696048021317, + -4.856565475463867 + ], + [ + -0.005997682921588421, + -0.9942887425422668, + -0.10655486583709717, + -4.616448402404785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2946, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_38470029", + "mask_path": "../../mask/hdr_front_02946.png" + }, + { + "file_path": "../../rgb/hdr_front_02948.png", + "transform_matrix": [ + [ + 0.0116647407412529, + -0.11163999885320663, + 0.9936802983283997, + 38.43198776245117 + ], + [ + -0.9999151229858398, + -0.007071130909025669, + 0.010943489149212837, + -4.807648181915283 + ], + [ + 0.005804712418466806, + -0.9937236309051514, + -0.11171300709247589, + -4.597550868988037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_238468647", + "mask_path": "../../mask/hdr_front_02948.png" + }, + { + "file_path": "../../rgb/hdr_front_02950.png", + "transform_matrix": [ + [ + -0.050019461661577225, + -0.10588822513818741, + 0.9931192398071289, + 38.357723236083984 + ], + [ + -0.9987480640411377, + 0.006054487079381943, + -0.049657419323921204, + -4.780440330505371 + ], + [ + -0.0007546907290816307, + -0.9943596124649048, + -0.1060585007071495, + -4.584538459777832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_438469409", + "mask_path": "../../mask/hdr_front_02950.png" + }, + { + "file_path": "../../rgb/hdr_front_02952.png", + "transform_matrix": [ + [ + -0.08323130756616592, + -0.10115963220596313, + 0.9913825392723083, + 38.27910614013672 + ], + [ + -0.9964830279350281, + 0.01813359186053276, + -0.08180918544530869, + -4.746623992919922 + ], + [ + -0.00970153883099556, + -0.9947049617767334, + -0.10231314599514008, + -4.59089994430542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_638469219", + "mask_path": "../../mask/hdr_front_02952.png" + }, + { + "file_path": "../../rgb/hdr_front_02954.png", + "transform_matrix": [ + [ + -0.11487653851509094, + -0.10264062136411667, + 0.9880629181861877, + 38.212493896484375 + ], + [ + -0.9933655261993408, + 0.017206789925694466, + -0.1137055829167366, + -4.711175441741943 + ], + [ + -0.0053305793553590775, + -0.9945697784423828, + -0.10393630713224411, + -4.571398735046387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2954, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_838466644", + "mask_path": "../../mask/hdr_front_02954.png" + }, + { + "file_path": "../../rgb/hdr_front_02956.png", + "transform_matrix": [ + [ + -0.12632882595062256, + -0.09923604875802994, + 0.9870122671127319, + 38.1134147644043 + ], + [ + -0.9919878244400024, + 0.013774641789495945, + -0.12558072805404663, + -4.698541641235352 + ], + [ + -0.0011336080497130752, + -0.994968593120575, + -0.10018108040094376, + -4.563440799713135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_38468837", + "mask_path": "../../mask/hdr_front_02956.png" + }, + { + "file_path": "../../rgb/hdr_front_02958.png", + "transform_matrix": [ + [ + -0.1217777281999588, + -0.09390415251255035, + 0.9881053566932678, + 38.01630783081055 + ], + [ + -0.9925569295883179, + 0.01245932187885046, + -0.12114228308200836, + -4.698123455047607 + ], + [ + -0.0009353572386316955, + -0.9955032467842102, + -0.09472250193357468, + -4.568229675292969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2958, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_238468885", + "mask_path": "../../mask/hdr_front_02958.png" + }, + { + "file_path": "../../rgb/hdr_front_02960.png", + "transform_matrix": [ + [ + -0.13090404868125916, + -0.08628121018409729, + 0.9876334071159363, + 37.91508483886719 + ], + [ + -0.9913615584373474, + 0.0032006530091166496, + -0.13111859560012817, + -4.6925859451293945 + ], + [ + 0.008151995949447155, + -0.996265709400177, + -0.08595483750104904, + -4.559345245361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2960, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_438470125", + "mask_path": "../../mask/hdr_front_02960.png" + }, + { + "file_path": "../../rgb/hdr_front_02961.png", + "transform_matrix": [ + [ + -0.1430366337299347, + -0.09060154855251312, + 0.9855617880821228, + 37.86336135864258 + ], + [ + -0.9896170496940613, + -0.001088944380171597, + -0.14372530579566956, + -4.683682918548584 + ], + [ + 0.01409495435655117, + -0.9958866834640503, + -0.08950508385896683, + -4.548604965209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_538471221", + "mask_path": "../../mask/hdr_front_02961.png" + }, + { + "file_path": "../../rgb/hdr_front_02962.png", + "transform_matrix": [ + [ + -0.15590375661849976, + -0.09292580932378769, + 0.9833914637565613, + 37.80254364013672 + ], + [ + -0.9876400232315063, + -0.001621867180801928, + -0.15673059225082397, + -4.677335739135742 + ], + [ + 0.016159243881702423, + -0.9956716895103455, + -0.0915243998169899, + -4.541075229644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_638470411", + "mask_path": "../../mask/hdr_front_02962.png" + }, + { + "file_path": "../../rgb/hdr_front_02963.png", + "transform_matrix": [ + [ + -0.16088488698005676, + -0.08906958997249603, + 0.9829459190368652, + 37.730289459228516 + ], + [ + -0.9868761897087097, + 0.0005547419423237443, + -0.16147790849208832, + -4.673151016235352 + ], + [ + 0.013837490230798721, + -0.9960252642631531, + -0.08798989653587341, + -4.532482147216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_738470315", + "mask_path": "../../mask/hdr_front_02963.png" + }, + { + "file_path": "../../rgb/hdr_front_02964.png", + "transform_matrix": [ + [ + -0.15530629456043243, + -0.08343162387609482, + 0.9843369126319885, + 37.668052673339844 + ], + [ + -0.9878537058830261, + 0.00807932484894991, + -0.15517637133598328, + -4.671023845672607 + ], + [ + 0.004993840586394072, + -0.9964807629585266, + -0.08367300033569336, + -4.532165050506592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2964, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_838469743", + "mask_path": "../../mask/hdr_front_02964.png" + }, + { + "file_path": "../../rgb/hdr_front_02965.png", + "transform_matrix": [ + [ + -0.15382513403892517, + -0.07914971560239792, + 0.9849229454994202, + 37.61550521850586 + ], + [ + -0.988097071647644, + 0.01094006933271885, + -0.15344174206256866, + -4.665905952453613 + ], + [ + 0.0013697459362447262, + -0.9968026876449585, + -0.07989046722650528, + -4.53530740737915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_938469171", + "mask_path": "../../mask/hdr_front_02965.png" + }, + { + "file_path": "../../rgb/hdr_front_02966.png", + "transform_matrix": [ + [ + -0.15624183416366577, + -0.07760869711637497, + 0.9846650958061218, + 37.554718017578125 + ], + [ + -0.9877169728279114, + 0.014191601425409317, + -0.15560756623744965, + -4.65399169921875 + ], + [ + -0.0018974760314449668, + -0.9968829154968262, + -0.07887274026870728, + -4.525857925415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2966, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_38470506", + "mask_path": "../../mask/hdr_front_02966.png" + }, + { + "file_path": "../../rgb/hdr_front_02967.png", + "transform_matrix": [ + [ + -0.16516739130020142, + -0.07981874793767929, + 0.983030378818512, + 37.496883392333984 + ], + [ + -0.9862606525421143, + 0.016505612060427666, + -0.16436994075775146, + -4.637086868286133 + ], + [ + -0.003105713287368417, + -0.9966728091239929, + -0.0814482793211937, + -4.507768630981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2967, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_138471126", + "mask_path": "../../mask/hdr_front_02967.png" + }, + { + "file_path": "../../rgb/hdr_front_02968.png", + "transform_matrix": [ + [ + -0.17668069899082184, + -0.08719918876886368, + 0.9803979992866516, + 37.4476318359375 + ], + [ + -0.9842597842216492, + 0.011533738113939762, + -0.17635081708431244, + -4.622278213500977 + ], + [ + 0.004069995135068893, + -0.9961241483688354, + -0.08786444365978241, + -4.499587059020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2968, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_238470554", + "mask_path": "../../mask/hdr_front_02968.png" + }, + { + "file_path": "../../rgb/hdr_front_02970.png", + "transform_matrix": [ + [ + -0.19786469638347626, + -0.087723508477211, + 0.9762961864471436, + 37.32633590698242 + ], + [ + -0.9801911115646362, + 0.00891208928078413, + -0.19785331189632416, + -4.598508834838867 + ], + [ + 0.0086555490270257, + -0.9961050152778625, + -0.08774919807910919, + -4.483269691467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2970, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_438470125", + "mask_path": "../../mask/hdr_front_02970.png" + }, + { + "file_path": "../../rgb/hdr_front_02971.png", + "transform_matrix": [ + [ + -0.20076821744441986, + -0.08464495092630386, + 0.9759750962257385, + 37.275753021240234 + ], + [ + -0.9796320796012878, + 0.01364829856902361, + -0.20033681392669678, + -4.588695526123047 + ], + [ + 0.0036370994057506323, + -0.9963176846504211, + -0.08566103875637054, + -4.48453950881958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_538470745", + "mask_path": "../../mask/hdr_front_02971.png" + }, + { + "file_path": "../../rgb/hdr_front_02973.png", + "transform_matrix": [ + [ + -0.204288512468338, + -0.08007311075925827, + 0.9756303429603577, + 37.18128204345703 + ], + [ + -0.9789106845855713, + 0.016499709337949753, + -0.20362122356891632, + -4.569320201873779 + ], + [ + 0.00020696948922704905, + -0.9966524243354797, + -0.081755131483078, + -4.481318950653076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2973, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_738469839", + "mask_path": "../../mask/hdr_front_02973.png" + }, + { + "file_path": "../../rgb/hdr_front_02974.png", + "transform_matrix": [ + [ + -0.21413473784923553, + -0.08051279932260513, + 0.9734804034233093, + 37.13511276245117 + ], + [ + -0.9768031239509583, + 0.016241608187556267, + -0.21352237462997437, + -4.552309513092041 + ], + [ + 0.0013803996844217181, + -0.9966212511062622, + -0.0821230486035347, + -4.4686408042907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2974, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_838469505", + "mask_path": "../../mask/hdr_front_02974.png" + }, + { + "file_path": "../../rgb/hdr_front_02976.png", + "transform_matrix": [ + [ + -0.22984851896762848, + -0.09250881522893906, + 0.9688197374343872, + 37.03943634033203 + ], + [ + -0.9731099605560303, + 0.0064436704851686954, + -0.23025104403495789, + -4.529566764831543 + ], + [ + 0.015057497657835484, + -0.9956910014152527, + -0.09150230884552002, + -4.447896957397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2976, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_38470029", + "mask_path": "../../mask/hdr_front_02976.png" + }, + { + "file_path": "../../rgb/hdr_front_02977.png", + "transform_matrix": [ + [ + -0.23043447732925415, + -0.09135879576206207, + 0.9687897562980652, + 36.979007720947266 + ], + [ + -0.9729995131492615, + 0.008215580135583878, + -0.2306610643863678, + -4.522676467895508 + ], + [ + 0.013113746419548988, + -0.9957842230796814, + -0.0907852053642273, + -4.4387431144714355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2977, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_138470172", + "mask_path": "../../mask/hdr_front_02977.png" + }, + { + "file_path": "../../rgb/hdr_front_02978.png", + "transform_matrix": [ + [ + -0.2266264259815216, + -0.08827557414770126, + 0.9699731469154358, + 36.927833557128906 + ], + [ + -0.9739207029342651, + 0.009391778148710728, + -0.2266940325498581, + -4.516712188720703 + ], + [ + 0.010901776142418385, + -0.9960518479347229, + -0.08810184895992279, + -4.439370155334473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2978, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_238470315", + "mask_path": "../../mask/hdr_front_02978.png" + }, + { + "file_path": "../../rgb/hdr_front_02980.png", + "transform_matrix": [ + [ + -0.22872839868068695, + -0.0821162536740303, + 0.9700207710266113, + 36.840660095214844 + ], + [ + -0.9734483361244202, + 0.010045215487480164, + -0.22868624329566956, + -4.504295825958252 + ], + [ + 0.009034788236021996, + -0.9965721964836121, + -0.08223354816436768, + -4.43034029006958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2980, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_438469886", + "mask_path": "../../mask/hdr_front_02980.png" + }, + { + "file_path": "../../rgb/hdr_front_02982.png", + "transform_matrix": [ + [ + -0.24998432397842407, + -0.09277330338954926, + 0.9637951850891113, + 36.749691009521484 + ], + [ + -0.9681670665740967, + 0.01093684509396553, + -0.25006553530693054, + -4.476871490478516 + ], + [ + 0.012658526189625263, + -0.9956272840499878, + -0.09255409240722656, + -4.408219814300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2982, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_638469696", + "mask_path": "../../mask/hdr_front_02982.png" + }, + { + "file_path": "../../rgb/hdr_front_02983.png", + "transform_matrix": [ + [ + -0.25383684039115906, + -0.09388025850057602, + 0.9626802206039429, + 36.692588806152344 + ], + [ + -0.967149555683136, + 0.010504182428121567, + -0.25399094820022583, + -4.465274333953857 + ], + [ + 0.013732562772929668, + -0.9955281615257263, + -0.09346260130405426, + -4.395036220550537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_738470077", + "mask_path": "../../mask/hdr_front_02983.png" + }, + { + "file_path": "../../rgb/hdr_front_02984.png", + "transform_matrix": [ + [ + -0.25080955028533936, + -0.09153863042593002, + 0.9636987447738647, + 36.639801025390625 + ], + [ + -0.9679909348487854, + 0.014069129712879658, + -0.25059032440185547, + -4.458598613739014 + ], + [ + 0.009380288422107697, + -0.9957021474838257, + -0.09213723987340927, + -4.39694356918335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2984, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_838469982", + "mask_path": "../../mask/hdr_front_02984.png" + }, + { + "file_path": "../../rgb/hdr_front_02986.png", + "transform_matrix": [ + [ + -0.2519260048866272, + -0.08633597195148468, + 0.9638876914978027, + 36.555213928222656 + ], + [ + -0.9677227735519409, + 0.01549359317868948, + -0.25154057145118713, + -4.4398956298828125 + ], + [ + 0.006782918702811003, + -0.9961456060409546, + -0.08745253086090088, + -4.397398948669434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2986, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_38470268", + "mask_path": "../../mask/hdr_front_02986.png" + }, + { + "file_path": "../../rgb/hdr_front_02988.png", + "transform_matrix": [ + [ + -0.27405962347984314, + -0.08864257484674454, + 0.9576188921928406, + 36.47732925415039 + ], + [ + -0.9616239070892334, + 0.011731287464499474, + -0.2741199731826782, + -4.404823303222656 + ], + [ + 0.013064594008028507, + -0.9959943890571594, + -0.08845588564872742, + -4.379741191864014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2988, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_238468885", + "mask_path": "../../mask/hdr_front_02988.png" + }, + { + "file_path": "../../rgb/hdr_front_02990.png", + "transform_matrix": [ + [ + -0.2826940715312958, + -0.09070976823568344, + 0.9549114108085632, + 36.37068176269531 + ], + [ + -0.959058940410614, + 0.009052586741745472, + -0.2830619215965271, + -4.3799943923950195 + ], + [ + 0.017032062634825706, + -0.9958361983299255, + -0.08955512195825577, + -4.366046905517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2990, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_438469648", + "mask_path": "../../mask/hdr_front_02990.png" + }, + { + "file_path": "../../rgb/hdr_front_02991.png", + "transform_matrix": [ + [ + -0.279219388961792, + -0.08847032487392426, + 0.9561430215835571, + 36.31849670410156 + ], + [ + -0.9601636528968811, + 0.014254492707550526, + -0.2790745496749878, + -4.37015438079834 + ], + [ + 0.011060480959713459, + -0.9959768652915955, + -0.08892612159252167, + -4.367475509643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2991, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_538470029", + "mask_path": "../../mask/hdr_front_02991.png" + }, + { + "file_path": "../../rgb/hdr_front_02993.png", + "transform_matrix": [ + [ + -0.2804855406284332, + -0.08063776791095734, + 0.9564650058746338, + 36.233333587646484 + ], + [ + -0.9598269462585449, + 0.01551873330026865, + -0.28016310930252075, + -4.34801721572876 + ], + [ + 0.007748601958155632, + -0.9966226816177368, + -0.08175108581781387, + -4.362363338470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2993, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_738468647", + "mask_path": "../../mask/hdr_front_02993.png" + }, + { + "file_path": "../../rgb/hdr_front_02995.png", + "transform_matrix": [ + [ + -0.2955128252506256, + -0.08590897917747498, + 0.9514682292938232, + 36.1497802734375 + ], + [ + -0.9552385807037354, + 0.012147072702646255, + -0.29558712244033813, + -4.317969799041748 + ], + [ + 0.013836034573614597, + -0.9962289929389954, + -0.08565318584442139, + -4.340588092803955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2995, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_938469648", + "mask_path": "../../mask/hdr_front_02995.png" + }, + { + "file_path": "../../rgb/hdr_front_02996.png", + "transform_matrix": [ + [ + -0.2938707172870636, + -0.09024615585803986, + 0.9515753388404846, + 36.0963134765625 + ], + [ + -0.9556082487106323, + 0.0055720750242471695, + -0.29458773136138916, + -4.309546947479248 + ], + [ + 0.021283159032464027, + -0.9959039092063904, + -0.08787744492292404, + -4.329235076904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2996, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_38469314", + "mask_path": "../../mask/hdr_front_02996.png" + }, + { + "file_path": "../../rgb/hdr_front_02997.png", + "transform_matrix": [ + [ + -0.2849636971950531, + -0.08608078211545944, + 0.9546653628349304, + 36.04203414916992 + ], + [ + -0.958345353603363, + 0.005601514130830765, + -0.2855571210384369, + -4.303875923156738 + ], + [ + 0.019233407452702522, + -0.9962724447250366, + -0.08409133553504944, + -4.31995964050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2997, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_138470649", + "mask_path": "../../mask/hdr_front_02997.png" + }, + { + "file_path": "../../rgb/hdr_front_02999.png", + "transform_matrix": [ + [ + -0.2650586664676666, + -0.08251961320638657, + 0.9606947898864746, + 35.95380783081055 + ], + [ + -0.9641414880752563, + 0.009011207148432732, + -0.26523566246032715, + -4.298036098480225 + ], + [ + 0.01323012262582779, + -0.9965487122535706, + -0.08194908499717712, + -4.321125507354736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2999, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_338470697", + "mask_path": "../../mask/hdr_front_02999.png" + }, + { + "file_path": "../../rgb/hdr_front_03001.png", + "transform_matrix": [ + [ + -0.24905727803707123, + -0.08959963917732239, + 0.9643353223800659, + 35.87491226196289 + ], + [ + -0.9684743881225586, + 0.017620455473661423, + -0.2484891414642334, + -4.2831549644470215 + ], + [ + 0.005272516515105963, + -0.995822012424469, + -0.09116347134113312, + -4.290524959564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_538470506", + "mask_path": "../../mask/hdr_front_03001.png" + }, + { + "file_path": "../../rgb/hdr_front_03003.png", + "transform_matrix": [ + [ + -0.21504485607147217, + -0.10365324467420578, + 0.9710879325866699, + 35.79692840576172 + ], + [ + -0.9764608144760132, + 0.005782321561127901, + -0.21561747789382935, + -4.28277587890625 + ], + [ + 0.016734305769205093, + -0.9945967197418213, + -0.10245678573846817, + -4.2691545486450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3003, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_738469600", + "mask_path": "../../mask/hdr_front_03003.png" + }, + { + "file_path": "../../rgb/hdr_front_03005.png", + "transform_matrix": [ + [ + -0.15046972036361694, + -0.10748882591724396, + 0.9827538132667542, + 35.71791076660156 + ], + [ + -0.9886016249656677, + 0.011256702244281769, + -0.15013387799263, + -4.299958229064941 + ], + [ + 0.005075146909803152, + -0.9941427111625671, + -0.10795740783214569, + -4.261659622192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_938469886", + "mask_path": "../../mask/hdr_front_03005.png" + }, + { + "file_path": "../../rgb/hdr_front_03007.png", + "transform_matrix": [ + [ + -0.07889194786548615, + -0.1081986054778099, + 0.9909940361976624, + 35.6593017578125 + ], + [ + -0.9968777298927307, + 0.005278313532471657, + -0.0787840485572815, + -4.333991050720215 + ], + [ + 0.0032935477793216705, + -0.9941153526306152, + -0.10827718675136566, + -4.250110626220703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_138470172", + "mask_path": "../../mask/hdr_front_03007.png" + }, + { + "file_path": "../../rgb/hdr_front_03009.png", + "transform_matrix": [ + [ + -0.02057831548154354, + -0.11889755725860596, + 0.9926931858062744, + 35.59696578979492 + ], + [ + -0.999629020690918, + -0.015271578915417194, + -0.02255120873451233, + -4.3614182472229 + ], + [ + 0.01784127578139305, + -0.992789089679718, + -0.11853918433189392, + -4.231410503387451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_338468790", + "mask_path": "../../mask/hdr_front_03009.png" + }, + { + "file_path": "../../rgb/hdr_front_03011.png", + "transform_matrix": [ + [ + 0.02255859598517418, + -0.11451483517885208, + 0.9931653738021851, + 35.519309997558594 + ], + [ + -0.999677836894989, + -0.014148285612463951, + 0.021075177937746048, + -4.380717754364014 + ], + [ + 0.011638165451586246, + -0.9933208227157593, + -0.11479710787534714, + -4.227196216583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_538470268", + "mask_path": "../../mask/hdr_front_03011.png" + }, + { + "file_path": "../../rgb/hdr_front_03013.png", + "transform_matrix": [ + [ + 0.03322165831923485, + -0.11826594173908234, + 0.9924260377883911, + 35.4408073425293 + ], + [ + -0.9993366003036499, + -0.018750809133052826, + 0.03121848776936531, + -4.396221160888672 + ], + [ + 0.014916708692908287, + -0.9928049445152283, + -0.11881043016910553, + -4.2223334312438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_738467216", + "mask_path": "../../mask/hdr_front_03013.png" + }, + { + "file_path": "../../rgb/hdr_front_03015.png", + "transform_matrix": [ + [ + 0.03720611333847046, + -0.11779101192951202, + 0.992341160774231, + 35.34856414794922 + ], + [ + -0.9990999102592468, + -0.02462719939649105, + 0.034536272287368774, + -4.407880783081055 + ], + [ + 0.020370516926050186, + -0.9927330017089844, + -0.11860128492116928, + -4.205109596252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_938470602", + "mask_path": "../../mask/hdr_front_03015.png" + }, + { + "file_path": "../../rgb/hdr_front_03017.png", + "transform_matrix": [ + [ + 0.0609479583799839, + -0.12217294424772263, + 0.9906357526779175, + 35.23823928833008 + ], + [ + -0.9977120161056519, + -0.03654952347278595, + 0.05687575414776802, + -4.431917667388916 + ], + [ + 0.02925858646631241, + -0.9918355941772461, + -0.1241210475564003, + -4.190095901489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_138469219", + "mask_path": "../../mask/hdr_front_03017.png" + }, + { + "file_path": "../../rgb/hdr_front_03018.png", + "transform_matrix": [ + [ + 0.08807479590177536, + -0.1144450455904007, + 0.9895176887512207, + 35.181434631347656 + ], + [ + -0.9959555864334106, + -0.02782454527914524, + 0.08542970567941666, + -4.456518173217773 + ], + [ + 0.017755869776010513, + -0.9930399060249329, + -0.11643282324075699, + -4.18317985534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_238470077", + "mask_path": "../../mask/hdr_front_03018.png" + }, + { + "file_path": "../../rgb/hdr_front_03020.png", + "transform_matrix": [ + [ + 0.14519916474819183, + -0.1149522215127945, + 0.9827020168304443, + 35.10037612915039 + ], + [ + -0.9893949031829834, + -0.020768700167536736, + 0.1437586545944214, + -4.494420528411865 + ], + [ + 0.003884069388732314, + -0.9931539297103882, + -0.11674872040748596, + -4.189683437347412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3020, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_438470602", + "mask_path": "../../mask/hdr_front_03020.png" + }, + { + "file_path": "../../rgb/hdr_front_03022.png", + "transform_matrix": [ + [ + 0.20218481123447418, + -0.10127545148134232, + 0.9740968942642212, + 35.02324295043945 + ], + [ + -0.9792879819869995, + -0.031868789345026016, + 0.19994890689849854, + -4.541240692138672 + ], + [ + 0.01079336553812027, + -0.9943479299545288, + -0.10562121123075485, + -4.166635513305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_638471126", + "mask_path": "../../mask/hdr_front_03022.png" + }, + { + "file_path": "../../rgb/hdr_front_03024.png", + "transform_matrix": [ + [ + 0.2387879639863968, + -0.09696653485298157, + 0.9662183523178101, + 34.950618743896484 + ], + [ + -0.9705772995948792, + -0.055578917264938354, + 0.23428751528263092, + -4.582711696624756 + ], + [ + 0.030983319506049156, + -0.9937346577644348, + -0.10738509893417358, + -4.1574482917785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3024, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_838470697", + "mask_path": "../../mask/hdr_front_03024.png" + }, + { + "file_path": "../../rgb/hdr_front_03025.png", + "transform_matrix": [ + [ + 0.2539076507091522, + -0.09010708332061768, + 0.9630221724510193, + 34.9009895324707 + ], + [ + -0.966640293598175, + -0.05835430696606636, + 0.24940161406993866, + -4.6079936027526855 + ], + [ + 0.03372363746166229, + -0.9942210912704468, + -0.10191775858402252, + -4.146571636199951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3025, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_938470125", + "mask_path": "../../mask/hdr_front_03025.png" + }, + { + "file_path": "../../rgb/hdr_front_03026.png", + "transform_matrix": [ + [ + 0.2727462649345398, + -0.0828799456357956, + 0.9585094451904297, + 34.85698699951172 + ], + [ + -0.9616814851760864, + -0.05237213149666786, + 0.26912036538124084, + -4.63263463973999 + ], + [ + 0.027894504368305206, + -0.9951823949813843, + -0.09398841857910156, + -4.142798900604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3026, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_38470745", + "mask_path": "../../mask/hdr_front_03026.png" + }, + { + "file_path": "../../rgb/hdr_front_03028.png", + "transform_matrix": [ + [ + 0.2891801595687866, + -0.07221586257219315, + 0.9545469284057617, + 34.79796600341797 + ], + [ + -0.9569246172904968, + -0.04877270385622978, + 0.28621065616607666, + -4.6814680099487305 + ], + [ + 0.025886883959174156, + -0.9961957931518555, + -0.08320923894643784, + -4.143389701843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_238471508", + "mask_path": "../../mask/hdr_front_03028.png" + }, + { + "file_path": "../../rgb/hdr_front_03030.png", + "transform_matrix": [ + [ + 0.28457242250442505, + -0.07181236147880554, + 0.9559611082077026, + 34.724456787109375 + ], + [ + -0.9582396745681763, + -0.05064152553677559, + 0.28144654631614685, + -4.719010829925537 + ], + [ + 0.02819998934864998, + -0.9961317181587219, + -0.08322462439537048, + -4.123858451843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3030, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_438470363", + "mask_path": "../../mask/hdr_front_03030.png" + }, + { + "file_path": "../../rgb/hdr_front_03032.png", + "transform_matrix": [ + [ + 0.2726861536502838, + -0.07967057079076767, + 0.9587986469268799, + 34.639137268066406 + ], + [ + -0.961418092250824, + -0.06016039848327637, + 0.2684321999549866, + -4.750100612640381 + ], + [ + 0.036295562982559204, + -0.9950041770935059, + -0.09300164133310318, + -4.109665393829346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3032, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_638470172", + "mask_path": "../../mask/hdr_front_03032.png" + }, + { + "file_path": "../../rgb/hdr_front_03033.png", + "transform_matrix": [ + [ + 0.27183622121810913, + -0.0811987817287445, + 0.9589118361473083, + 34.590728759765625 + ], + [ + -0.9616902470588684, + -0.059628162533044815, + 0.2675747573375702, + -4.768435001373291 + ], + [ + 0.03545139729976654, + -0.9949126243591309, + -0.09429717063903809, + -4.094459533691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3033, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_738469362", + "mask_path": "../../mask/hdr_front_03033.png" + }, + { + "file_path": "../../rgb/hdr_front_03035.png", + "transform_matrix": [ + [ + 0.2763501703739166, + -0.08156685531139374, + 0.9575893878936768, + 34.51898956298828 + ], + [ + -0.9608011841773987, + -0.04643374681472778, + 0.27332189679145813, + -4.797638416290283 + ], + [ + 0.022170452401041985, + -0.9955856800079346, + -0.09120150655508041, + -4.094906806945801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_938470363", + "mask_path": "../../mask/hdr_front_03035.png" + }, + { + "file_path": "../../rgb/hdr_front_03037.png", + "transform_matrix": [ + [ + 0.27039533853530884, + -0.08906498551368713, + 0.9586207270622253, + 34.436702728271484 + ], + [ + -0.9626666903495789, + -0.03805749863386154, + 0.26800069212913513, + -4.81252384185791 + ], + [ + 0.012613233178853989, + -0.9952985644340515, + -0.09603047370910645, + -4.068862438201904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_138470172", + "mask_path": "../../mask/hdr_front_03037.png" + }, + { + "file_path": "../../rgb/hdr_front_03039.png", + "transform_matrix": [ + [ + 0.26085761189460754, + -0.09745786339044571, + 0.9604454636573792, + 34.371421813964844 + ], + [ + -0.9652496576309204, + -0.04250146076083183, + 0.257849782705307, + -4.821725845336914 + ], + [ + 0.015690842643380165, + -0.9943317770957947, + -0.1051580011844635, + -4.0573225021362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_338470220", + "mask_path": "../../mask/hdr_front_03039.png" + }, + { + "file_path": "../../rgb/hdr_front_03041.png", + "transform_matrix": [ + [ + 0.2567971646785736, + -0.10044112801551819, + 0.9612318873405457, + 34.297550201416016 + ], + [ + -0.966343343257904, + -0.04248117282986641, + 0.25372377038002014, + -4.835893630981445 + ], + [ + 0.015349958091974258, + -0.9940357208251953, + -0.10796967148780823, + -4.0341877937316895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_538470029", + "mask_path": "../../mask/hdr_front_03041.png" + }, + { + "file_path": "../../rgb/hdr_front_03043.png", + "transform_matrix": [ + [ + 0.2604503929615021, + -0.10477107763290405, + 0.9597858190536499, + 34.23211669921875 + ], + [ + -0.9654527306556702, + -0.03665861114859581, + 0.25798654556274414, + -4.863444805145264 + ], + [ + 0.008154881186783314, + -0.9938205480575562, + -0.11069928109645844, + -4.035098552703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_738470554", + "mask_path": "../../mask/hdr_front_03043.png" + }, + { + "file_path": "../../rgb/hdr_front_03045.png", + "transform_matrix": [ + [ + 0.254213809967041, + -0.09781893342733383, + 0.9621885418891907, + 34.17967987060547 + ], + [ + -0.9670978784561157, + -0.03584393858909607, + 0.25186687707901, + -4.887135982513428 + ], + [ + 0.009851274080574512, + -0.994558572769165, + -0.10371250659227371, + -4.0212202072143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_938469648", + "mask_path": "../../mask/hdr_front_03045.png" + }, + { + "file_path": "../../rgb/hdr_front_03047.png", + "transform_matrix": [ + [ + 0.23669862747192383, + -0.10322513431310654, + 0.9660840034484863, + 34.11498260498047 + ], + [ + -0.9714528918266296, + -0.0414232462644577, + 0.23358801007270813, + -4.90216064453125 + ], + [ + 0.015906181186437607, + -0.9937951564788818, + -0.11008317768573761, + -4.011564254760742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_138470649", + "mask_path": "../../mask/hdr_front_03047.png" + }, + { + "file_path": "../../rgb/hdr_front_03049.png", + "transform_matrix": [ + [ + 0.2298114001750946, + -0.11080406606197357, + 0.9669070243835449, + 34.02828598022461 + ], + [ + -0.9730326533317566, + -0.046424753963947296, + 0.22594721615314484, + -4.933784484863281 + ], + [ + 0.01985255256295204, + -0.9927574396133423, + -0.11848490685224533, + -3.985124349594116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_338469743", + "mask_path": "../../mask/hdr_front_03049.png" + }, + { + "file_path": "../../rgb/hdr_front_03051.png", + "transform_matrix": [ + [ + 0.23028188943862915, + -0.11243179440498352, + 0.9666072130203247, + 33.97182846069336 + ], + [ + -0.9730970859527588, + -0.03398917615413666, + 0.22787457704544067, + -4.9621782302856445 + ], + [ + 0.00723383529111743, + -0.9930780529975891, + -0.11723413318395615, + -3.989839792251587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3051, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_538470029", + "mask_path": "../../mask/hdr_front_03051.png" + }, + { + "file_path": "../../rgb/hdr_front_03053.png", + "transform_matrix": [ + [ + 0.22439409792423248, + -0.11031825095415115, + 0.968234121799469, + 33.90584182739258 + ], + [ + -0.9744983911514282, + -0.024990873411297798, + 0.2229984849691391, + -4.985727787017822 + ], + [ + -0.0004037899198010564, + -0.9935821294784546, + -0.11311277002096176, + -3.9630935192108154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3053, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_738469839", + "mask_path": "../../mask/hdr_front_03053.png" + }, + { + "file_path": "../../rgb/hdr_front_03055.png", + "transform_matrix": [ + [ + 0.20996694266796112, + -0.11735522001981735, + 0.9706398844718933, + 33.82191467285156 + ], + [ + -0.9776891469955444, + -0.03144751489162445, + 0.20768970251083374, + -4.998517036437988 + ], + [ + 0.006150741130113602, + -0.9925919771194458, + -0.12133986502885818, + -3.9462027549743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3055, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_938470840", + "mask_path": "../../mask/hdr_front_03055.png" + }, + { + "file_path": "../../rgb/hdr_front_03057.png", + "transform_matrix": [ + [ + 0.20800231397151947, + -0.1201152354478836, + 0.9707252383232117, + 33.729713439941406 + ], + [ + -0.9781208634376526, + -0.021667294204235077, + 0.20690597593784332, + -5.0166916847229 + ], + [ + -0.0038195690140128136, + -0.9925234913825989, + -0.12199406325817108, + -3.924147129058838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3057, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_138469696", + "mask_path": "../../mask/hdr_front_03057.png" + }, + { + "file_path": "../../rgb/hdr_front_03059.png", + "transform_matrix": [ + [ + 0.2084382027387619, + -0.11695878207683563, + 0.971017062664032, + 33.64451217651367 + ], + [ + -0.9780037999153137, + -0.016924213618040085, + 0.20789943635463715, + -5.04010009765625 + ], + [ + -0.00788196176290512, + -0.992992639541626, + -0.11791378259658813, + -3.923504590988159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3059, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_338470220", + "mask_path": "../../mask/hdr_front_03059.png" + }, + { + "file_path": "../../rgb/hdr_left_02664.png", + "transform_matrix": [ + [ + -0.5993427634239197, + -0.05415685847401619, + 0.7986584901809692, + 40.541202545166016 + ], + [ + -0.7950416207313538, + -0.07596153765916824, + -0.6017795205116272, + 4.790573596954346 + ], + [ + 0.09325781464576721, + -0.9956389665603638, + 0.0024700365029275417, + -5.077120780944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2664, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_238467693", + "mask_path": "../../mask/hdr_left_02664.png" + }, + { + "file_path": "../../rgb/hdr_left_02666.png", + "transform_matrix": [ + [ + -0.6073296666145325, + -0.06080538406968117, + 0.7921195030212402, + 40.49964904785156 + ], + [ + -0.7891364097595215, + -0.06895126402378082, + -0.6103354096412659, + 4.707914352416992 + ], + [ + 0.0917293056845665, + -0.9957653880119324, + -0.0061075943522155285, + -5.073432445526123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2666, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_438468933", + "mask_path": "../../mask/hdr_left_02666.png" + }, + { + "file_path": "../../rgb/hdr_left_02668.png", + "transform_matrix": [ + [ + -0.6046222448348999, + -0.06726797670125961, + 0.7936668992042542, + 40.46006393432617 + ], + [ + -0.7921618223190308, + -0.053218793123960495, + -0.607986330986023, + 4.644891738891602 + ], + [ + 0.08313599228858948, + -0.9963145852088928, + -0.021109851077198982, + -5.082736015319824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2668, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_638467788", + "mask_path": "../../mask/hdr_left_02668.png" + }, + { + "file_path": "../../rgb/hdr_left_02669.png", + "transform_matrix": [ + [ + -0.6088889241218567, + -0.0662703886628151, + 0.7904824018478394, + 40.4243049621582 + ], + [ + -0.7893498539924622, + -0.048145465552806854, + -0.612052857875824, + 4.609041690826416 + ], + [ + 0.07861912250518799, + -0.9966394901275635, + -0.02299528568983078, + -5.074801921844482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2669, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_738468647", + "mask_path": "../../mask/hdr_left_02669.png" + }, + { + "file_path": "../../rgb/hdr_left_02687.png", + "transform_matrix": [ + [ + -0.4225914776325226, + -0.028645632788538933, + 0.9058675169944763, + 40.239444732666016 + ], + [ + -0.9061694145202637, + -0.004875209182500839, + -0.42288655042648315, + 4.0661845207214355 + ], + [ + 0.016530144959688187, + -0.9995778203010559, + -0.023897571489214897, + -5.067154407501221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2687, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_538465976", + "mask_path": "../../mask/hdr_left_02687.png" + }, + { + "file_path": "../../rgb/hdr_left_02688.png", + "transform_matrix": [ + [ + -0.42533305287361145, + -0.02926257811486721, + 0.9045637249946594, + 40.229610443115234 + ], + [ + -0.9049558043479919, + 0.0003704625414684415, + -0.4255053997039795, + 4.004218101501465 + ], + [ + 0.012116278521716595, + -0.9995717406272888, + -0.026638906449079514, + -5.0711798667907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2688, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_638466358", + "mask_path": "../../mask/hdr_left_02688.png" + }, + { + "file_path": "../../rgb/hdr_left_02689.png", + "transform_matrix": [ + [ + -0.4174709916114807, + -0.032098349183797836, + 0.9081231951713562, + 40.22628402709961 + ], + [ + -0.9086742401123047, + 0.008822832256555557, + -0.41741248965263367, + 3.949089765548706 + ], + [ + 0.0053860340267419815, + -0.9994457960128784, + -0.03285021334886551, + -5.07546854019165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2689, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_738468408", + "mask_path": "../../mask/hdr_left_02689.png" + }, + { + "file_path": "../../rgb/hdr_left_02691.png", + "transform_matrix": [ + [ + -0.41237959265708923, + -0.031593553721904755, + 0.9104641675949097, + 40.19809341430664 + ], + [ + -0.9110102653503418, + 0.016305161640048027, + -0.4120611846446991, + 3.8717410564422607 + ], + [ + -0.0018267882987856865, + -0.9993678331375122, + -0.03550596907734871, + -5.085537433624268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2691, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_938467979", + "mask_path": "../../mask/hdr_left_02691.png" + }, + { + "file_path": "../../rgb/hdr_left_02692.png", + "transform_matrix": [ + [ + -0.41741034388542175, + -0.02643551304936409, + 0.9083334803581238, + 40.179874420166016 + ], + [ + -0.9086976647377014, + 0.018845833837985992, + -0.4170292913913727, + 3.8264873027801514 + ], + [ + -0.006093917414546013, + -0.9994729161262512, + -0.031888335943222046, + -5.082438945770264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_38470745", + "mask_path": "../../mask/hdr_left_02692.png" + }, + { + "file_path": "../../rgb/hdr_left_02694.png", + "transform_matrix": [ + [ + -0.4365513026714325, + -0.022147933021187782, + 0.8994066715240479, + 40.149436950683594 + ], + [ + -0.8996790647506714, + 0.010055869817733765, + -0.4364359378814697, + 3.751697301864624 + ], + [ + 0.0006218391354195774, + -0.9997041821479797, + -0.024315932765603065, + -5.084649562835693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2694, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_238469839", + "mask_path": "../../mask/hdr_left_02694.png" + }, + { + "file_path": "../../rgb/hdr_left_02696.png", + "transform_matrix": [ + [ + -0.4217063784599304, + -0.02505609765648842, + 0.9063860774040222, + 40.12825012207031 + ], + [ + -0.9067258834838867, + 0.00786786898970604, + -0.42164695262908936, + 3.653123140335083 + ], + [ + 0.003433497156947851, + -0.9996551275253296, + -0.026036934927105904, + -5.077268123626709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2696, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_438470602", + "mask_path": "../../mask/hdr_left_02696.png" + }, + { + "file_path": "../../rgb/hdr_left_02698.png", + "transform_matrix": [ + [ + -0.37498342990875244, + -0.02571832202374935, + 0.9266747236251831, + 40.12869644165039 + ], + [ + -0.9270314574241638, + 0.010743825696408749, + -0.37482962012290955, + 3.5725131034851074 + ], + [ + -0.0003160428605042398, + -0.9996115565299988, + -0.02787044644355774, + -5.088294982910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2698, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_638469457", + "mask_path": "../../mask/hdr_left_02698.png" + }, + { + "file_path": "../../rgb/hdr_left_02700.png", + "transform_matrix": [ + [ + -0.35791873931884766, + -0.01885962300002575, + 0.9335622787475586, + 40.11550521850586 + ], + [ + -0.9337521195411682, + 0.006112516392022371, + -0.3578680753707886, + 3.4959471225738525 + ], + [ + 0.0010428422829136252, + -0.9998035430908203, + -0.01979799196124077, + -5.078909873962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2700, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_838469028", + "mask_path": "../../mask/hdr_left_02700.png" + }, + { + "file_path": "../../rgb/hdr_left_02702.png", + "transform_matrix": [ + [ + -0.34272369742393494, + -0.013723771087825298, + 0.9393361210823059, + 40.115657806396484 + ], + [ + -0.9393641948699951, + -0.007373391650617123, + -0.3428417146205902, + 3.405635118484497 + ], + [ + 0.011631171219050884, + -0.9998787641525269, + -0.010364580899477005, + -5.080773830413818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2702, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_38470268", + "mask_path": "../../mask/hdr_left_02702.png" + }, + { + "file_path": "../../rgb/hdr_left_02709.png", + "transform_matrix": [ + [ + -0.3178752362728119, + -0.012834878638386726, + 0.9480456113815308, + 40.133522033691406 + ], + [ + -0.9478460550308228, + -0.020277366042137146, + -0.3180828392505646, + 3.1002066135406494 + ], + [ + 0.02330642193555832, + -0.9997120499610901, + -0.005719813983887434, + -5.067246913909912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2709, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_738468647", + "mask_path": "../../mask/hdr_left_02709.png" + }, + { + "file_path": "../../rgb/hdr_left_02710.png", + "transform_matrix": [ + [ + -0.3123578727245331, + -0.012082163244485855, + 0.9498876929283142, + 40.13838577270508 + ], + [ + -0.9496253132820129, + -0.022742489352822304, + -0.31256088614463806, + 3.0410165786743164 + ], + [ + 0.02537922002375126, + -0.9996684193611145, + -0.004369731526821852, + -5.063261985778809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_838471174", + "mask_path": "../../mask/hdr_left_02710.png" + }, + { + "file_path": "../../rgb/hdr_left_02712.png", + "transform_matrix": [ + [ + -0.306214839220047, + -0.016573110595345497, + 0.9518181681632996, + 40.14032745361328 + ], + [ + -0.9516732692718506, + -0.019309574738144875, + -0.306504487991333, + 2.9663825035095215 + ], + [ + 0.02345893904566765, + -0.9996761679649353, + -0.009859307669103146, + -5.067086219787598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2712, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_38469314", + "mask_path": "../../mask/hdr_left_02712.png" + }, + { + "file_path": "../../rgb/hdr_left_02714.png", + "transform_matrix": [ + [ + -0.32921165227890015, + -0.02578434906899929, + 0.9439039826393127, + 40.11573028564453 + ], + [ + -0.94350665807724, + -0.03083864413201809, + -0.32991546392440796, + 2.8809311389923096 + ], + [ + 0.037615373730659485, + -0.9991917610168457, + -0.01417525578290224, + -5.040209770202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2714, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_238468647", + "mask_path": "../../mask/hdr_left_02714.png" + }, + { + "file_path": "../../rgb/hdr_left_02716.png", + "transform_matrix": [ + [ + -0.3387013077735901, + -0.03393279016017914, + 0.9402819275856018, + 40.10283660888672 + ], + [ + -0.9396781921386719, + -0.03858601674437523, + -0.33987635374069214, + 2.7874083518981934 + ], + [ + 0.04781467840075493, + -0.998678982257843, + -0.018816765397787094, + -5.036154747009277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2716, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_438467025", + "mask_path": "../../mask/hdr_left_02716.png" + }, + { + "file_path": "../../rgb/hdr_left_02718.png", + "transform_matrix": [ + [ + -0.33699533343315125, + -0.03920307382941246, + 0.940689742565155, + 40.08415222167969 + ], + [ + -0.940456748008728, + -0.03314622864127159, + -0.3382932245731354, + 2.7066314220428467 + ], + [ + 0.044442448765039444, + -0.998681366443634, + -0.025698665529489517, + -5.04511833190918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2718, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_638469934", + "mask_path": "../../mask/hdr_left_02718.png" + }, + { + "file_path": "../../rgb/hdr_left_02720.png", + "transform_matrix": [ + [ + -0.35496240854263306, + -0.04120413959026337, + 0.9339720606803894, + 40.05735397338867 + ], + [ + -0.9337810277938843, + -0.03281211107969284, + -0.35633739829063416, + 2.632749080657959 + ], + [ + 0.04532817006111145, + -0.9986118078231812, + -0.026828574016690254, + -5.032684326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2720, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_838469266", + "mask_path": "../../mask/hdr_left_02720.png" + }, + { + "file_path": "../../rgb/hdr_left_02722.png", + "transform_matrix": [ + [ + -0.3707290589809418, + -0.03783070296049118, + 0.927970290184021, + 40.03343963623047 + ], + [ + -0.9271687269210815, + -0.043039895594120026, + -0.37216344475746155, + 2.555922508239746 + ], + [ + 0.054018937051296234, + -0.998356819152832, + -0.019119299948215485, + -5.028138160705566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2722, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594438_38469552", + "mask_path": "../../mask/hdr_left_02722.png" + }, + { + "file_path": "../../rgb/hdr_left_02729.png", + "transform_matrix": [ + [ + -0.31486135721206665, + -0.043779194355010986, + 0.9481274485588074, + 40.019935607910156 + ], + [ + -0.9475548267364502, + -0.043169114738702774, + -0.3166644871234894, + 2.252444267272949 + ], + [ + 0.054793134331703186, + -0.9981081485748291, + -0.027890902012586594, + -5.013020038604736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2729, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594438_738471269", + "mask_path": "../../mask/hdr_left_02729.png" + }, + { + "file_path": "../../rgb/hdr_left_02749.png", + "transform_matrix": [ + [ + -0.13733096420764923, + -0.03773212805390358, + 0.9898062348365784, + 40.0915641784668 + ], + [ + -0.9892518520355225, + -0.045427192002534866, + -0.1389857530593872, + 1.3819612264633179 + ], + [ + 0.05020834505558014, + -0.9982548356056213, + -0.03108801692724228, + -4.961462020874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2749, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594440_738470077", + "mask_path": "../../mask/hdr_left_02749.png" + }, + { + "file_path": "../../rgb/hdr_left_02751.png", + "transform_matrix": [ + [ + -0.1223512813448906, + -0.039157409220933914, + 0.9917141795158386, + 40.10915756225586 + ], + [ + -0.9914941191673279, + -0.03985798731446266, + -0.12389791756868362, + 1.2966599464416504 + ], + [ + 0.04437924548983574, + -0.9984378814697266, + -0.0339476652443409, + -4.969222545623779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2751, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594440_938470363", + "mask_path": "../../mask/hdr_left_02751.png" + }, + { + "file_path": "../../rgb/hdr_left_02753.png", + "transform_matrix": [ + [ + -0.13226565718650818, + -0.04259640723466873, + 0.9902986288070679, + 40.114471435546875 + ], + [ + -0.9899905323982239, + -0.043952666223049164, + -0.134115070104599, + 1.2138558626174927 + ], + [ + 0.049239084124565125, + -0.9981250762939453, + -0.0363566093146801, + -4.955146789550781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2753, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_138468980", + "mask_path": "../../mask/hdr_left_02753.png" + }, + { + "file_path": "../../rgb/hdr_left_02755.png", + "transform_matrix": [ + [ + -0.12966857850551605, + -0.04250179976224899, + 0.9906461238861084, + 40.130741119384766 + ], + [ + -0.9898656606674194, + -0.052786316722631454, + -0.1318311095237732, + 1.124089002609253 + ], + [ + 0.05789561569690704, + -0.9977009892463684, + -0.03522634506225586, + -4.948208808898926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2755, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_338469743", + "mask_path": "../../mask/hdr_left_02755.png" + }, + { + "file_path": "../../rgb/hdr_left_02757.png", + "transform_matrix": [ + [ + -0.081572026014328, + -0.0574541874229908, + 0.9950100779533386, + 40.1467399597168 + ], + [ + -0.9952917695045471, + -0.04773695394396782, + -0.0843515545129776, + 1.0365935564041138 + ], + [ + 0.052345097064971924, + -0.9972062110900879, + -0.05328968167304993, + -4.948938846588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2757, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_538469314", + "mask_path": "../../mask/hdr_left_02757.png" + }, + { + "file_path": "../../rgb/hdr_left_02759.png", + "transform_matrix": [ + [ + -0.054331324994564056, + -0.055273037403821945, + 0.9969919323921204, + 40.15751266479492 + ], + [ + -0.9972246885299683, + -0.04789527878165245, + -0.05699929594993591, + 0.9540305733680725 + ], + [ + 0.05090172588825226, + -0.9973219037055969, + -0.052517425268888474, + -4.9406890869140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2759, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_738471031", + "mask_path": "../../mask/hdr_left_02759.png" + }, + { + "file_path": "../../rgb/hdr_left_02761.png", + "transform_matrix": [ + [ + -0.03597360476851463, + -0.04643819108605385, + 0.9982731938362122, + 40.18336486816406 + ], + [ + -0.9980589747428894, + -0.049143366515636444, + -0.03825196996331215, + 0.8724209070205688 + ], + [ + 0.050834860652685165, + -0.9977115988731384, + -0.04458019509911537, + -4.9391632080078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2761, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_938470602", + "mask_path": "../../mask/hdr_left_02761.png" + }, + { + "file_path": "../../rgb/hdr_left_02763.png", + "transform_matrix": [ + [ + -0.016620613634586334, + -0.055616382509469986, + 0.998313844203949, + 40.204708099365234 + ], + [ + -0.9988721609115601, + -0.043489664793014526, + -0.019052701070904732, + 0.7892721891403198 + ], + [ + 0.0444759726524353, + -0.9975046515464783, + -0.05483083799481392, + -4.945962429046631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2763, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_138470411", + "mask_path": "../../mask/hdr_left_02763.png" + }, + { + "file_path": "../../rgb/hdr_left_02765.png", + "transform_matrix": [ + [ + -0.025998953729867935, + -0.05974213778972626, + 0.9978752136230469, + 40.21552658081055 + ], + [ + -0.9985660314559937, + -0.045175641775131226, + -0.028721589595079422, + 0.7046643495559692 + ], + [ + 0.046795543283224106, + -0.9971911311149597, + -0.05848195031285286, + -4.926566123962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2765, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_338470697", + "mask_path": "../../mask/hdr_left_02765.png" + }, + { + "file_path": "../../rgb/hdr_left_02767.png", + "transform_matrix": [ + [ + -0.04147955775260925, + -0.049921125173568726, + 0.9978914260864258, + 40.22812271118164 + ], + [ + -0.9974204301834106, + -0.05649196729063988, + -0.04428606852889061, + 0.6237452030181885 + ], + [ + 0.058583661913871765, + -0.9971542954444885, + -0.047449078410863876, + -4.919189929962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2767, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_538470268", + "mask_path": "../../mask/hdr_left_02767.png" + }, + { + "file_path": "../../rgb/hdr_left_02795.png", + "transform_matrix": [ + [ + 0.24595202505588531, + -0.06772483140230179, + 0.966913104057312, + 40.6029167175293 + ], + [ + -0.9692803621292114, + -0.019020317122340202, + 0.24522200226783752, + -0.1261771023273468 + ], + [ + 0.0017833772581070662, + -0.99752277135849, + -0.0703224316239357, + -4.928406238555908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2795, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_338469266", + "mask_path": "../../mask/hdr_left_02795.png" + }, + { + "file_path": "../../rgb/hdr_left_02797.png", + "transform_matrix": [ + [ + 0.2506416440010071, + -0.07258632779121399, + 0.965354859828949, + 40.624332427978516 + ], + [ + -0.9680482149124146, + -0.01072033029049635, + 0.25053486227989197, + -0.19759352505207062 + ], + [ + -0.007836485281586647, + -0.9973045587539673, + -0.07295401394367218, + -4.943126678466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2797, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_538466215", + "mask_path": "../../mask/hdr_left_02797.png" + }, + { + "file_path": "../../rgb/hdr_left_02799.png", + "transform_matrix": [ + [ + 0.23554380238056183, + -0.07218635827302933, + 0.9691791534423828, + 40.655296325683594 + ], + [ + -0.9718623161315918, + -0.019244780763983727, + 0.23476248979568481, + -0.2610929608345032 + ], + [ + 0.001704989350400865, + -0.9972054958343506, + -0.07468818873167038, + -4.923603534698486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2799, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_738469362", + "mask_path": "../../mask/hdr_left_02799.png" + }, + { + "file_path": "../../rgb/hdr_left_02800.png", + "transform_matrix": [ + [ + 0.23074963688850403, + -0.0755147859454155, + 0.9700783491134644, + 40.68437957763672 + ], + [ + -0.9730128049850464, + -0.01867917738854885, + 0.22999365627765656, + -0.30766624212265015 + ], + [ + 0.0007523490930907428, + -0.9969697594642639, + -0.07778706401586533, + -4.933294773101807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2800, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_838469505", + "mask_path": "../../mask/hdr_left_02800.png" + }, + { + "file_path": "../../rgb/hdr_left_02804.png", + "transform_matrix": [ + [ + 0.23174971342086792, + -0.09005138278007507, + 0.9685984253883362, + 40.75434112548828 + ], + [ + -0.972730815410614, + -0.011915841139853, + 0.2316306084394455, + -0.4609954357147217 + ], + [ + -0.009316995739936829, + -0.9958658814430237, + -0.09035724401473999, + -4.945316314697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2804, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_238467454", + "mask_path": "../../mask/hdr_left_02804.png" + }, + { + "file_path": "../../rgb/hdr_left_02806.png", + "transform_matrix": [ + [ + 0.20059315860271454, + -0.09111014753580093, + 0.9754287004470825, + 40.75246047973633 + ], + [ + -0.9796707630157471, + -0.021451979875564575, + 0.19946180284023285, + -0.5191431045532227 + ], + [ + 0.0027518870774656534, + -0.9956097602844238, + -0.09356106072664261, + -4.947152614593506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2806, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_438469648", + "mask_path": "../../mask/hdr_left_02806.png" + }, + { + "file_path": "../../rgb/hdr_left_02808.png", + "transform_matrix": [ + [ + 0.1941543072462082, + -0.09304558485746384, + 0.9765482544898987, + 40.77473449707031 + ], + [ + -0.9809629917144775, + -0.0143980598077178, + 0.1936601996421814, + -0.585624098777771 + ], + [ + -0.003958823624998331, + -0.9955578446388245, + -0.094069704413414, + -4.952868461608887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2808, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_638470649", + "mask_path": "../../mask/hdr_left_02808.png" + }, + { + "file_path": "../../rgb/hdr_left_02810.png", + "transform_matrix": [ + [ + 0.1978081911802292, + -0.08539073169231415, + 0.9765143394470215, + 40.7999382019043 + ], + [ + -0.9802387356758118, + -0.015201329253613949, + 0.19723333418369293, + -0.6563553810119629 + ], + [ + -0.001997584942728281, + -0.9962315559387207, + -0.08671023696660995, + -4.945985317230225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2810, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_838470458", + "mask_path": "../../mask/hdr_left_02810.png" + }, + { + "file_path": "../../rgb/hdr_left_02812.png", + "transform_matrix": [ + [ + 0.17661559581756592, + -0.07883702218532562, + 0.9811174869537354, + 40.804481506347656 + ], + [ + -0.9842332005500793, + -0.004432388115674257, + 0.176820307970047, + -0.7170243263244629 + ], + [ + -0.009591289795935154, + -0.9968777298927307, + -0.07837682962417603, + -4.94411563873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2812, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_38470029", + "mask_path": "../../mask/hdr_left_02812.png" + }, + { + "file_path": "../../rgb/hdr_left_02814.png", + "transform_matrix": [ + [ + 0.14965957403182983, + -0.07671135663986206, + 0.9857572913169861, + 40.8097038269043 + ], + [ + -0.9887001514434814, + -0.0029489228036254644, + 0.1498769372701645, + -0.7762972116470337 + ], + [ + -0.008590339682996273, + -0.9970490336418152, + -0.07628586888313293, + -4.954686641693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2814, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_238470077", + "mask_path": "../../mask/hdr_left_02814.png" + }, + { + "file_path": "../../rgb/hdr_left_02816.png", + "transform_matrix": [ + [ + 0.15639692544937134, + -0.08421734720468521, + 0.9840973019599915, + 40.82514572143555 + ], + [ + -0.9875678420066833, + 0.0026091623585671186, + 0.15717178583145142, + -0.8306964635848999 + ], + [ + -0.015804259106516838, + -0.996444046497345, + -0.08276225626468658, + -4.965610980987549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2816, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_438471794", + "mask_path": "../../mask/hdr_left_02816.png" + }, + { + "file_path": "../../rgb/hdr_left_02818.png", + "transform_matrix": [ + [ + 0.15423539280891418, + -0.07484439760446548, + 0.9851952791213989, + 40.8296012878418 + ], + [ + -0.9874715209007263, + 0.021968882530927658, + 0.15626071393489838, + -0.8964524269104004 + ], + [ + -0.03333887457847595, + -0.9969532489776611, + -0.07051832973957062, + -4.970917701721191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2818, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_638469457", + "mask_path": "../../mask/hdr_left_02818.png" + }, + { + "file_path": "../../rgb/hdr_left_02820.png", + "transform_matrix": [ + [ + 0.13055424392223358, + -0.07106830924749374, + 0.9888906478881836, + 40.833251953125 + ], + [ + -0.9911787509918213, + 0.013591251336038113, + 0.13183309137821198, + -0.9480267763137817 + ], + [ + -0.022809414193034172, + -0.997378945350647, + -0.06866700202226639, + -4.9688262939453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2820, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_838469743", + "mask_path": "../../mask/hdr_left_02820.png" + }, + { + "file_path": "../../rgb/hdr_left_02856.png", + "transform_matrix": [ + [ + -0.452799916267395, + -0.12419987469911575, + 0.8829193711280823, + 40.7513542175293 + ], + [ + -0.8912702202796936, + 0.035625558346509933, + -0.4520711302757263, + -1.3854244947433472 + ], + [ + 0.024692680686712265, + -0.9916175007820129, + -0.12682688236236572, + -4.955297470092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2856, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594451_438469409", + "mask_path": "../../mask/hdr_left_02856.png" + }, + { + "file_path": "../../rgb/hdr_left_02860.png", + "transform_matrix": [ + [ + -0.581221342086792, + -0.12678660452365875, + 0.80380779504776, + 40.68888473510742 + ], + [ + -0.8115819096565247, + 0.018333720043301582, + -0.583950936794281, + -1.3000179529190063 + ], + [ + 0.059300363063812256, + -0.9917606115341187, + -0.11355365067720413, + -4.936592102050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2860, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594451_838470220", + "mask_path": "../../mask/hdr_left_02860.png" + }, + { + "file_path": "../../rgb/hdr_left_02864.png", + "transform_matrix": [ + [ + -0.5911070108413696, + -0.11897513270378113, + 0.7977702617645264, + 40.65778732299805 + ], + [ + -0.8046136498451233, + 0.017725933343172073, + -0.593533992767334, + -1.3490378856658936 + ], + [ + 0.056474559009075165, + -0.9927390813827515, + -0.10620693117380142, + -4.941053867340088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2864, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_238469600", + "mask_path": "../../mask/hdr_left_02864.png" + }, + { + "file_path": "../../rgb/hdr_left_02866.png", + "transform_matrix": [ + [ + -0.6136854290962219, + -0.11984702944755554, + 0.7804017066955566, + 40.619564056396484 + ], + [ + -0.7861316204071045, + 0.0008652733522467315, + -0.618058443069458, + -1.3898301124572754 + ], + [ + 0.073397196829319, + -0.9927920699119568, + -0.09474654495716095, + -4.937900066375732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2866, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_438469409", + "mask_path": "../../mask/hdr_left_02866.png" + }, + { + "file_path": "../../rgb/hdr_left_02868.png", + "transform_matrix": [ + [ + -0.627514123916626, + -0.12040964514017105, + 0.769238293170929, + 40.58100509643555 + ], + [ + -0.7746323943138123, + -0.0031284824945032597, + -0.632404088973999, + -1.4492446184158325 + ], + [ + 0.07855407893657684, + -0.9927194118499756, + -0.09131001681089401, + -4.922215461730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2868, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_638469457", + "mask_path": "../../mask/hdr_left_02868.png" + }, + { + "file_path": "../../rgb/hdr_left_02870.png", + "transform_matrix": [ + [ + -0.6340634822845459, + -0.12500369548797607, + 0.7631106376647949, + 40.53641128540039 + ], + [ + -0.769096851348877, + -0.0005765188252553344, + -0.6391319036483765, + -1.5231510400772095 + ], + [ + 0.08033379167318344, + -0.9921561479568481, + -0.09577440470457077, + -4.915402889251709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2870, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_838470697", + "mask_path": "../../mask/hdr_left_02870.png" + }, + { + "file_path": "../../rgb/hdr_left_02871.png", + "transform_matrix": [ + [ + -0.6414573788642883, + -0.12638792395591736, + 0.7566758394241333, + 40.50279998779297 + ], + [ + -0.7625235319137573, + -0.003219765145331621, + -0.6469524502754211, + -1.5592185258865356 + ], + [ + 0.08420328795909882, + -0.9919756650924683, + -0.09430841356515884, + -4.906675815582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2871, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_938470840", + "mask_path": "../../mask/hdr_left_02871.png" + }, + { + "file_path": "../../rgb/hdr_left_02873.png", + "transform_matrix": [ + [ + -0.6657063961029053, + -0.12369707226753235, + 0.7358899116516113, + 40.46467208862305 + ], + [ + -0.739830493927002, + -0.01930500939488411, + -0.6725162267684937, + -1.6150894165039062 + ], + [ + 0.09739464521408081, + -0.9921322464942932, + -0.0786634162068367, + -4.90185022354126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2873, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_138469934", + "mask_path": "../../mask/hdr_left_02873.png" + }, + { + "file_path": "../../rgb/hdr_left_02875.png", + "transform_matrix": [ + [ + -0.6752426028251648, + -0.12242792546749115, + 0.7273643016815186, + 40.42145538330078 + ], + [ + -0.7301585674285889, + -0.028735026717185974, + -0.6826732158660889, + -1.7051198482513428 + ], + [ + 0.10447908192873001, + -0.9920614361763, + -0.0699886679649353, + -4.891536235809326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2875, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_338471174", + "mask_path": "../../mask/hdr_left_02875.png" + }, + { + "file_path": "../../rgb/hdr_left_02877.png", + "transform_matrix": [ + [ + -0.6780672073364258, + -0.11416942626237869, + 0.7260787487030029, + 40.37843704223633 + ], + [ + -0.7292235493659973, + -0.01910896971821785, + -0.6840086579322815, + -1.7780214548110962 + ], + [ + 0.09196748584508896, + -0.9932775497436523, + -0.07029786705970764, + -4.894001483917236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2877, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_538469314", + "mask_path": "../../mask/hdr_left_02877.png" + }, + { + "file_path": "../../rgb/hdr_left_02882.png", + "transform_matrix": [ + [ + -0.7160785794258118, + -0.09371282160282135, + 0.691700279712677, + 40.262882232666016 + ], + [ + -0.6926526427268982, + -0.027249490842223167, + -0.7207564115524292, + -1.9523956775665283 + ], + [ + 0.0863925889134407, + -0.9952263236045837, + -0.04539765790104866, + -4.861664295196533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2882, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_38468837", + "mask_path": "../../mask/hdr_left_02882.png" + }, + { + "file_path": "../../rgb/hdr_left_02884.png", + "transform_matrix": [ + [ + -0.7175056338310242, + -0.09873126447200775, + 0.6895199418067932, + 40.227474212646484 + ], + [ + -0.6913836598396301, + -0.019426194950938225, + -0.722226619720459, + -2.015681028366089 + ], + [ + 0.08470108360052109, + -0.9949245452880859, + -0.054322779178619385, + -4.863785266876221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2884, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_238469600", + "mask_path": "../../mask/hdr_left_02884.png" + }, + { + "file_path": "../../rgb/hdr_left_02886.png", + "transform_matrix": [ + [ + -0.7273934483528137, + -0.09864211827516556, + 0.6790937781333923, + 40.18359375 + ], + [ + -0.6804351210594177, + -0.02455402910709381, + -0.7323968410491943, + -2.0792510509490967 + ], + [ + 0.08891965448856354, + -0.9948199987411499, + -0.04925912618637085, + -4.847242832183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2886, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_438469409", + "mask_path": "../../mask/hdr_left_02886.png" + }, + { + "file_path": "../../rgb/hdr_left_02888.png", + "transform_matrix": [ + [ + -0.7312703132629395, + -0.10452776402235031, + 0.6740308403968811, + 40.1424674987793 + ], + [ + -0.6743377447128296, + -0.037748802453279495, + -0.7374573945999146, + -2.142324447631836 + ], + [ + 0.1025286316871643, + -0.9938052892684937, + -0.042882442474365234, + -4.8402838706970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2888, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_638469219", + "mask_path": "../../mask/hdr_left_02888.png" + }, + { + "file_path": "../../rgb/hdr_left_02909.png", + "transform_matrix": [ + [ + -0.5268732309341431, + -0.0489894300699234, + 0.8485308289527893, + 39.80974197387695 + ], + [ + -0.8498764634132385, + 0.01780138537287712, + -0.5266811847686768, + -2.925640106201172 + ], + [ + 0.010696782730519772, + -0.9986406564712524, + -0.05101403966546059, + -4.8573784828186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2909, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594456_738470077", + "mask_path": "../../mask/hdr_left_02909.png" + }, + { + "file_path": "../../rgb/hdr_left_02911.png", + "transform_matrix": [ + [ + -0.49746614694595337, + -0.055152472108602524, + 0.8657283186912537, + 39.80373764038086 + ], + [ + -0.8674771785736084, + 0.027875635772943497, + -0.4966951906681061, + -3.007720708847046 + ], + [ + 0.0032612355425953865, + -0.9980888366699219, + -0.06171068921685219, + -4.865963935852051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2911, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594456_938470363", + "mask_path": "../../mask/hdr_left_02911.png" + }, + { + "file_path": "../../rgb/hdr_left_02913.png", + "transform_matrix": [ + [ + -0.4875084161758423, + -0.055189348757267, + 0.8713721632957458, + 39.78342819213867 + ], + [ + -0.8731128573417664, + 0.034327469766139984, + -0.4863080680370331, + -3.0868980884552 + ], + [ + -0.0030729826539754868, + -0.9978857040405273, + -0.06492144614458084, + -4.861034870147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2913, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594457_138470649", + "mask_path": "../../mask/hdr_left_02913.png" + }, + { + "file_path": "../../rgb/hdr_left_02915.png", + "transform_matrix": [ + [ + -0.5033860206604004, + -0.05232865735888481, + 0.8624755144119263, + 39.76496887207031 + ], + [ + -0.8640369772911072, + 0.02295537479221821, + -0.5029047131538391, + -3.1585655212402344 + ], + [ + 0.006517874076962471, + -0.998366117477417, + -0.05676930397748947, + -4.861729621887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2915, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594457_338470935", + "mask_path": "../../mask/hdr_left_02915.png" + }, + { + "file_path": "../../rgb/hdr_left_02923.png", + "transform_matrix": [ + [ + -0.5244802832603455, + -0.055523987859487534, + 0.8496102690696716, + 39.64308166503906 + ], + [ + -0.8510702252388, + 0.005481799598783255, + -0.525023341178894, + -3.4818789958953857 + ], + [ + 0.0244939923286438, + -0.9984423518180847, + -0.05012990161776543, + -4.854539394378662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2923, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_138470172", + "mask_path": "../../mask/hdr_left_02923.png" + }, + { + "file_path": "../../rgb/hdr_left_02925.png", + "transform_matrix": [ + [ + -0.5124166011810303, + -0.06267354637384415, + 0.8564468622207642, + 39.62333297729492 + ], + [ + -0.8583269119262695, + 0.006563456263393164, + -0.5130611658096313, + -3.5616700649261475 + ], + [ + 0.026534108445048332, + -0.9980126023292542, + -0.05715760961174965, + -4.855265140533447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_338469982", + "mask_path": "../../mask/hdr_left_02925.png" + }, + { + "file_path": "../../rgb/hdr_left_02927.png", + "transform_matrix": [ + [ + -0.5185556411743164, + -0.0620027631521225, + 0.8527927994728088, + 39.58897399902344 + ], + [ + -0.8546777367591858, + 0.008404193446040154, + -0.5190907716751099, + -3.641275644302368 + ], + [ + 0.025018025189638138, + -0.9980406165122986, + -0.05735042318701744, + -4.84363317489624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_538469791", + "mask_path": "../../mask/hdr_left_02927.png" + }, + { + "file_path": "../../rgb/hdr_left_02929.png", + "transform_matrix": [ + [ + -0.5333883762359619, + -0.058153003454208374, + 0.8438690900802612, + 39.5687255859375 + ], + [ + -0.845059335231781, + -0.00704340822994709, + -0.5346260666847229, + -3.7134077548980713 + ], + [ + 0.03703382611274719, + -0.9982828497886658, + -0.04538585618138313, + -4.844557762145996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_738469839", + "mask_path": "../../mask/hdr_left_02929.png" + }, + { + "file_path": "../../rgb/hdr_left_02930.png", + "transform_matrix": [ + [ + -0.5338782668113708, + -0.054358888417482376, + 0.8438122868537903, + 39.557945251464844 + ], + [ + -0.8445281982421875, + -0.015035301446914673, + -0.5352998375892639, + -3.7651524543762207 + ], + [ + 0.04178527742624283, + -0.998408317565918, + -0.03788059577345848, + -4.837635517120361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2930, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_838470458", + "mask_path": "../../mask/hdr_left_02930.png" + }, + { + "file_path": "../../rgb/hdr_left_02932.png", + "transform_matrix": [ + [ + -0.5246260762214661, + -0.05316530540585518, + 0.849670946598053, + 39.54561233520508 + ], + [ + -0.850315272808075, + -0.01605556346476078, + -0.526028573513031, + -3.8493998050689697 + ], + [ + 0.04160841181874275, + -0.9984567165374756, + -0.0367841012775898, + -4.8402910232543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2932, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_38470506", + "mask_path": "../../mask/hdr_left_02932.png" + }, + { + "file_path": "../../rgb/hdr_left_02934.png", + "transform_matrix": [ + [ + -0.5287531018257141, + -0.05114113911986351, + 0.8472335934638977, + 39.52587890625 + ], + [ + -0.8476683497428894, + -0.01915348507463932, + -0.5301805734634399, + -3.9263722896575928 + ], + [ + 0.04334151744842529, + -0.9985077977180481, + -0.03322326019406319, + -4.827728271484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_238471031", + "mask_path": "../../mask/hdr_left_02934.png" + }, + { + "file_path": "../../rgb/hdr_left_02936.png", + "transform_matrix": [ + [ + -0.5425282120704651, + -0.05528574436903, + 0.838216245174408, + 39.491119384765625 + ], + [ + -0.8382172584533691, + -0.030025091022253036, + -0.54450923204422, + -4.000105857849121 + ], + [ + 0.05527110770344734, + -0.9980190992355347, + -0.03005199320614338, + -4.822152614593506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2936, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_438469648", + "mask_path": "../../mask/hdr_left_02936.png" + }, + { + "file_path": "../../rgb/hdr_left_02937.png", + "transform_matrix": [ + [ + -0.5432370901107788, + -0.06437961012125015, + 0.8371073603630066, + 39.47412872314453 + ], + [ + -0.8373985886573792, + -0.030268177390098572, + -0.5457538962364197, + -4.050877094268799 + ], + [ + 0.060473132878541946, + -0.9974663853645325, + -0.037468601018190384, + -4.813328266143799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_538468122", + "mask_path": "../../mask/hdr_left_02937.png" + }, + { + "file_path": "../../rgb/hdr_left_02939.png", + "transform_matrix": [ + [ + -0.5366509556770325, + -0.07062634080648422, + 0.8408433794975281, + 39.448604583740234 + ], + [ + -0.8413601517677307, + -0.031002193689346313, + -0.5395848751068115, + -4.1352314949035645 + ], + [ + 0.06417688727378845, + -0.9970210194587708, + -0.04278482869267464, + -4.8085527420043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_738468408", + "mask_path": "../../mask/hdr_left_02939.png" + }, + { + "file_path": "../../rgb/hdr_left_02941.png", + "transform_matrix": [ + [ + -0.5529830455780029, + -0.07093323767185211, + 0.8301675915718079, + 39.41261291503906 + ], + [ + -0.8299741148948669, + -0.04059500992298126, + -0.5563227534294128, + -4.20588493347168 + ], + [ + 0.07316242158412933, + -0.9966546893119812, + -0.03642439842224121, + -4.796552658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2941, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_938469648", + "mask_path": "../../mask/hdr_left_02941.png" + }, + { + "file_path": "../../rgb/hdr_left_02943.png", + "transform_matrix": [ + [ + -0.5599899888038635, + -0.07557296752929688, + 0.8250454664230347, + 39.38108444213867 + ], + [ + -0.8241568803787231, + -0.0510118305683136, + -0.5640594959259033, + -4.29782247543335 + ], + [ + 0.08471471071243286, + -0.9958345890045166, + -0.033717866986989975, + -4.781547546386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_138470888", + "mask_path": "../../mask/hdr_left_02943.png" + }, + { + "file_path": "../../rgb/hdr_left_02945.png", + "transform_matrix": [ + [ + -0.5748448967933655, + -0.07932401448488235, + 0.8144083023071289, + 39.34492492675781 + ], + [ + -0.8136085867881775, + -0.050588712096214294, + -0.5792078375816345, + -4.370776176452637 + ], + [ + 0.08714496344327927, + -0.9955644607543945, + -0.0354580357670784, + -4.786120891571045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_338469982", + "mask_path": "../../mask/hdr_left_02945.png" + }, + { + "file_path": "../../rgb/hdr_left_02947.png", + "transform_matrix": [ + [ + -0.6209003329277039, + -0.08208851516246796, + 0.7795794606208801, + 39.291011810302734 + ], + [ + -0.7781851291656494, + -0.05521140992641449, + -0.6256034970283508, + -4.424131870269775 + ], + [ + 0.09439652413129807, + -0.9950946569442749, + -0.0295992661267519, + -4.762345314025879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_538470506", + "mask_path": "../../mask/hdr_left_02947.png" + }, + { + "file_path": "../../rgb/hdr_left_02949.png", + "transform_matrix": [ + [ + -0.6694607138633728, + -0.08381486684083939, + 0.738103985786438, + 39.2415771484375 + ], + [ + -0.7353721261024475, + -0.06583108752965927, + -0.6744583249092102, + -4.500755786895752 + ], + [ + 0.10511982440948486, + -0.9943044781684875, + -0.017563799396157265, + -4.738515377044678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_738470554", + "mask_path": "../../mask/hdr_left_02949.png" + }, + { + "file_path": "../../rgb/hdr_left_02956.png", + "transform_matrix": [ + [ + -0.8125960826873779, + -0.0942041277885437, + 0.5751636028289795, + 39.04672622680664 + ], + [ + -0.5715605020523071, + -0.0642973855137825, + -0.8180369138717651, + -4.662508487701416 + ], + [ + 0.1140439584851265, + -0.9934744834899902, + -0.00159556046128273, + -4.701021194458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_438468933", + "mask_path": "../../mask/hdr_left_02956.png" + }, + { + "file_path": "../../rgb/hdr_left_02958.png", + "transform_matrix": [ + [ + -0.8403363823890686, + -0.09559296816587448, + 0.533569872379303, + 38.99681091308594 + ], + [ + -0.5305748581886292, + -0.056544918566942215, + -0.8457499742507935, + -4.702630519866943 + ], + [ + 0.11101841181516647, + -0.9938132166862488, + -0.0032024746760725975, + -4.704747676849365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2958, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_638468265", + "mask_path": "../../mask/hdr_left_02958.png" + }, + { + "file_path": "../../rgb/hdr_left_02960.png", + "transform_matrix": [ + [ + -0.8795372843742371, + -0.09512864798307419, + 0.4662238657474518, + 38.93416213989258 + ], + [ + -0.4630386233329773, + -0.054546207189559937, + -0.8846580386161804, + -4.7303547859191895 + ], + [ + 0.10958705842494965, + -0.9939694404602051, + 0.003927180543541908, + -4.69048547744751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_838468074", + "mask_path": "../../mask/hdr_left_02960.png" + }, + { + "file_path": "../../rgb/hdr_left_02962.png", + "transform_matrix": [ + [ + -0.9182730317115784, + -0.09977255016565323, + 0.383171021938324, + 38.857662200927734 + ], + [ + -0.3791831135749817, + -0.057019755244255066, + -0.9235631227493286, + -4.761737823486328 + ], + [ + 0.1139945536851883, + -0.9933751821517944, + 0.014527645893394947, + -4.668018817901611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_38469314", + "mask_path": "../../mask/hdr_left_02962.png" + }, + { + "file_path": "../../rgb/hdr_left_02964.png", + "transform_matrix": [ + [ + -0.9452337026596069, + -0.10468270629644394, + 0.30915185809135437, + 38.80492401123047 + ], + [ + -0.30577126145362854, + -0.04733993113040924, + -0.9509274363517761, + -4.775704383850098 + ], + [ + 0.11418087035417557, + -0.9933783411979675, + 0.012738329358398914, + -4.676772117614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_238469600", + "mask_path": "../../mask/hdr_left_02964.png" + }, + { + "file_path": "../../rgb/hdr_left_02966.png", + "transform_matrix": [ + [ + -0.9695050120353699, + -0.10495489835739136, + 0.22145989537239075, + 38.75114822387695 + ], + [ + -0.21855786442756653, + -0.038534488528966904, + -0.9750627875328064, + -4.767454147338867 + ], + [ + 0.11087147146463394, + -0.9937301874160767, + 0.014420666731894016, + -4.654134273529053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_438468933", + "mask_path": "../../mask/hdr_left_02966.png" + }, + { + "file_path": "../../rgb/hdr_left_02968.png", + "transform_matrix": [ + [ + -0.9866262078285217, + -0.1085357666015625, + 0.12160851806402206, + 38.68378448486328 + ], + [ + -0.1176019087433815, + -0.04260626435279846, + -0.9921464323997498, + -4.757674217224121 + ], + [ + 0.112864650785923, + -0.9931791424751282, + 0.02927244082093239, + -4.637784004211426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2968, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_638469457", + "mask_path": "../../mask/hdr_left_02968.png" + }, + { + "file_path": "../../rgb/hdr_left_02970.png", + "transform_matrix": [ + [ + -0.9929843544960022, + -0.11289314180612564, + 0.03517293557524681, + 38.609275817871094 + ], + [ + -0.03142973408102989, + -0.034767910838127136, + -0.9989010691642761, + -4.761830806732178 + ], + [ + 0.11399196088314056, + -0.9929987192153931, + 0.030975792557001114, + -4.623117446899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2970, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_838469505", + "mask_path": "../../mask/hdr_left_02970.png" + }, + { + "file_path": "../../rgb/hdr_left_02972.png", + "transform_matrix": [ + [ + -0.99262535572052, + -0.10363738983869553, + -0.06288149207830429, + 38.56391143798828 + ], + [ + 0.06523093581199646, + -0.01943529024720192, + -0.9976808428764343, + -4.745471477508545 + ], + [ + 0.10217491537332535, + -0.9944252371788025, + 0.026052327826619148, + -4.625374794006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2972, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_38470029", + "mask_path": "../../mask/hdr_left_02972.png" + }, + { + "file_path": "../../rgb/hdr_left_02974.png", + "transform_matrix": [ + [ + -0.9797806143760681, + -0.11012566834688187, + -0.16703954339027405, + 38.50918960571289 + ], + [ + 0.17023834586143494, + -0.020247241482138634, + -0.9851948618888855, + -4.704203128814697 + ], + [ + 0.10511314868927002, + -0.993711531162262, + 0.038585469126701355, + -4.608094692230225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_238468647", + "mask_path": "../../mask/hdr_left_02974.png" + }, + { + "file_path": "../../rgb/hdr_left_02976.png", + "transform_matrix": [ + [ + -0.9680399298667908, + -0.10518895089626312, + -0.2276705950498581, + 38.44121551513672 + ], + [ + 0.2296750247478485, + -0.007189750671386719, + -0.9732409119606018, + -4.681889057159424 + ], + [ + 0.10073728114366531, + -0.9944263100624084, + 0.03111923858523369, + -4.593963146209717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_438469409", + "mask_path": "../../mask/hdr_left_02976.png" + }, + { + "file_path": "../../rgb/hdr_left_02978.png", + "transform_matrix": [ + [ + -0.9603016376495361, + -0.1009012833237648, + -0.2600764036178589, + 38.365875244140625 + ], + [ + 0.2609301805496216, + 0.00487447390332818, + -0.9653453230857849, + -4.650832653045654 + ], + [ + 0.09867232292890549, + -0.9948845505714417, + 0.02164722979068756, + -4.599111080169678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_638469219", + "mask_path": "../../mask/hdr_left_02978.png" + }, + { + "file_path": "../../rgb/hdr_left_02980.png", + "transform_matrix": [ + [ + -0.9513132572174072, + -0.10280414670705795, + -0.29057595133781433, + 38.30224609375 + ], + [ + 0.29173144698143005, + 0.003945527598261833, + -0.9564921259880066, + -4.618225574493408 + ], + [ + 0.09947782009840012, + -0.99469393491745, + 0.026237767189741135, + -4.58018684387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2980, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_838466644", + "mask_path": "../../mask/hdr_left_02980.png" + }, + { + "file_path": "../../rgb/hdr_left_02982.png", + "transform_matrix": [ + [ + -0.9481939673423767, + -0.09955238550901413, + -0.3016910254955292, + 38.20426559448242 + ], + [ + 0.3031480610370636, + 0.00051571533549577, + -0.9529433250427246, + -4.606675148010254 + ], + [ + 0.09502335637807846, + -0.9950321912765503, + 0.029690109193325043, + -4.572362899780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_38468837", + "mask_path": "../../mask/hdr_left_02982.png" + }, + { + "file_path": "../../rgb/hdr_left_02984.png", + "transform_matrix": [ + [ + -0.9500730037689209, + -0.09415943175554276, + -0.29748138785362244, + 38.106781005859375 + ], + [ + 0.2988811135292053, + -0.0008009636658243835, + -0.954289972782135, + -4.605849266052246 + ], + [ + 0.08961713314056396, + -0.9955568313598633, + 0.028903454542160034, + -4.5767412185668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2984, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_238468885", + "mask_path": "../../mask/hdr_left_02984.png" + }, + { + "file_path": "../../rgb/hdr_left_02986.png", + "transform_matrix": [ + [ + -0.9479281902313232, + -0.08665820211172104, + -0.3064676523208618, + 38.006465911865234 + ], + [ + 0.30844154953956604, + -0.01005660742521286, + -0.9511901140213013, + -4.601233005523682 + ], + [ + 0.07934638857841492, + -0.9961873888969421, + 0.03626193106174469, + -4.568097114562988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2986, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_438470125", + "mask_path": "../../mask/hdr_left_02986.png" + }, + { + "file_path": "../../rgb/hdr_left_02987.png", + "transform_matrix": [ + [ + -0.9437103867530823, + -0.09114103764295578, + -0.31796854734420776, + 37.95581817626953 + ], + [ + 0.32050806283950806, + -0.014339948073029518, + -0.9471372365951538, + -4.593510150909424 + ], + [ + 0.08176341652870178, + -0.9957348108291626, + 0.04274419695138931, + -4.558246612548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_538471221", + "mask_path": "../../mask/hdr_left_02987.png" + }, + { + "file_path": "../../rgb/hdr_left_02988.png", + "transform_matrix": [ + [ + -0.9392551183700562, + -0.09363779425621033, + -0.33019936084747314, + 37.896148681640625 + ], + [ + 0.33293843269348145, + -0.014864418655633926, + -0.9428313374519348, + -4.588394641876221 + ], + [ + 0.0833764299750328, + -0.9954953193664551, + 0.04513710364699364, + -4.551088333129883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_638470411", + "mask_path": "../../mask/hdr_left_02988.png" + }, + { + "file_path": "../../rgb/hdr_left_02989.png", + "transform_matrix": [ + [ + -0.9379007816314697, + -0.08984823524951935, + -0.3350661098957062, + 37.824371337890625 + ], + [ + 0.3374771177768707, + -0.01268437784165144, + -0.9412482380867004, + -4.584660530090332 + ], + [ + 0.08031938225030899, + -0.9958747029304504, + 0.0422184094786644, + -4.541978359222412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2989, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_738470315", + "mask_path": "../../mask/hdr_left_02989.png" + }, + { + "file_path": "../../rgb/hdr_left_02990.png", + "transform_matrix": [ + [ + -0.940257728099823, + -0.0841352716088295, + -0.32990384101867676, + 37.761680603027344 + ], + [ + 0.33148476481437683, + -0.005164787173271179, + -0.9434463381767273, + -4.5819268226623535 + ], + [ + 0.07767323404550552, + -0.9964410066604614, + 0.03274579346179962, + -4.540412902832031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_838469743", + "mask_path": "../../mask/hdr_left_02990.png" + }, + { + "file_path": "../../rgb/hdr_left_02991.png", + "transform_matrix": [ + [ + -0.9410863518714905, + -0.07983341068029404, + -0.3286079168319702, + 37.70903015136719 + ], + [ + 0.3298335075378418, + -0.0023051470052450895, + -0.9440362453460693, + -4.576643466949463 + ], + [ + 0.07460813969373703, + -0.9968055486679077, + 0.028501078486442566, + -4.5428853034973145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_938469171", + "mask_path": "../../mask/hdr_left_02991.png" + }, + { + "file_path": "../../rgb/hdr_left_02992.png", + "transform_matrix": [ + [ + -0.9403895139694214, + -0.07832475751638412, + -0.3309573829174042, + 37.64847183227539 + ], + [ + 0.33190682530403137, + 0.000948169850744307, + -0.9433116912841797, + -4.56493616104126 + ], + [ + 0.07419844716787338, + -0.9969274401664734, + 0.02510487288236618, + -4.53302001953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2992, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_38470506", + "mask_path": "../../mask/hdr_left_02992.png" + }, + { + "file_path": "../../rgb/hdr_left_02993.png", + "transform_matrix": [ + [ + -0.9371741414070129, + -0.08065459132194519, + -0.3394105136394501, + 37.59142303466797 + ], + [ + 0.3402693271636963, + 0.0032692786771804094, + -0.9403222799301147, + -4.54887056350708 + ], + [ + 0.07695093005895615, + -0.9967368245124817, + 0.024380400776863098, + -4.515009880065918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2993, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_138471126", + "mask_path": "../../mask/hdr_left_02993.png" + }, + { + "file_path": "../../rgb/hdr_left_02994.png", + "transform_matrix": [ + [ + -0.9325283765792847, + -0.08818984776735306, + -0.35016193985939026, + 37.54313659667969 + ], + [ + 0.35167136788368225, + -0.0016920447815209627, + -0.9361220002174377, + -4.535219192504883 + ], + [ + 0.08196396380662918, + -0.9961022734642029, + 0.03259172663092613, + -4.508071422576904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2994, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_238470554", + "mask_path": "../../mask/hdr_left_02994.png" + }, + { + "file_path": "../../rgb/hdr_left_02996.png", + "transform_matrix": [ + [ + -0.9246609807014465, + -0.0889991745352745, + -0.370244562625885, + 37.42369079589844 + ], + [ + 0.3720720112323761, + -0.004289012402296066, + -0.9281939268112183, + -4.5135698318481445 + ], + [ + 0.08102050423622131, + -0.9960224628448486, + 0.03707998991012573, + -4.492215156555176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2996, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_438470125", + "mask_path": "../../mask/hdr_left_02996.png" + }, + { + "file_path": "../../rgb/hdr_left_02997.png", + "transform_matrix": [ + [ + -0.9238081574440002, + -0.08595962822437286, + -0.37308090925216675, + 37.373382568359375 + ], + [ + 0.37443089485168457, + 0.0004507804987952113, + -0.9272547364234924, + -4.50400447845459 + ], + [ + 0.07987464219331741, + -0.9962985515594482, + 0.03176950290799141, + -4.492805004119873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2997, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_538470745", + "mask_path": "../../mask/hdr_left_02997.png" + }, + { + "file_path": "../../rgb/hdr_left_02999.png", + "transform_matrix": [ + [ + -0.9228147864341736, + -0.08143510669469833, + -0.3765385150909424, + 37.27925109863281 + ], + [ + 0.37754103541374207, + 0.003306992119178176, + -0.9259869456291199, + -4.484959125518799 + ], + [ + 0.07665304839611053, + -0.9966731667518616, + 0.027693351730704308, + -4.488924503326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2999, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_738469839", + "mask_path": "../../mask/hdr_left_02999.png" + }, + { + "file_path": "../../rgb/hdr_left_03000.png", + "transform_matrix": [ + [ + -0.9189194440841675, + -0.08200757205486298, + -0.3858262598514557, + 37.23392105102539 + ], + [ + 0.3868959844112396, + 0.0030632619746029377, + -0.9221182465553284, + -4.468947887420654 + ], + [ + 0.07680255174636841, + -0.9966270327568054, + 0.02891351282596588, + -4.476395606994629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3000, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_838469505", + "mask_path": "../../mask/hdr_left_03000.png" + }, + { + "file_path": "../../rgb/hdr_left_03002.png", + "transform_matrix": [ + [ + -0.9115356206893921, + -0.09421617537736893, + -0.4002823531627655, + 37.13947677612305 + ], + [ + 0.40264296531677246, + -0.006707829888910055, + -0.915332555770874, + -4.4479169845581055 + ], + [ + 0.08355409651994705, + -0.9955291748046875, + 0.044049907475709915, + -4.457795143127441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3002, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_38470029", + "mask_path": "../../mask/hdr_left_03002.png" + }, + { + "file_path": "../../rgb/hdr_left_03003.png", + "transform_matrix": [ + [ + -0.9113957285881042, + -0.09307403117418289, + -0.400867760181427, + 37.079105377197266 + ], + [ + 0.4030328094959259, + -0.004935176577419043, + -0.9151722192764282, + -4.441068649291992 + ], + [ + 0.08320040255784988, + -0.9956470131874084, + 0.042009785771369934, + -4.448385238647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3003, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_138470172", + "mask_path": "../../mask/hdr_left_03003.png" + }, + { + "file_path": "../../rgb/hdr_left_03004.png", + "transform_matrix": [ + [ + -0.9132375717163086, + -0.08993923664093018, + -0.39737650752067566, + 37.02763748168945 + ], + [ + 0.39930251240730286, + -0.003765842644497752, + -0.916811466217041, + -4.434695243835449 + ], + [ + 0.08096086233854294, + -0.9959401488304138, + 0.03935207426548004, + -4.448573589324951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3004, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_238470315", + "mask_path": "../../mask/hdr_left_03004.png" + }, + { + "file_path": "../../rgb/hdr_left_03006.png", + "transform_matrix": [ + [ + -0.9128808975219727, + -0.08380811661481857, + -0.3995305597782135, + 36.94068908691406 + ], + [ + 0.4011787176132202, + -0.003108939388766885, + -0.9159944653511047, + -4.422483921051025 + ], + [ + 0.07552564889192581, + -0.9964771270751953, + 0.03646012395620346, + -4.438889026641846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3006, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_438469886", + "mask_path": "../../mask/hdr_left_03006.png" + }, + { + "file_path": "../../rgb/hdr_left_03008.png", + "transform_matrix": [ + [ + -0.9029496312141418, + -0.09475311636924744, + -0.41917040944099426, + 36.85139846801758 + ], + [ + 0.4212517738342285, + -0.0021767730358988047, + -0.9069411158561707, + -4.397289752960205 + ], + [ + 0.08502305299043655, + -0.995498538017273, + 0.04188043251633644, + -4.417954921722412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_638469696", + "mask_path": "../../mask/hdr_left_03008.png" + }, + { + "file_path": "../../rgb/hdr_left_03009.png", + "transform_matrix": [ + [ + -0.9011598825454712, + -0.09591231495141983, + -0.42274296283721924, + 36.79460144042969 + ], + [ + 0.42492642998695374, + -0.0026013092137873173, + -0.9052242040634155, + -4.386107921600342 + ], + [ + 0.08572244644165039, + -0.9953864812850952, + 0.04309987276792526, + -4.4049530029296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3009, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_738470077", + "mask_path": "../../mask/hdr_left_03009.png" + }, + { + "file_path": "../../rgb/hdr_left_03010.png", + "transform_matrix": [ + [ + -0.9027008414268494, + -0.09352957457304001, + -0.4199802279472351, + 36.7415885925293 + ], + [ + 0.421747624874115, + 0.0009568468667566776, + -0.9067127108573914, + -4.379073143005371 + ], + [ + 0.08520631492137909, + -0.99561607837677, + 0.038582127541303635, + -4.406309604644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3010, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_838469982", + "mask_path": "../../mask/hdr_left_03010.png" + }, + { + "file_path": "../../rgb/hdr_left_03012.png", + "transform_matrix": [ + [ + -0.9026651382446289, + -0.0883418396115303, + -0.42117851972579956, + 36.657135009765625 + ], + [ + 0.4226389527320862, + 0.0023834300227463245, + -0.906295120716095, + -4.360470771789551 + ], + [ + 0.08106762170791626, + -0.996087372303009, + 0.03518526628613472, + -4.406128883361816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3012, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_38470268", + "mask_path": "../../mask/hdr_left_03012.png" + }, + { + "file_path": "../../rgb/hdr_left_03014.png", + "transform_matrix": [ + [ + -0.8925014138221741, + -0.09094876050949097, + -0.4417799711227417, + 36.581024169921875 + ], + [ + 0.44372689723968506, + -0.0013287730980664492, + -0.8961610198020935, + -4.327812671661377 + ], + [ + 0.08091770112514496, + -0.9958546757698059, + 0.04154234007000923, + -4.389194488525391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3014, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_238468885", + "mask_path": "../../mask/hdr_left_03014.png" + }, + { + "file_path": "../../rgb/hdr_left_03016.png", + "transform_matrix": [ + [ + -0.8882832527160645, + -0.0931333675980568, + -0.44975441694259644, + 36.47504425048828 + ], + [ + 0.4520466923713684, + -0.003985553048551083, + -0.8919854164123535, + -4.303956985473633 + ], + [ + 0.08128107339143753, + -0.9956456422805786, + 0.04564092680811882, + -4.375993728637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3016, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_438469648", + "mask_path": "../../mask/hdr_left_03016.png" + }, + { + "file_path": "../../rgb/hdr_left_03017.png", + "transform_matrix": [ + [ + -0.8901152610778809, + -0.09084661304950714, + -0.4465889632701874, + 36.422603607177734 + ], + [ + 0.44834455847740173, + 0.0012067407369613647, + -0.8938600420951843, + -4.29368257522583 + ], + [ + 0.08174306154251099, + -0.99586421251297, + 0.03965644910931587, + -4.376760482788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_538470029", + "mask_path": "../../mask/hdr_left_03017.png" + }, + { + "file_path": "../../rgb/hdr_left_03019.png", + "transform_matrix": [ + [ + -0.8901734948158264, + -0.08303100615739822, + -0.44799211621284485, + 36.33760452270508 + ], + [ + 0.44935891032218933, + 0.002473832806572318, + -0.8933477997779846, + -4.271664142608643 + ], + [ + 0.07528383284807205, + -0.9965438842773438, + 0.03510858491063118, + -4.370742321014404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3019, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_738468647", + "mask_path": "../../mask/hdr_left_03019.png" + }, + { + "file_path": "../../rgb/hdr_left_03021.png", + "transform_matrix": [ + [ + -0.8825583457946777, + -0.0885067954659462, + -0.461797833442688, + 36.25519561767578 + ], + [ + 0.46368467807769775, + -0.0008579633431509137, + -0.885999858379364, + -4.243310451507568 + ], + [ + 0.07802081108093262, + -0.9960752725601196, + 0.041796449571847916, + -4.3498992919921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3021, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_938469648", + "mask_path": "../../mask/hdr_left_03021.png" + }, + { + "file_path": "../../rgb/hdr_left_03022.png", + "transform_matrix": [ + [ + -0.8829771876335144, + -0.09282178431749344, + -0.4601471722126007, + 36.201560974121094 + ], + [ + 0.46274426579475403, + -0.007435901090502739, + -0.8864607214927673, + -4.23477840423584 + ], + [ + 0.07886124402284622, + -0.9956550002098083, + 0.04951847717165947, + -4.3394856452941895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3022, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_38469314", + "mask_path": "../../mask/hdr_left_03022.png" + }, + { + "file_path": "../../rgb/hdr_left_03023.png", + "transform_matrix": [ + [ + -0.88761305809021, + -0.08853507041931152, + -0.4520007073879242, + 36.14661407470703 + ], + [ + 0.4543585479259491, + -0.007430299650877714, + -0.8907878994941711, + -4.228112697601318 + ], + [ + 0.07550746202468872, + -0.9960454106330872, + 0.046821895986795425, + -4.3297014236450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_138470649", + "mask_path": "../../mask/hdr_left_03023.png" + }, + { + "file_path": "../../rgb/hdr_left_03025.png", + "transform_matrix": [ + [ + -0.8971332311630249, + -0.08470341563224792, + -0.4335634708404541, + 36.056827545166016 + ], + [ + 0.43543511629104614, + -0.0040697515942156315, + -0.9002109169960022, + -4.220067977905273 + ], + [ + 0.07448644191026688, + -0.9963979125022888, + 0.04053394868969917, + -4.330081939697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_338470697", + "mask_path": "../../mask/hdr_left_03025.png" + }, + { + "file_path": "../../rgb/hdr_left_03027.png", + "transform_matrix": [ + [ + -0.9036368131637573, + -0.0915667712688446, + -0.4183969795703888, + 35.9765739440918 + ], + [ + 0.41978198289871216, + 0.004504337906837463, + -0.9076138138771057, + -4.203409671783447 + ], + [ + 0.08499186486005783, + -0.9957887530326843, + 0.034367796033620834, + -4.2993927001953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_538470506", + "mask_path": "../../mask/hdr_left_03027.png" + }, + { + "file_path": "../../rgb/hdr_left_03029.png", + "transform_matrix": [ + [ + -0.9164878726005554, + -0.10516124218702316, + -0.38599348068237305, + 35.8956184387207 + ], + [ + 0.388855516910553, + -0.007393437437713146, + -0.9212691187858582, + -4.199626922607422 + ], + [ + 0.09402797371149063, + -0.9944277405738831, + 0.047668520361185074, + -4.280089378356934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3029, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_738469600", + "mask_path": "../../mask/hdr_left_03029.png" + }, + { + "file_path": "../../rgb/hdr_left_03031.png", + "transform_matrix": [ + [ + -0.9396660923957825, + -0.10812870413064957, + -0.3245547115802765, + 35.810890197753906 + ], + [ + 0.32667285203933716, + -0.0019907020032405853, + -0.9451354146003723, + -4.210382461547852 + ], + [ + 0.1015501618385315, + -0.9941350817680359, + 0.037193309515714645, + -4.271832466125488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_938469886", + "mask_path": "../../mask/hdr_left_03031.png" + }, + { + "file_path": "../../rgb/hdr_left_03033.png", + "transform_matrix": [ + [ + -0.9607313275337219, + -0.10788291692733765, + -0.2556491792201996, + 35.74558639526367 + ], + [ + 0.2579786479473114, + -0.00798077043145895, + -0.9661176800727844, + -4.237934112548828 + ], + [ + 0.10218730568885803, + -0.9941316246986389, + 0.03549886494874954, + -4.260126113891602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3033, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_138470172", + "mask_path": "../../mask/hdr_left_03033.png" + }, + { + "file_path": "../../rgb/hdr_left_03035.png", + "transform_matrix": [ + [ + -0.9729995727539062, + -0.11780930310487747, + -0.19847580790519714, + 35.677391052246094 + ], + [ + 0.20309698581695557, + -0.028488721698522568, + -0.9787441492080688, + -4.2606587409973145 + ], + [ + 0.10965082794427872, + -0.9926275610923767, + 0.05164622887969017, + -4.243727684020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_338468790", + "mask_path": "../../mask/hdr_left_03035.png" + }, + { + "file_path": "../../rgb/hdr_left_03037.png", + "transform_matrix": [ + [ + -0.9812572002410889, + -0.11285723000764847, + -0.15619683265686035, + 35.59535217285156 + ], + [ + 0.16020484268665314, + -0.027306871488690376, + -0.986706018447876, + -4.2765045166015625 + ], + [ + 0.10709166526794434, + -0.9932359457015991, + 0.044875338673591614, + -4.238581657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3037, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_538470268", + "mask_path": "../../mask/hdr_left_03037.png" + }, + { + "file_path": "../../rgb/hdr_left_03039.png", + "transform_matrix": [ + [ + -0.9824745655059814, + -0.11646834015846252, + -0.14552929997444153, + 35.51569366455078 + ], + [ + 0.15015028417110443, + -0.03189070150256157, + -0.9881486296653748, + -4.29124641418457 + ], + [ + 0.110446996986866, + -0.9926823377609253, + 0.048819564282894135, + -4.234372138977051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_738467216", + "mask_path": "../../mask/hdr_left_03039.png" + }, + { + "file_path": "../../rgb/hdr_left_03041.png", + "transform_matrix": [ + [ + -0.9831106066703796, + -0.11594100296497345, + -0.14160172641277313, + 35.42303466796875 + ], + [ + 0.14682261645793915, + -0.03775894269347191, + -0.9884418845176697, + -4.302674293518066 + ], + [ + 0.10925420373678207, + -0.9925381541252136, + 0.05414397642016411, + -4.217691421508789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3041, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_938470602", + "mask_path": "../../mask/hdr_left_03041.png" + }, + { + "file_path": "../../rgb/hdr_left_03043.png", + "transform_matrix": [ + [ + -0.9857479929924011, + -0.12001165002584457, + -0.11788970977067947, + 35.31013488769531 + ], + [ + 0.12455675005912781, + -0.04963154345750809, + -0.9909703731536865, + -4.325101852416992 + ], + [ + 0.11307694017887115, + -0.9915310740470886, + 0.06387246400117874, + -4.204024314880371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_138469219", + "mask_path": "../../mask/hdr_left_03043.png" + }, + { + "file_path": "../../rgb/hdr_left_03044.png", + "transform_matrix": [ + [ + -0.9895307421684265, + -0.1119280681014061, + -0.09110944718122482, + 35.250465393066406 + ], + [ + 0.09618937969207764, + -0.0408453531563282, + -0.9945246577262878, + -4.347616195678711 + ], + [ + 0.10759381204843521, + -0.9928765892982483, + 0.051184020936489105, + -4.195322036743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_238470077", + "mask_path": "../../mask/hdr_left_03044.png" + }, + { + "file_path": "../../rgb/hdr_left_03046.png", + "transform_matrix": [ + [ + -0.9931715726852417, + -0.11169084161520004, + -0.03369349613785744, + 35.16300582885742 + ], + [ + 0.03766321763396263, + -0.03362429141998291, + -0.9987246990203857, + -4.381574630737305 + ], + [ + 0.11041545122861862, + -0.9931740760803223, + 0.03760132938623428, + -4.200427532196045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_438470602", + "mask_path": "../../mask/hdr_left_03046.png" + }, + { + "file_path": "../../rgb/hdr_left_03048.png", + "transform_matrix": [ + [ + -0.9949745535850525, + -0.09727517515420914, + 0.02372955158352852, + 35.07936096191406 + ], + [ + -0.019469255581498146, + -0.04451369121670723, + -0.9988190531730652, + -4.425003528594971 + ], + [ + 0.09821657091379166, + -0.9942616820335388, + 0.04239611327648163, + -4.177210330963135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_638471126", + "mask_path": "../../mask/hdr_left_03048.png" + }, + { + "file_path": "../../rgb/hdr_left_03050.png", + "transform_matrix": [ + [ + -0.9938369989395142, + -0.09249445050954819, + 0.061096347868442535, + 35.00236511230469 + ], + [ + -0.054905496537685394, + -0.06806014478206635, + -0.9961692690849304, + -4.464681625366211 + ], + [ + 0.09629834443330765, + -0.9933844804763794, + 0.0625622346997261, + -4.170233726501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3050, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_838470697", + "mask_path": "../../mask/hdr_left_03050.png" + }, + { + "file_path": "../../rgb/hdr_left_03051.png", + "transform_matrix": [ + [ + -0.9934054017066956, + -0.08544047176837921, + 0.07645631581544876, + 34.9509391784668 + ], + [ + -0.07049281895160675, + -0.07076280564069748, + -0.9949991106987, + -4.489176273345947 + ], + [ + 0.09042345732450485, + -0.9938272833824158, + 0.06427321583032608, + -4.159206390380859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3051, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_938470125", + "mask_path": "../../mask/hdr_left_03051.png" + }, + { + "file_path": "../../rgb/hdr_left_03052.png", + "transform_matrix": [ + [ + -0.9923509955406189, + -0.07797157764434814, + 0.09570708125829697, + 34.904659271240234 + ], + [ + -0.09076108783483505, + -0.06468893587589264, + -0.9937694072723389, + -4.512760639190674 + ], + [ + 0.08367695659399033, + -0.9948546290397644, + 0.05711735039949417, + -4.154210090637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3052, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_38470745", + "mask_path": "../../mask/hdr_left_03052.png" + }, + { + "file_path": "../../rgb/hdr_left_03054.png", + "transform_matrix": [ + [ + -0.9913894534111023, + -0.067097008228302, + 0.1124497577548027, + 34.84364700317383 + ], + [ + -0.1084166169166565, + -0.06100383773446083, + -0.9922320246696472, + -4.560727119445801 + ], + [ + 0.07343565672636032, + -0.9958797693252563, + 0.05320413038134575, + -4.153744220733643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3054, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_238471508", + "mask_path": "../../mask/hdr_left_03054.png" + }, + { + "file_path": "../../rgb/hdr_left_03056.png", + "transform_matrix": [ + [ + -0.9919444918632507, + -0.06675240397453308, + 0.10765732824802399, + 34.770721435546875 + ], + [ + -0.10350014269351959, + -0.06289631873369217, + -0.9926387667655945, + -4.598514080047607 + ], + [ + 0.07303226739168167, + -0.9957852363586426, + 0.05548078194260597, + -4.134451389312744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_438470363", + "mask_path": "../../mask/hdr_left_03056.png" + }, + { + "file_path": "../../rgb/hdr_left_03058.png", + "transform_matrix": [ + [ + -0.9926126003265381, + -0.07476288080215454, + 0.09555475413799286, + 34.68684005737305 + ], + [ + -0.09016098082065582, + -0.07247398048639297, + -0.993286669254303, + -4.630316734313965 + ], + [ + 0.0811862051486969, + -0.9945642948150635, + 0.0651978924870491, + -4.121860504150391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_638470172", + "mask_path": "../../mask/hdr_left_03058.png" + }, + { + "file_path": "../../rgb/hdr_left_03059.png", + "transform_matrix": [ + [ + -0.9925756454467773, + -0.07630201429128647, + 0.09471793472766876, + 34.638526916503906 + ], + [ + -0.08926643431186676, + -0.07194654643535614, + -0.993405818939209, + -4.648690223693848 + ], + [ + 0.0826134905219078, + -0.99448561668396, + 0.06460117548704147, + -4.106669902801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_738469362", + "mask_path": "../../mask/hdr_left_03059.png" + }, + { + "file_path": "../../rgb/hdr_left_03061.png", + "transform_matrix": [ + [ + -0.9920936822891235, + -0.07661230117082596, + 0.09940101206302643, + 34.566219329833984 + ], + [ + -0.09503038972616196, + -0.0587337501347065, + -0.9937400817871094, + -4.677515983581543 + ], + [ + 0.08197091519832611, + -0.9953295588493347, + 0.05098888650536537, + -4.10551118850708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3061, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_938470363", + "mask_path": "../../mask/hdr_left_03061.png" + }, + { + "file_path": "../../rgb/hdr_left_03063.png", + "transform_matrix": [ + [ + -0.9920578598976135, + -0.08418692648410797, + 0.0934537872672081, + 34.484615325927734 + ], + [ + -0.08942820876836777, + -0.050390083342790604, + -0.9947177171707153, + -4.692621231079102 + ], + [ + 0.08845137804746628, + -0.9951751232147217, + 0.04246119409799576, + -4.078867435455322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_138470172", + "mask_path": "../../mask/hdr_left_03063.png" + }, + { + "file_path": "../../rgb/hdr_left_03065.png", + "transform_matrix": [ + [ + -0.9921568632125854, + -0.09270241856575012, + 0.08385094255208969, + 34.420448303222656 + ], + [ + -0.0789940357208252, + -0.05488152429461479, + -0.9953631162643433, + -4.702365398406982 + ], + [ + 0.09687443822622299, + -0.9941802620887756, + 0.04712814465165138, + -4.068363666534424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_338470220", + "mask_path": "../../mask/hdr_left_03065.png" + }, + { + "file_path": "../../rgb/hdr_left_03067.png", + "transform_matrix": [ + [ + -0.992206335067749, + -0.09573791921138763, + 0.07975349575281143, + 34.34705352783203 + ], + [ + -0.07473812997341156, + -0.054881274700164795, + -0.9956918358802795, + -4.716747283935547 + ], + [ + 0.09970244020223618, + -0.9938925504684448, + 0.04729827865958214, + -4.045415878295898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_538470029", + "mask_path": "../../mask/hdr_left_03067.png" + }, + { + "file_path": "../../rgb/hdr_left_03069.png", + "transform_matrix": [ + [ + -0.9914616942405701, + -0.10002125799655914, + 0.08366303890943527, + 34.281124114990234 + ], + [ + -0.07907000929117203, + -0.04904168099164963, + -0.9956619143486023, + -4.744046211242676 + ], + [ + 0.10369033366441727, + -0.9937760233879089, + 0.040714263916015625, + -4.045803546905518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_738470554", + "mask_path": "../../mask/hdr_left_03069.png" + }, + { + "file_path": "../../rgb/hdr_left_03071.png", + "transform_matrix": [ + [ + -0.9926697611808777, + -0.09314874559640884, + 0.07700647413730621, + 34.229522705078125 + ], + [ + -0.07275063544511795, + -0.04825710132718086, + -0.9961820244789124, + -4.7680511474609375 + ], + [ + 0.09650921076536179, + -0.9944821000099182, + 0.041126735508441925, + -4.031548023223877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_938469648", + "mask_path": "../../mask/hdr_left_03071.png" + }, + { + "file_path": "../../rgb/hdr_left_03073.png", + "transform_matrix": [ + [ + -0.9933499693870544, + -0.09878024458885193, + 0.0591457262635231, + 34.166927337646484 + ], + [ + -0.05400631204247475, + -0.05391822010278702, + -0.9970837831497192, + -4.7840800285339355 + ], + [ + 0.10168120265007019, + -0.9936475157737732, + 0.048224907368421555, + -4.023015975952148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3073, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_138470649", + "mask_path": "../../mask/hdr_left_03073.png" + }, + { + "file_path": "../../rgb/hdr_left_03075.png", + "transform_matrix": [ + [ + -0.9929407238960266, + -0.10644825547933578, + 0.052320338785648346, + 34.08099365234375 + ], + [ + -0.0462244413793087, + -0.0589505173265934, + -0.9971901178359985, + -4.816150665283203 + ], + [ + 0.10923344641923904, + -0.9925692677497864, + 0.05361386016011238, + -3.9976437091827393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3075, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_338469743", + "mask_path": "../../mask/hdr_left_03075.png" + }, + { + "file_path": "../../rgb/hdr_left_03077.png", + "transform_matrix": [ + [ + -0.9927370548248291, + -0.10807003825902939, + 0.05285802483558655, + 34.02446365356445 + ], + [ + -0.04806194826960564, + -0.04651426151394844, + -0.9977607131004333, + -4.844371795654297 + ], + [ + 0.11028667539358139, + -0.9930546879768372, + 0.04098237305879593, + -4.0009660720825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_538470029", + "mask_path": "../../mask/hdr_left_03077.png" + }, + { + "file_path": "../../rgb/hdr_left_03079.png", + "transform_matrix": [ + [ + -0.993263304233551, + -0.10603214800357819, + 0.046746544539928436, + 33.95921325683594 + ], + [ + -0.042979247868061066, + -0.037541866302490234, + -0.9983704090118408, + -4.868153095245361 + ], + [ + 0.10761429369449615, + -0.9936538338661194, + 0.03273177146911621, + -3.9731109142303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3079, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_738469839", + "mask_path": "../../mask/hdr_left_03079.png" + }, + { + "file_path": "../../rgb/hdr_left_03081.png", + "transform_matrix": [ + [ + -0.9930435419082642, + -0.11325555294752121, + 0.032213032245635986, + 33.87694549560547 + ], + [ + -0.027369948104023933, + -0.0440608412027359, + -0.9986538887023926, + -4.881831645965576 + ], + [ + 0.11452241986989975, + -0.992588460445404, + 0.040654536336660385, + -3.9575417041778564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_938470840", + "mask_path": "../../mask/hdr_left_03081.png" + }, + { + "file_path": "../../rgb/hdr_left_03083.png", + "transform_matrix": [ + [ + -0.9927821755409241, + -0.11604113131761551, + 0.030300727114081383, + 33.784950256347656 + ], + [ + -0.02648458629846573, + -0.03428824245929718, + -0.9990609884262085, + -4.900012969970703 + ], + [ + 0.11697112023830414, + -0.992652416229248, + 0.030967451632022858, + -3.9345147609710693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3083, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_138469696", + "mask_path": "../../mask/hdr_left_03083.png" + }, + { + "file_path": "../../rgb/hdr_left_03085.png", + "transform_matrix": [ + [ + -0.9931362867355347, + -0.11287880688905716, + 0.03063633292913437, + 33.699729919433594 + ], + [ + -0.02746514044702053, + -0.029542680829763412, + -0.999186098575592, + -4.923349380493164 + ], + [ + 0.11369200050830841, + -0.9931695461273193, + 0.026239678263664246, + -3.933133363723755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3085, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_338470220", + "mask_path": "../../mask/hdr_left_03085.png" + }, + { + "file_path": "../../rgb/hdr_right_02651.png", + "transform_matrix": [ + [ + 0.29072216153144836, + -0.06486669927835464, + -0.9546062350273132, + 40.72515869140625 + ], + [ + 0.9524120092391968, + -0.07590362429618835, + 0.2952117323875427, + 4.695443630218506 + ], + [ + -0.0916074886918068, + -0.9950029850006104, + 0.03971295431256294, + -5.080911159515381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2651, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_238467693", + "mask_path": "../../mask/hdr_right_02651.png" + }, + { + "file_path": "../../rgb/hdr_right_02653.png", + "transform_matrix": [ + [ + 0.30044010281562805, + -0.07151006162166595, + -0.9511162638664246, + 40.68254089355469 + ], + [ + 0.9498021602630615, + -0.06878230720758438, + 0.30519646406173706, + 4.610838413238525 + ], + [ + -0.08724458515644073, + -0.9950655698776245, + 0.04725545272231102, + -5.078920841217041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2653, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_438468933", + "mask_path": "../../mask/hdr_right_02653.png" + }, + { + "file_path": "../../rgb/hdr_right_02655.png", + "transform_matrix": [ + [ + 0.2973470389842987, + -0.07796815037727356, + -0.9515807628631592, + 40.64316940307617 + ], + [ + 0.9518935680389404, + -0.05309037119150162, + 0.3017948269844055, + 4.548417568206787 + ], + [ + -0.07405014336109161, + -0.9955412149429321, + 0.05843111127614975, + -5.090986728668213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2655, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_638467788", + "mask_path": "../../mask/hdr_right_02655.png" + }, + { + "file_path": "../../rgb/hdr_right_02656.png", + "transform_matrix": [ + [ + 0.30244728922843933, + -0.07697072625160217, + -0.9500532150268555, + 40.606910705566406 + ], + [ + 0.950653612613678, + -0.04796433076262474, + 0.3065243661403656, + 4.511643886566162 + ], + [ + -0.06916207075119019, + -0.9958789348602295, + 0.058665815740823746, + -5.083280086517334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2656, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_738468647", + "mask_path": "../../mask/hdr_right_02656.png" + }, + { + "file_path": "../../rgb/hdr_right_02674.png", + "transform_matrix": [ + [ + 0.08807918429374695, + -0.03914063423871994, + -0.9953442811965942, + 40.43912887573242 + ], + [ + 0.9960581660270691, + -0.007072295527905226, + 0.08842050284147263, + 4.011536598205566 + ], + [ + -0.01050020195543766, + -0.9992087483406067, + 0.038363419473171234, + -5.073648929595947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2674, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_538465976", + "mask_path": "../../mask/hdr_right_02674.png" + }, + { + "file_path": "../../rgb/hdr_right_02675.png", + "transform_matrix": [ + [ + 0.0910990983247757, + -0.039763979613780975, + -0.9950476884841919, + 40.42912673950195 + ], + [ + 0.9958270788192749, + -0.0017966317245736718, + 0.09124226868152618, + 3.94899845123291 + ], + [ + -0.0054158903658390045, + -0.9992074966430664, + 0.03943437710404396, + -5.078079700469971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2675, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_638466358", + "mask_path": "../../mask/hdr_right_02675.png" + }, + { + "file_path": "../../rgb/hdr_right_02676.png", + "transform_matrix": [ + [ + 0.08248557895421982, + -0.04257958382368088, + -0.9956822991371155, + 40.42625045776367 + ], + [ + 0.9965876936912537, + 0.0065618413500487804, + 0.0822800025343895, + 3.8956611156463623 + ], + [ + 0.0030300598591566086, + -0.999071478843689, + 0.042975541204214096, + -5.083400726318359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2676, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_738468408", + "mask_path": "../../mask/hdr_right_02676.png" + }, + { + "file_path": "../../rgb/hdr_right_02678.png", + "transform_matrix": [ + [ + 0.07690256834030151, + -0.04206216707825661, + -0.9961510300636292, + 40.39836120605469 + ], + [ + 0.9969810843467712, + 0.013982763513922691, + 0.0763762891292572, + 3.8194942474365234 + ], + [ + 0.010716392658650875, + -0.9990171194076538, + 0.04301049932837486, + -5.093759536743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2678, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594434_938467979", + "mask_path": "../../mask/hdr_right_02678.png" + }, + { + "file_path": "../../rgb/hdr_right_02679.png", + "transform_matrix": [ + [ + 0.08237451314926147, + -0.03691848739981651, + -0.9959173798561096, + 40.3798828125 + ], + [ + 0.9965101480484009, + 0.016580825671553612, + 0.08180893212556839, + 3.7731480598449707 + ], + [ + 0.013492869213223457, + -0.9991807341575623, + 0.038155488669872284, + -5.089772701263428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_38470745", + "mask_path": "../../mask/hdr_right_02679.png" + }, + { + "file_path": "../../rgb/hdr_right_02681.png", + "transform_matrix": [ + [ + 0.10342589020729065, + -0.03267762064933777, + -0.9941002130508423, + 40.34830093383789 + ], + [ + 0.994626522064209, + 0.008016016334295273, + 0.10321716219186783, + 3.6940715312957764 + ], + [ + 0.004595831036567688, + -0.9994337558746338, + 0.033331092447042465, + -5.090672969818115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2681, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_238469839", + "mask_path": "../../mask/hdr_right_02681.png" + }, + { + "file_path": "../../rgb/hdr_right_02683.png", + "transform_matrix": [ + [ + 0.0870814248919487, + -0.0355500653386116, + -0.9955666661262512, + 40.32801818847656 + ], + [ + 0.9961979389190674, + 0.005655825138092041, + 0.08693471550941467, + 3.5987608432769775 + ], + [ + 0.0025402181781828403, + -0.9993518590927124, + 0.03590741381049156, + -5.083741188049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2683, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_438470602", + "mask_path": "../../mask/hdr_right_02683.png" + }, + { + "file_path": "../../rgb/hdr_right_02685.png", + "transform_matrix": [ + [ + 0.03623804822564125, + -0.036085937172174454, + -0.9986915588378906, + 40.33096694946289 + ], + [ + 0.9993208646774292, + 0.007998998276889324, + 0.03597186878323555, + 3.5284218788146973 + ], + [ + 0.006690452806651592, + -0.9993166923522949, + 0.03635129705071449, + -5.095011234283447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2685, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_638469457", + "mask_path": "../../mask/hdr_right_02685.png" + }, + { + "file_path": "../../rgb/hdr_right_02687.png", + "transform_matrix": [ + [ + 0.01786884479224682, + -0.02917701192200184, + -0.9994145631790161, + 40.3185920715332 + ], + [ + 0.999836802482605, + 0.0031790826469659805, + 0.017783626914024353, + 3.4555487632751465 + ], + [ + 0.0026583480648696423, + -0.9995692372322083, + 0.02922905422747135, + -5.0840253829956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2687, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594435_838469028", + "mask_path": "../../mask/hdr_right_02687.png" + }, + { + "file_path": "../../rgb/hdr_right_02689.png", + "transform_matrix": [ + [ + 0.0016317125409841537, + -0.023993298411369324, + -0.9997109174728394, + 40.319400787353516 + ], + [ + 0.9999433755874634, + -0.010471174493432045, + 0.0018834543880075216, + 3.3684868812561035 + ], + [ + -0.010513336397707462, + -0.9996573328971863, + 0.02397485263645649, + -5.084334373474121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2689, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_38470268", + "mask_path": "../../mask/hdr_right_02689.png" + }, + { + "file_path": "../../rgb/hdr_right_02696.png", + "transform_matrix": [ + [ + -0.024694420397281647, + -0.023019414395093918, + -0.9994300007820129, + 40.338172912597656 + ], + [ + 0.9994287490844727, + -0.02364156022667885, + -0.02414984256029129, + 3.0683960914611816 + ], + [ + -0.023072170093655586, + -0.999455451965332, + 0.023590078577399254, + -5.070267200469971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2696, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_738468647", + "mask_path": "../../mask/hdr_right_02696.png" + }, + { + "file_path": "../../rgb/hdr_right_02697.png", + "transform_matrix": [ + [ + -0.030506854876875877, + -0.02224707044661045, + -0.9992870092391968, + 40.343223571777344 + ], + [ + 0.9992096424102783, + -0.026165403425693512, + -0.029921920970082283, + 3.0103933811187744 + ], + [ + -0.025481069460511208, + -0.9994100332260132, + 0.023027712479233742, + -5.066079139709473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594436_838471174", + "mask_path": "../../mask/hdr_right_02697.png" + }, + { + "file_path": "../../rgb/hdr_right_02699.png", + "transform_matrix": [ + [ + -0.03695386275649071, + -0.02671482414007187, + -0.9989598393440247, + 40.3453369140625 + ], + [ + 0.9990791082382202, + -0.02279786393046379, + -0.036348551511764526, + 2.937070608139038 + ], + [ + -0.021803105250000954, + -0.9993830323219299, + 0.02753269299864769, + -5.070956707000732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2699, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_38469314", + "mask_path": "../../mask/hdr_right_02699.png" + }, + { + "file_path": "../../rgb/hdr_right_02701.png", + "transform_matrix": [ + [ + -0.01266555767506361, + -0.03600549325346947, + -0.9992713332176208, + 40.31991958618164 + ], + [ + 0.9993538856506348, + -0.03407271206378937, + -0.011438881047070026, + 2.8465423583984375 + ], + [ + -0.033636026084423065, + -0.998770534992218, + 0.03641377389431, + -5.0454559326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2701, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_238468647", + "mask_path": "../../mask/hdr_right_02701.png" + }, + { + "file_path": "../../rgb/hdr_right_02703.png", + "transform_matrix": [ + [ + -0.0025350102223455906, + -0.044183399528265, + -0.9990202784538269, + 40.306610107421875 + ], + [ + 0.9991295337677002, + -0.04170948639512062, + -0.0006905594491399825, + 2.7508440017700195 + ], + [ + -0.04163810610771179, + -0.9981523156166077, + 0.044250670820474625, + -5.042705059051514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2703, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_438467025", + "mask_path": "../../mask/hdr_right_02703.png" + }, + { + "file_path": "../../rgb/hdr_right_02705.png", + "transform_matrix": [ + [ + -0.004294175188988447, + -0.04944591224193573, + -0.998767614364624, + 40.287940979003906 + ], + [ + 0.9993382096290588, + -0.036288611590862274, + -0.0025000590831041336, + 2.6704232692718506 + ], + [ + -0.03612026944756508, + -0.9981172680854797, + 0.049569010734558105, + -5.052955150604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2705, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_638469934", + "mask_path": "../../mask/hdr_right_02705.png" + }, + { + "file_path": "../../rgb/hdr_right_02707.png", + "transform_matrix": [ + [ + 0.014880468137562275, + -0.051504746079444885, + -0.9985619187355042, + 40.260398864746094 + ], + [ + 0.9992204308509827, + -0.035756632685661316, + 0.016734588891267776, + 2.5926239490509033 + ], + [ + -0.036567118018865585, + -0.9980323910713196, + 0.050932515412569046, + -5.040783405303955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2707, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594437_838469266", + "mask_path": "../../mask/hdr_right_02707.png" + }, + { + "file_path": "../../rgb/hdr_right_02709.png", + "transform_matrix": [ + [ + 0.031759195029735565, + -0.04818137735128403, + -0.9983336329460144, + 40.235816955566406 + ], + [ + 0.9983726143836975, + -0.04580540210008621, + 0.03397110849618912, + 2.512324571609497 + ], + [ + -0.04736584052443504, + -0.9977877140045166, + 0.04664822295308113, + -5.034966468811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2709, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594438_38469552", + "mask_path": "../../mask/hdr_right_02709.png" + }, + { + "file_path": "../../rgb/hdr_right_02716.png", + "transform_matrix": [ + [ + -0.027651801705360413, + -0.05394326522946358, + -0.9981610774993896, + 40.224464416503906 + ], + [ + 0.9985997676849365, + -0.046542298048734665, + -0.02514866180717945, + 2.2208895683288574 + ], + [ + -0.04510010406374931, + -0.9974586963653564, + 0.0551547110080719, + -5.021666049957275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2716, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594438_738471269", + "mask_path": "../../mask/hdr_right_02716.png" + }, + { + "file_path": "../../rgb/hdr_right_02736.png", + "transform_matrix": [ + [ + -0.20873022079467773, + -0.04711253568530083, + -0.9768378138542175, + 40.29840087890625 + ], + [ + 0.9771671295166016, + -0.050594136118888855, + -0.20636045932769775, + 1.3881362676620483 + ], + [ + -0.03970010206103325, + -0.9976074695587158, + 0.056597352027893066, + -4.970600605010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2736, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594440_738470077", + "mask_path": "../../mask/hdr_right_02736.png" + }, + { + "file_path": "../../rgb/hdr_right_02738.png", + "transform_matrix": [ + [ + -0.22346638143062592, + -0.04845776408910751, + -0.9735064506530762, + 40.315860748291016 + ], + [ + 0.9741445183753967, + -0.045169226825237274, + -0.22136446833610535, + 1.3059993982315063 + ], + [ + -0.03324569761753082, + -0.9978034496307373, + 0.05729867145419121, + -4.97874116897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2738, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594440_938470363", + "mask_path": "../../mask/hdr_right_02738.png" + }, + { + "file_path": "../../rgb/hdr_right_02740.png", + "transform_matrix": [ + [ + -0.21367472410202026, + -0.051948182284832, + -0.9755227565765381, + 40.32122802734375 + ], + [ + 0.9762043356895447, + -0.04916626587510109, + -0.21120581030845642, + 1.221052646636963 + ], + [ + -0.03699105605483055, + -0.9974387288093567, + 0.061217620968818665, + -4.965327262878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2740, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_138468980", + "mask_path": "../../mask/hdr_right_02740.png" + }, + { + "file_path": "../../rgb/hdr_right_02742.png", + "transform_matrix": [ + [ + -0.2162342220544815, + -0.051839858293533325, + -0.974964439868927, + 40.33747482299805 + ], + [ + 0.9752801656723022, + -0.058018218725919724, + -0.21321932971477509, + 1.1317384243011475 + ], + [ + -0.04551243409514427, + -0.9969686269760132, + 0.06310390681028366, + -4.958460330963135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2742, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_338469743", + "mask_path": "../../mask/hdr_right_02742.png" + }, + { + "file_path": "../../rgb/hdr_right_02744.png", + "transform_matrix": [ + [ + -0.2629801034927368, + -0.06651949137449265, + -0.9625054001808167, + 40.35266876220703 + ], + [ + 0.9641972780227661, + -0.05341174080967903, + -0.25975102186203003, + 1.054131269454956 + ], + [ + -0.03413058817386627, + -0.9963545203208923, + 0.07818414270877838, + -4.96268367767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2744, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_538469314", + "mask_path": "../../mask/hdr_right_02744.png" + }, + { + "file_path": "../../rgb/hdr_right_02746.png", + "transform_matrix": [ + [ + -0.2892555594444275, + -0.06418026983737946, + -0.955098032951355, + 40.36289596557617 + ], + [ + 0.9566816687583923, + -0.05381735786795616, + -0.2861187756061554, + 0.9772197604179382 + ], + [ + -0.033037666231393814, + -0.9964861273765564, + 0.07696706056594849, + -4.954226016998291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2746, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_738471031", + "mask_path": "../../mask/hdr_right_02746.png" + }, + { + "file_path": "../../rgb/hdr_right_02748.png", + "transform_matrix": [ + [ + -0.3069213032722473, + -0.05523885414004326, + -0.9501305818557739, + 40.38837814331055 + ], + [ + 0.9510657787322998, + -0.055231723934412, + -0.304012268781662, + 0.8994652628898621 + ], + [ + -0.03568405285477638, + -0.9969443678855896, + 0.06948758661746979, + -4.951077461242676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2748, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594441_938470602", + "mask_path": "../../mask/hdr_right_02748.png" + }, + { + "file_path": "../../rgb/hdr_right_02750.png", + "transform_matrix": [ + [ + -0.32515543699264526, + -0.06429238617420197, + -0.9434726238250732, + 40.40904235839844 + ], + [ + 0.9452973008155823, + -0.049748435616493225, + -0.3223942518234253, + 0.8202705383300781 + ], + [ + -0.02620878629386425, + -0.9966902732849121, + 0.07695140689611435, + -4.959746837615967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2750, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_138470411", + "mask_path": "../../mask/hdr_right_02750.png" + }, + { + "file_path": "../../rgb/hdr_right_02752.png", + "transform_matrix": [ + [ + -0.3162030279636383, + -0.06847445666790009, + -0.9462171792984009, + 40.42009353637695 + ], + [ + 0.9483031630516052, + -0.051349323242902756, + -0.3131841719150543, + 0.7336763143539429 + ], + [ + -0.027142493054270744, + -0.9963304996490479, + 0.08117137104272842, + -4.941176891326904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2752, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_338470697", + "mask_path": "../../mask/hdr_right_02752.png" + }, + { + "file_path": "../../rgb/hdr_right_02754.png", + "transform_matrix": [ + [ + -0.3016263246536255, + -0.05875372514128685, + -0.9516142010688782, + 40.43324279785156 + ], + [ + 0.9525012969970703, + -0.0625239759683609, + -0.2980472147464752, + 0.6495277881622314 + ], + [ + -0.04198732599616051, + -0.9963126182556152, + 0.07482187449932098, + -4.931960105895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2754, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594442_538470268", + "mask_path": "../../mask/hdr_right_02754.png" + }, + { + "file_path": "../../rgb/hdr_right_02782.png", + "transform_matrix": [ + [ + -0.5612961649894714, + -0.07444160431623459, + -0.824260413646698, + 40.79164505004883 + ], + [ + 0.8273921012878418, + -0.027359427884221077, + -0.5609579682350159, + -0.04223546385765076 + ], + [ + 0.019207317382097244, + -0.9968500137329102, + 0.07694914191961288, + -4.943860054016113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2782, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_338469266", + "mask_path": "../../mask/hdr_right_02782.png" + }, + { + "file_path": "../../rgb/hdr_right_02784.png", + "transform_matrix": [ + [ + -0.565187931060791, + -0.07925927639007568, + -0.8211459517478943, + 40.81257247924805 + ], + [ + 0.8244471549987793, + -0.01909761317074299, + -0.5656166672706604, + -0.11260169744491577 + ], + [ + 0.029148444533348083, + -0.9966710805892944, + 0.07613882422447205, + -4.958781719207764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2784, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_538466215", + "mask_path": "../../mask/hdr_right_02784.png" + }, + { + "file_path": "../../rgb/hdr_right_02786.png", + "transform_matrix": [ + [ + -0.5522996187210083, + -0.07898927479982376, + -0.8298951387405396, + 40.844844818115234 + ], + [ + 0.833387017250061, + -0.02751067280769348, + -0.5520049333572388, + -0.17919659614562988 + ], + [ + 0.02077150158584118, + -0.99649578332901, + 0.08102276921272278, + -4.939945697784424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2786, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_738469362", + "mask_path": "../../mask/hdr_right_02786.png" + }, + { + "file_path": "../../rgb/hdr_right_02787.png", + "transform_matrix": [ + [ + -0.5481102466583252, + -0.08235607296228409, + -0.8323416709899902, + 40.87427520751953 + ], + [ + 0.8360973000526428, + -0.026911552995443344, + -0.5479207038879395, + -0.22670264542102814 + ], + [ + 0.02272498980164528, + -0.9962395429611206, + 0.08360819518566132, + -4.9502363204956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2787, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594445_838469505", + "mask_path": "../../mask/hdr_right_02787.png" + }, + { + "file_path": "../../rgb/hdr_right_02791.png", + "transform_matrix": [ + [ + -0.5485907196998596, + -0.09687269479036331, + -0.8304601907730103, + 40.943885803222656 + ], + [ + 0.835294783115387, + -0.020160848274827003, + -0.549432635307312, + -0.37970051169395447 + ], + [ + 0.03648224472999573, + -0.9950925707817078, + 0.0919773131608963, + -4.964470386505127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2791, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_238467454", + "mask_path": "../../mask/hdr_right_02791.png" + }, + { + "file_path": "../../rgb/hdr_right_02793.png", + "transform_matrix": [ + [ + -0.5216374397277832, + -0.09819044917821884, + -0.8474981188774109, + 40.944488525390625 + ], + [ + 0.8527639508247375, + -0.029464850202202797, + -0.5214648246765137, + -0.44418275356292725 + ], + [ + 0.02623145841062069, + -0.9947313070297241, + 0.09910324215888977, + -4.967382907867432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2793, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_438469648", + "mask_path": "../../mask/hdr_right_02793.png" + }, + { + "file_path": "../../rgb/hdr_right_02795.png", + "transform_matrix": [ + [ + -0.5159729719161987, + -0.10017681121826172, + -0.8507270812988281, + 40.96721267700195 + ], + [ + 0.8559800386428833, + -0.022369831800460815, + -0.5165247917175293, + -0.5117956399917603 + ], + [ + 0.03271317854523659, + -0.9947181940078735, + 0.09729156643152237, + -4.972968101501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2795, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_638470649", + "mask_path": "../../mask/hdr_right_02795.png" + }, + { + "file_path": "../../rgb/hdr_right_02797.png", + "transform_matrix": [ + [ + -0.5193721652030945, + -0.09249859303236008, + -0.8495272994041443, + 40.99229049682617 + ], + [ + 0.8540775775909424, + -0.02319907769560814, + -0.51962810754776, + -0.5818235874176025 + ], + [ + 0.02835661917924881, + -0.9954425096511841, + 0.0910499319434166, + -4.964651584625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2797, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594446_838470458", + "mask_path": "../../mask/hdr_right_02797.png" + }, + { + "file_path": "../../rgb/hdr_right_02799.png", + "transform_matrix": [ + [ + -0.5010013580322266, + -0.08612110465765, + -0.8611508011817932, + 40.9985237121582 + ], + [ + 0.864830493927002, + -0.012281167320907116, + -0.5019139051437378, + -0.6465091109275818 + ], + [ + 0.032649435102939606, + -0.9962089657783508, + 0.08063303679227829, + -4.960815906524658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2799, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_38470029", + "mask_path": "../../mask/hdr_right_02799.png" + }, + { + "file_path": "../../rgb/hdr_right_02801.png", + "transform_matrix": [ + [ + -0.4772392511367798, + -0.08420879393815994, + -0.8747294545173645, + 41.005638122558594 + ], + [ + 0.8782266974449158, + -0.010595163330435753, + -0.47812730073928833, + -0.7111248970031738 + ], + [ + 0.03099462203681469, + -0.9963918328285217, + 0.07901083678007126, + -4.97099494934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2801, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_238470077", + "mask_path": "../../mask/hdr_right_02801.png" + }, + { + "file_path": "../../rgb/hdr_right_02803.png", + "transform_matrix": [ + [ + -0.4830293655395508, + -0.09165675938129425, + -0.8707938194274902, + 41.0204963684082 + ], + [ + 0.874690592288971, + -0.005092754028737545, + -0.48465496301651, + -0.7640686631202698 + ], + [ + 0.03998715803027153, + -0.9957776069641113, + 0.08263124525547028, + -4.9829888343811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2803, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_438471794", + "mask_path": "../../mask/hdr_right_02803.png" + }, + { + "file_path": "../../rgb/hdr_right_02805.png", + "transform_matrix": [ + [ + -0.48134294152259827, + -0.08230768144130707, + -0.87265944480896, + 41.02526092529297 + ], + [ + 0.8749712705612183, + 0.014274294488132, + -0.4839644432067871, + -0.8299939632415771 + ], + [ + 0.05229058861732483, + -0.9965047836303711, + 0.06514602899551392, + -4.985183238983154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2805, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_638469457", + "mask_path": "../../mask/hdr_right_02805.png" + }, + { + "file_path": "../../rgb/hdr_right_02807.png", + "transform_matrix": [ + [ + -0.46033182740211487, + -0.07871586084365845, + -0.8842501640319824, + 41.03049850463867 + ], + [ + 0.8867641091346741, + 0.006083054933696985, + -0.4621821343898773, + -0.8864343166351318 + ], + [ + 0.04176000505685806, + -0.9968786239624023, + 0.06700219213962555, + -4.983082294464111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2807, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594447_838469743", + "mask_path": "../../mask/hdr_right_02807.png" + }, + { + "file_path": "../../rgb/hdr_right_02843.png", + "transform_matrix": [ + [ + 0.12400652468204498, + -0.13468661904335022, + -0.9830981492996216, + 40.94731140136719 + ], + [ + 0.9921363592147827, + 0.03377257287502289, + 0.12051966041326523, + -1.446509838104248 + ], + [ + 0.01696936786174774, + -0.9903125166893005, + 0.13781550526618958, + -4.983082294464111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2843, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594451_438469409", + "mask_path": "../../mask/hdr_right_02843.png" + }, + { + "file_path": "../../rgb/hdr_right_02847.png", + "transform_matrix": [ + [ + 0.2717049717903137, + -0.1374199241399765, + -0.9525189399719238, + 40.8731803894043 + ], + [ + 0.9621708989143372, + 0.018126720562577248, + 0.2718430757522583, + -1.3908319473266602 + ], + [ + -0.020090609788894653, + -0.9903470277786255, + 0.13714654743671417, + -4.96287727355957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2847, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594451_838470220", + "mask_path": "../../mask/hdr_right_02847.png" + }, + { + "file_path": "../../rgb/hdr_right_02851.png", + "transform_matrix": [ + [ + 0.28308162093162537, + -0.12962064146995544, + -0.9502964615821838, + 40.84120559692383 + ], + [ + 0.9588884115219116, + 0.017646078020334244, + 0.283234179019928, + -1.4420526027679443 + ], + [ + -0.01994398422539234, + -0.9914066195487976, + 0.1292870044708252, + -4.9657416343688965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2851, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_238469600", + "mask_path": "../../mask/hdr_right_02851.png" + }, + { + "file_path": "../../rgb/hdr_right_02853.png", + "transform_matrix": [ + [ + 0.31022828817367554, + -0.1304885745048523, + -0.9416640996932983, + 40.80022430419922 + ], + [ + 0.949830174446106, + 0.0011158536653965712, + 0.312764048576355, + -1.4885154962539673 + ], + [ + -0.039761364459991455, + -0.9914491772651672, + 0.1242881566286087, + -4.960839748382568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2853, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_438469409", + "mask_path": "../../mask/hdr_right_02853.png" + }, + { + "file_path": "../../rgb/hdr_right_02855.png", + "transform_matrix": [ + [ + 0.3270341753959656, + -0.13104423880577087, + -0.9358825087547302, + 40.75986862182617 + ], + [ + 0.9439029693603516, + -0.0026805237866938114, + 0.33021220564842224, + -1.551265001296997 + ], + [ + -0.04578104615211487, + -0.9913729429244995, + 0.12281639873981476, + -4.944633960723877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2855, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_638469457", + "mask_path": "../../mask/hdr_right_02855.png" + }, + { + "file_path": "../../rgb/hdr_right_02857.png", + "transform_matrix": [ + [ + 0.3352667987346649, + -0.13562753796577454, + -0.9323098659515381, + 40.71424865722656 + ], + [ + 0.9410030245780945, + -3.533267954480834e-05, + 0.33839818835258484, + -1.626735806465149 + ], + [ + -0.04592904448509216, + -0.9907598495483398, + 0.1276140809059143, + -4.9387946128845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2857, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_838470697", + "mask_path": "../../mask/hdr_right_02857.png" + }, + { + "file_path": "../../rgb/hdr_right_02858.png", + "transform_matrix": [ + [ + 0.34440815448760986, + -0.13700398802757263, + -0.9287695288658142, + 40.67958068847656 + ], + [ + 0.937484085559845, + -0.002568991854786873, + 0.34801873564720154, + -1.6646326780319214 + ], + [ + -0.050065942108631134, + -0.990567147731781, + 0.1275542825460434, + -4.929903507232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2858, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594452_938470840", + "mask_path": "../../mask/hdr_right_02858.png" + }, + { + "file_path": "../../rgb/hdr_right_02860.png", + "transform_matrix": [ + [ + 0.3743022084236145, + -0.13429078459739685, + -0.9175313711166382, + 40.6380615234375 + ], + [ + 0.9248245358467102, + -0.018287835642695427, + 0.37995409965515137, + -1.7265326976776123 + ], + [ + -0.06780398637056351, + -0.9907731413841248, + 0.1173502579331398, + -4.9223456382751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2860, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_138469934", + "mask_path": "../../mask/hdr_right_02860.png" + }, + { + "file_path": "../../rgb/hdr_right_02862.png", + "transform_matrix": [ + [ + 0.3861789107322693, + -0.13300983607769012, + -0.9127838015556335, + 40.59343719482422 + ], + [ + 0.919169008731842, + -0.02756788209080696, + 0.39289748668670654, + -1.818984866142273 + ], + [ + -0.07742273807525635, + -0.9907312989234924, + 0.11161237210035324, + -4.910508155822754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2862, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_338471174", + "mask_path": "../../mask/hdr_right_02862.png" + }, + { + "file_path": "../../rgb/hdr_right_02864.png", + "transform_matrix": [ + [ + 0.38929829001426697, + -0.12475894391536713, + -0.9126238226890564, + 40.550262451171875 + ], + [ + 0.9187756776809692, + -0.017924897372722626, + 0.39437294006347656, + -1.8921818733215332 + ], + [ + -0.0655602216720581, + -0.9920251369476318, + 0.1076473593711853, + -4.912600517272949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2864, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594453_538469314", + "mask_path": "../../mask/hdr_right_02864.png" + }, + { + "file_path": "../../rgb/hdr_right_02869.png", + "transform_matrix": [ + [ + 0.4368218183517456, + -0.10425281524658203, + -0.8934864401817322, + 40.42904281616211 + ], + [ + 0.8969115614891052, + -0.025514177978038788, + 0.4414733946323395, + -2.075345516204834 + ], + [ + -0.06882140785455704, + -0.9942234754562378, + 0.0823604092001915, + -4.87498664855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2869, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_38468837", + "mask_path": "../../mask/hdr_right_02869.png" + }, + { + "file_path": "../../rgb/hdr_right_02871.png", + "transform_matrix": [ + [ + 0.4388914704322815, + -0.1092614233493805, + -0.8918723464012146, + 40.39323425292969 + ], + [ + 0.8962447643280029, + -0.01767054572701454, + 0.44320791959762573, + -2.138967514038086 + ], + [ + -0.06418538838624954, + -0.9938560128211975, + 0.0901695191860199, + -4.878870487213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2871, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_238469600", + "mask_path": "../../mask/hdr_right_02871.png" + }, + { + "file_path": "../../rgb/hdr_right_02873.png", + "transform_matrix": [ + [ + 0.45174339413642883, + -0.1091463565826416, + -0.8854461908340454, + 40.34756851196289 + ], + [ + 0.8894070386886597, + -0.022640332579612732, + 0.456555038690567, + -2.2050018310546875 + ], + [ + -0.06987810879945755, + -0.9937677979469299, + 0.08684792369604111, + -4.861441612243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2873, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_438469409", + "mask_path": "../../mask/hdr_right_02873.png" + }, + { + "file_path": "../../rgb/hdr_right_02875.png", + "transform_matrix": [ + [ + 0.45709675550460815, + -0.11501312255859375, + -0.8819493055343628, + 40.3055419921875 + ], + [ + 0.8853610754013062, + -0.035751670598983765, + 0.46352726221084595, + -2.2693355083465576 + ], + [ + -0.08484288305044174, + -0.992720365524292, + 0.08548618853092194, + -4.8536553382873535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2875, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594454_638469219", + "mask_path": "../../mask/hdr_right_02875.png" + }, + { + "file_path": "../../rgb/hdr_right_02896.png", + "transform_matrix": [ + [ + 0.2056020349264145, + -0.05966167524456978, + -0.976815402507782, + 40.001346588134766 + ], + [ + 0.9786264300346375, + 0.01685633882880211, + 0.20495377480983734, + -3.0034236907958984 + ], + [ + 0.004237649962306023, + -0.998076319694519, + 0.06185220181941986, + -4.869203567504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2896, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594456_738470077", + "mask_path": "../../mask/hdr_right_02896.png" + }, + { + "file_path": "../../rgb/hdr_right_02898.png", + "transform_matrix": [ + [ + 0.1720728874206543, + -0.06578288227319717, + -0.9828853607177734, + 39.99781799316406 + ], + [ + 0.9849718809127808, + 0.026559315621852875, + 0.1706605851650238, + -3.078756332397461 + ], + [ + 0.014878218993544579, + -0.9974804520606995, + 0.06936442852020264, + -4.8797125816345215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2898, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594456_938470363", + "mask_path": "../../mask/hdr_right_02898.png" + }, + { + "file_path": "../../rgb/hdr_right_02900.png", + "transform_matrix": [ + [ + 0.16078700125217438, + -0.06580416858196259, + -0.9847930073738098, + 39.97831726074219 + ], + [ + 0.9867455363273621, + 0.03288533538579941, + 0.15890836715698242, + -3.155609369277954 + ], + [ + 0.021928416565060616, + -0.9972904920578003, + 0.0702194944024086, + -4.875216960906982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2900, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594457_138470649", + "mask_path": "../../mask/hdr_right_02900.png" + }, + { + "file_path": "../../rgb/hdr_right_02902.png", + "transform_matrix": [ + [ + 0.17875617742538452, + -0.0629693791270256, + -0.9818763136863708, + 39.958595275878906 + ], + [ + 0.9838413000106812, + 0.02171478420495987, + 0.17772133648395538, + -3.230994462966919 + ], + [ + 0.010130234062671661, + -0.9977792501449585, + 0.06583352386951447, + -4.8745832443237305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2902, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594457_338470935", + "mask_path": "../../mask/hdr_right_02902.png" + }, + { + "file_path": "../../rgb/hdr_right_02910.png", + "transform_matrix": [ + [ + 0.20296397805213928, + -0.0661897361278534, + -0.9769466519355774, + 39.83481979370117 + ], + [ + 0.9791445732116699, + 0.004515548702329397, + 0.20311471819877625, + -3.5592949390411377 + ], + [ + -0.009032661095261574, + -0.9977968335151672, + 0.06572580337524414, + -4.866666316986084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2910, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_138470172", + "mask_path": "../../mask/hdr_right_02910.png" + }, + { + "file_path": "../../rgb/hdr_right_02912.png", + "transform_matrix": [ + [ + 0.18926939368247986, + -0.07331999391317368, + -0.9791840314865112, + 39.816036224365234 + ], + [ + 0.981887936592102, + 0.005447749979794025, + 0.18938416242599487, + -3.6363890171051025 + ], + [ + -0.008551293052732944, + -0.9972936511039734, + 0.07302310317754745, + -4.868897438049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2912, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_338469982", + "mask_path": "../../mask/hdr_right_02912.png" + }, + { + "file_path": "../../rgb/hdr_right_02914.png", + "transform_matrix": [ + [ + 0.19628889858722687, + -0.07265735417604446, + -0.9778504371643066, + 39.78114700317383 + ], + [ + 0.9805206656455994, + 0.007363628596067429, + 0.19627773761749268, + -3.717351198196411 + ], + [ + -0.007060492876917124, + -0.9973297715187073, + 0.07268743962049484, + -4.857252597808838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_538469791", + "mask_path": "../../mask/hdr_right_02914.png" + }, + { + "file_path": "../../rgb/hdr_right_02916.png", + "transform_matrix": [ + [ + 0.21328812837600708, + -0.0688265934586525, + -0.9745620489120483, + 39.75959777832031 + ], + [ + 0.9767317175865173, + -0.007887818850576878, + 0.21432003378868103, + -3.7930073738098145 + ], + [ + -0.022438088431954384, + -0.9975974559783936, + 0.06554273515939713, + -4.856154918670654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_738469839", + "mask_path": "../../mask/hdr_right_02916.png" + }, + { + "file_path": "../../rgb/hdr_right_02917.png", + "transform_matrix": [ + [ + 0.21377982199192047, + -0.0650353655219078, + -0.9747146964073181, + 39.74882888793945 + ], + [ + 0.9764373302459717, + -0.015870049595832825, + 0.21521662175655365, + -3.844916582107544 + ], + [ + -0.029465459287166595, + -0.9977567791938782, + 0.060110267251729965, + -4.847866535186768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2917, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594458_838470458", + "mask_path": "../../mask/hdr_right_02917.png" + }, + { + "file_path": "../../rgb/hdr_right_02919.png", + "transform_matrix": [ + [ + 0.2030877023935318, + -0.06383264809846878, + -0.9770776033401489, + 39.73736572265625 + ], + [ + 0.9787108302116394, + -0.01700708642601967, + 0.2045382261276245, + -3.927069902420044 + ], + [ + -0.029673462733626366, + -0.997815728187561, + 0.05901976674795151, + -4.850292205810547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2919, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_38470506", + "mask_path": "../../mask/hdr_right_02919.png" + }, + { + "file_path": "../../rgb/hdr_right_02921.png", + "transform_matrix": [ + [ + 0.20780493319034576, + -0.061814211308956146, + -0.9762152433395386, + 39.71728515625 + ], + [ + 0.9776296615600586, + -0.020052151754498482, + 0.20937572419643402, + -4.004985809326172 + ], + [ + -0.03251761198043823, + -0.9978862404823303, + 0.056264474987983704, + -4.837062835693359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_238471031", + "mask_path": "../../mask/hdr_right_02921.png" + }, + { + "file_path": "../../rgb/hdr_right_02923.png", + "transform_matrix": [ + [ + 0.22381708025932312, + -0.06596975028514862, + -0.9723959565162659, + 39.68115997314453 + ], + [ + 0.9736005663871765, + -0.030739303678274155, + 0.2261798232793808, + -4.081986427307129 + ], + [ + -0.04481179639697075, + -0.9973480105400085, + 0.05734819173812866, + -4.831256866455078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2923, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_438469648", + "mask_path": "../../mask/hdr_right_02923.png" + }, + { + "file_path": "../../rgb/hdr_right_02924.png", + "transform_matrix": [ + [ + 0.2248333841562271, + -0.07505813241004944, + -0.9715021252632141, + 39.66395950317383 + ], + [ + 0.9732548594474792, + -0.030966423451900482, + 0.22763147950172424, + -4.133040428161621 + ], + [ + -0.04716953635215759, + -0.9966982007026672, + 0.06608840823173523, + -4.824127674102783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_538468122", + "mask_path": "../../mask/hdr_right_02924.png" + }, + { + "file_path": "../../rgb/hdr_right_02926.png", + "transform_matrix": [ + [ + 0.21734841167926788, + -0.0812942162156105, + -0.9727029204368591, + 39.63896179199219 + ], + [ + 0.9748716354370117, + -0.03177884966135025, + 0.22048898041248322, + -4.215997695922852 + ], + [ + -0.04883585497736931, + -0.9961833953857422, + 0.0723443478345871, + -4.820566177368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_738468408", + "mask_path": "../../mask/hdr_right_02926.png" + }, + { + "file_path": "../../rgb/hdr_right_02928.png", + "transform_matrix": [ + [ + 0.23634180426597595, + -0.08161447942256927, + -0.9682363271713257, + 39.60136032104492 + ], + [ + 0.9698495268821716, + -0.041154149919748306, + 0.24020454287528992, + -4.290476322174072 + ], + [ + -0.05945110693573952, + -0.9958139061927795, + 0.06942731887102127, + -4.807581901550293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594459_938469648", + "mask_path": "../../mask/hdr_right_02928.png" + }, + { + "file_path": "../../rgb/hdr_right_02930.png", + "transform_matrix": [ + [ + 0.244661346077919, + -0.0862550288438797, + -0.9657644629478455, + 39.569026947021484 + ], + [ + 0.9669886231422424, + -0.051466524600982666, + 0.2495681643486023, + -4.384207725524902 + ], + [ + -0.07123104482889175, + -0.9949427843093872, + 0.07081575691699982, + -4.792427062988281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2930, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_138470888", + "mask_path": "../../mask/hdr_right_02930.png" + }, + { + "file_path": "../../rgb/hdr_right_02932.png", + "transform_matrix": [ + [ + 0.2622424364089966, + -0.09001006931066513, + -0.9607950448989868, + 39.531211853027344 + ], + [ + 0.9622429609298706, + -0.05084550753235817, + 0.2674010396003723, + -4.460622310638428 + ], + [ + -0.07292089611291885, + -0.9946421384811401, + 0.07327770441770554, + -4.797440528869629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_338469982", + "mask_path": "../../mask/hdr_right_02932.png" + }, + { + "file_path": "../../rgb/hdr_right_02934.png", + "transform_matrix": [ + [ + 0.3174084722995758, + -0.09277157485485077, + -0.9437400102615356, + 39.47179412841797 + ], + [ + 0.9447600245475769, + -0.054841697216033936, + 0.3231425881385803, + -4.524693965911865 + ], + [ + -0.08173474669456482, + -0.9941760301589966, + 0.07023964077234268, + -4.772721767425537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_538470506", + "mask_path": "../../mask/hdr_right_02934.png" + }, + { + "file_path": "../../rgb/hdr_right_02936.png", + "transform_matrix": [ + [ + 0.37720009684562683, + -0.09445403516292572, + -0.9213026762008667, + 39.41558837890625 + ], + [ + 0.9211512804031372, + -0.06476587802171707, + 0.3837781250476837, + -4.612800121307373 + ], + [ + -0.09591836482286453, + -0.9934202432632446, + 0.0625767707824707, + -4.746809005737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594460_738470554", + "mask_path": "../../mask/hdr_right_02936.png" + }, + { + "file_path": "../../rgb/hdr_right_02943.png", + "transform_matrix": [ + [ + 0.5673061013221741, + -0.10436423122882843, + -0.8168671727180481, + 39.192466735839844 + ], + [ + 0.8161606192588806, + -0.06094573065638542, + 0.5746020674705505, + -4.809592247009277 + ], + [ + -0.10975245386362076, + -0.9926699995994568, + 0.05060309171676636, + -4.706366539001465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_438468933", + "mask_path": "../../mask/hdr_right_02943.png" + }, + { + "file_path": "../../rgb/hdr_right_02945.png", + "transform_matrix": [ + [ + 0.6075683832168579, + -0.10557426512241364, + -0.7872197031974792, + 39.135032653808594 + ], + [ + 0.7871137261390686, + -0.052692122757434845, + 0.6145532131195068, + -4.856796741485596 + ], + [ + -0.1063612848520279, + -0.993014395236969, + 0.051084887236356735, + -4.710315227508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2945, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_638468265", + "mask_path": "../../mask/hdr_right_02945.png" + }, + { + "file_path": "../../rgb/hdr_right_02947.png", + "transform_matrix": [ + [ + 0.6673954725265503, + -0.10478382557630539, + -0.7372947931289673, + 39.06000518798828 + ], + [ + 0.7369111180305481, + -0.049925025552511215, + 0.6741435527801514, + -4.894824504852295 + ], + [ + -0.10744879394769669, + -0.9932410717010498, + 0.0438966266810894, + -4.694547653198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594461_838468074", + "mask_path": "../../mask/hdr_right_02947.png" + }, + { + "file_path": "../../rgb/hdr_right_02949.png", + "transform_matrix": [ + [ + 0.732128381729126, + -0.10896345973014832, + -0.6723949313163757, + 38.967899322509766 + ], + [ + 0.6713534593582153, + -0.051524993032217026, + 0.7393441796302795, + -4.9370856285095215 + ], + [ + -0.11520664393901825, + -0.9927094578742981, + 0.035430073738098145, + -4.670070648193359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_38469314", + "mask_path": "../../mask/hdr_right_02949.png" + }, + { + "file_path": "../../rgb/hdr_right_02951.png", + "transform_matrix": [ + [ + 0.7827098369598389, + -0.11341115832328796, + -0.6119667887687683, + 38.90098571777344 + ], + [ + 0.6117132306098938, + -0.04113855957984924, + 0.7900093793869019, + -4.959196090698242 + ], + [ + -0.11477130651473999, + -0.9926961064338684, + 0.03717554733157158, + -4.679195880889893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_238469600", + "mask_path": "../../mask/hdr_right_02951.png" + }, + { + "file_path": "../../rgb/hdr_right_02953.png", + "transform_matrix": [ + [ + 0.8354426026344299, + -0.11308646947145462, + -0.5378170013427734, + 38.83015823364258 + ], + [ + 0.5379951596260071, + -0.03156541287899017, + 0.8423566818237305, + -4.958913803100586 + ], + [ + -0.11223556846380234, + -0.9930835962295532, + 0.0344688855111599, + -4.656099319458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_438468933", + "mask_path": "../../mask/hdr_right_02953.png" + }, + { + "file_path": "../../rgb/hdr_right_02955.png", + "transform_matrix": [ + [ + 0.8855926394462585, + -0.11591984331607819, + -0.4497646987438202, + 38.743003845214844 + ], + [ + 0.4489132761955261, + -0.0348409004509449, + 0.8928959369659424, + -4.9561567306518555 + ], + [ + -0.11917456239461899, + -0.9926473498344421, + 0.021183118224143982, + -4.636785984039307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2955, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_638469457", + "mask_path": "../../mask/hdr_right_02955.png" + }, + { + "file_path": "../../rgb/hdr_right_02957.png", + "transform_matrix": [ + [ + 0.9210457801818848, + -0.11957567185163498, + -0.37064307928085327, + 38.651065826416016 + ], + [ + 0.37024104595184326, + -0.026390723884105682, + 0.9285608530044556, + -4.96469783782959 + ], + [ + -0.12081481516361237, + -0.9924742579460144, + 0.01996474899351597, + -4.6218109130859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2957, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594462_838469505", + "mask_path": "../../mask/hdr_right_02957.png" + }, + { + "file_path": "../../rgb/hdr_right_02959.png", + "transform_matrix": [ + [ + 0.9541915059089661, + -0.10947616398334503, + -0.27844852209091187, + 38.5856819152832 + ], + [ + 0.2790122330188751, + -0.01044773031026125, + 0.9602307081222534, + -4.951454162597656 + ], + [ + -0.10803153365850449, + -0.9939345121383667, + 0.020576048642396927, + -4.624660968780518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2959, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_38470029", + "mask_path": "../../mask/hdr_right_02959.png" + }, + { + "file_path": "../../rgb/hdr_right_02961.png", + "transform_matrix": [ + [ + 0.977634072303772, + -0.1149870753288269, + -0.1760958880186081, + 38.509239196777344 + ], + [ + 0.17604348063468933, + -0.010691427625715733, + 0.9843243956565857, + -4.911309719085693 + ], + [ + -0.11506728827953339, + -0.993309497833252, + 0.009790418669581413, + -4.60492467880249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_238468647", + "mask_path": "../../mask/hdr_right_02961.png" + }, + { + "file_path": "../../rgb/hdr_right_02963.png", + "transform_matrix": [ + [ + 0.987299382686615, + -0.10945449024438858, + -0.11515074968338013, + 38.42848205566406 + ], + [ + 0.11613569408655167, + 0.00264496891759336, + 0.9932299852371216, + -4.888620376586914 + ], + [ + -0.10840889811515808, + -0.9939882755279541, + 0.015322946943342686, + -4.592164993286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_438469409", + "mask_path": "../../mask/hdr_right_02963.png" + }, + { + "file_path": "../../rgb/hdr_right_02965.png", + "transform_matrix": [ + [ + 0.9910950064659119, + -0.10483904182910919, + -0.08209482580423355, + 38.34626007080078 + ], + [ + 0.08409985154867172, + 0.014841738156974316, + 0.9963468313217163, + -4.857032299041748 + ], + [ + -0.10323761403560638, + -0.9943784475326538, + 0.023526517674326897, + -4.599174976348877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_638469219", + "mask_path": "../../mask/hdr_right_02965.png" + }, + { + "file_path": "../../rgb/hdr_right_02967.png", + "transform_matrix": [ + [ + 0.9930458664894104, + -0.10642208158969879, + -0.05034076049923897, + 38.27608871459961 + ], + [ + 0.05212349072098732, + 0.014034943655133247, + 0.998542070388794, + -4.823696136474609 + ], + [ + -0.10556039214134216, + -0.9942220449447632, + 0.01948443055152893, + -4.579341411590576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2967, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594463_838466644", + "mask_path": "../../mask/hdr_right_02967.png" + }, + { + "file_path": "../../rgb/hdr_right_02969.png", + "transform_matrix": [ + [ + 0.9939162135124207, + -0.10305500775575638, + -0.03886229917407036, + 38.17572784423828 + ], + [ + 0.04017047956585884, + 0.010648289695382118, + 0.9991361498832703, + -4.811823844909668 + ], + [ + -0.1025521531701088, + -0.9946186542510986, + 0.014723277650773525, + -4.570657253265381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_38468837", + "mask_path": "../../mask/hdr_right_02969.png" + }, + { + "file_path": "../../rgb/hdr_right_02971.png", + "transform_matrix": [ + [ + 0.9942630529403687, + -0.09771059453487396, + -0.043515607714653015, + 38.07917785644531 + ], + [ + 0.044636715203523636, + 0.009315802715718746, + 0.9989598393440247, + -4.8111252784729 + ], + [ + -0.09720358997583389, + -0.9951712489128113, + 0.013623836450278759, + -4.575007915496826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2971, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_238468885", + "mask_path": "../../mask/hdr_right_02971.png" + }, + { + "file_path": "../../rgb/hdr_right_02973.png", + "transform_matrix": [ + [ + 0.9953362345695496, + -0.09011883288621902, + -0.03441422060132027, + 37.976959228515625 + ], + [ + 0.03456347808241844, + 9.556860459269956e-05, + 0.9994025230407715, + -4.806220054626465 + ], + [ + -0.09006170183420181, + -0.9959310293197632, + 0.003209942253306508, + -4.564502716064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2973, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_438470125", + "mask_path": "../../mask/hdr_right_02973.png" + }, + { + "file_path": "../../rgb/hdr_right_02974.png", + "transform_matrix": [ + [ + 0.995281457901001, + -0.09447553008794785, + -0.022118987515568733, + 37.92381286621094 + ], + [ + 0.021824954077601433, + -0.004144713282585144, + 0.9997532367706299, + -4.798096656799316 + ], + [ + -0.09454390406608582, + -0.9955185651779175, + -0.0020632322411984205, + -4.553413391113281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_538471221", + "mask_path": "../../mask/hdr_right_02974.png" + }, + { + "file_path": "../../rgb/hdr_right_02975.png", + "transform_matrix": [ + [ + 0.9952587485313416, + -0.09683846682310104, + -0.009077074006199837, + 37.861488342285156 + ], + [ + 0.008669774048030376, + -0.004626173991709948, + 0.9999517202377319, + -4.792536735534668 + ], + [ + -0.09687578678131104, + -0.9952893257141113, + -0.003764672437682748, + -4.5458221435546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_638470411", + "mask_path": "../../mask/hdr_right_02975.png" + }, + { + "file_path": "../../rgb/hdr_right_02976.png", + "transform_matrix": [ + [ + 0.9956578612327576, + -0.09299862384796143, + -0.0040793996304273605, + 37.788673400878906 + ], + [ + 0.003870124462991953, + -0.0024306573905050755, + 0.9999896287918091, + -4.788636207580566 + ], + [ + -0.09300756454467773, + -0.9956632256507874, + -0.0020601896103471518, + -4.537201404571533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2976, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_738470315", + "mask_path": "../../mask/hdr_right_02976.png" + }, + { + "file_path": "../../rgb/hdr_right_02977.png", + "transform_matrix": [ + [ + 0.9961299300193787, + -0.08734548091888428, + -0.009794402867555618, + 37.72712707519531 + ], + [ + 0.010276285000145435, + 0.005068831145763397, + 0.9999343156814575, + -4.786133766174316 + ], + [ + -0.08729010075330734, + -0.9961652159690857, + 0.00594679731875658, + -4.537478446960449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2977, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_838469743", + "mask_path": "../../mask/hdr_right_02977.png" + }, + { + "file_path": "../../rgb/hdr_right_02978.png", + "transform_matrix": [ + [ + 0.9964799880981445, + -0.08306031674146652, + -0.01133935060352087, + 37.674774169921875 + ], + [ + 0.01203860342502594, + 0.00792274996638298, + 0.9998961687088013, + -4.780910015106201 + ], + [ + -0.08296185731887817, + -0.9965130090713501, + 0.008894789963960648, + -4.540709972381592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594464_938469171", + "mask_path": "../../mask/hdr_right_02978.png" + }, + { + "file_path": "../../rgb/hdr_right_02979.png", + "transform_matrix": [ + [ + 0.9966313242912292, + -0.08152709156274796, + -0.008908714167773724, + 37.613712310791016 + ], + [ + 0.009852652437984943, + 0.011182993650436401, + 0.9998889565467834, + -4.7691240310668945 + ], + [ + -0.08141841739416122, + -0.9966083765029907, + 0.01194857619702816, + -4.531524181365967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2979, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_38470506", + "mask_path": "../../mask/hdr_right_02979.png" + }, + { + "file_path": "../../rgb/hdr_right_02980.png", + "transform_matrix": [ + [ + 0.996485710144043, + -0.08376353234052658, + 0.00015768410230521113, + 37.5548210144043 + ], + [ + 0.000979267293587327, + 0.013532089069485664, + 0.9999079704284668, + -4.752737998962402 + ], + [ + -0.08375795930624008, + -0.9963937997817993, + 0.013566558249294758, + -4.513758182525635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2980, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_138471126", + "mask_path": "../../mask/hdr_right_02980.png" + }, + { + "file_path": "../../rgb/hdr_right_02981.png", + "transform_matrix": [ + [ + 0.9957634210586548, + -0.09117615222930908, + 0.011925768107175827, + 37.504173278808594 + ], + [ + -0.011187090538442135, + 0.008608322590589523, + 0.9999004006385803, + -4.738633632659912 + ], + [ + -0.09126972407102585, + -0.9957975745201111, + 0.007551853079348803, + -4.505317687988281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2981, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_238470554", + "mask_path": "../../mask/hdr_right_02981.png" + }, + { + "file_path": "../../rgb/hdr_right_02983.png", + "transform_matrix": [ + [ + 0.9952174425125122, + -0.09176237881183624, + 0.0334947295486927, + 37.380348205566406 + ], + [ + -0.033076535910367966, + 0.006074647419154644, + 0.9994343519210815, + -4.716081142425537 + ], + [ + -0.09191395342350006, + -0.9957623481750488, + 0.0030104112811386585, + -4.48851203918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2983, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_438470125", + "mask_path": "../../mask/hdr_right_02983.png" + }, + { + "file_path": "../../rgb/hdr_right_02984.png", + "transform_matrix": [ + [ + 0.995392918586731, + -0.08869316428899765, + 0.036420516669750214, + 37.32943344116211 + ], + [ + -0.03559953719377518, + 0.010821275413036346, + 0.9993076920509338, + -4.706401824951172 + ], + [ + -0.08902586251497269, + -0.9960001707077026, + 0.00761398347094655, + -4.490146636962891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2984, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_538470745", + "mask_path": "../../mask/hdr_right_02984.png" + }, + { + "file_path": "../../rgb/hdr_right_02986.png", + "transform_matrix": [ + [ + 0.995652973651886, + -0.08413282781839371, + 0.03996293246746063, + 37.23456573486328 + ], + [ + -0.03894668072462082, + 0.01368644181638956, + 0.9991475939750671, + -4.687203884124756 + ], + [ + -0.0846080631017685, + -0.9963605403900146, + 0.010350248776376247, + -4.486985683441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2986, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_738469839", + "mask_path": "../../mask/hdr_right_02986.png" + }, + { + "file_path": "../../rgb/hdr_right_02987.png", + "transform_matrix": [ + [ + 0.9951583743095398, + -0.08460045605897903, + 0.050027746707201004, + 37.18720245361328 + ], + [ + -0.04906094819307327, + 0.013469677418470383, + 0.9987049698829651, + -4.670730113983154 + ], + [ + -0.08516474068164825, + -0.9963238835334778, + 0.009253877215087414, + -4.474212646484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2987, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594465_838469505", + "mask_path": "../../mask/hdr_right_02987.png" + }, + { + "file_path": "../../rgb/hdr_right_02989.png", + "transform_matrix": [ + [ + 0.9931117296218872, + -0.09663672745227814, + 0.06626006215810776, + 37.08953857421875 + ], + [ + -0.0662086233496666, + 0.003742168890312314, + 0.9977988004684448, + -4.648874759674072 + ], + [ + -0.09667196869850159, + -0.9953126311302185, + -0.0026817964389920235, + -4.452757358551025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_38470029", + "mask_path": "../../mask/hdr_right_02989.png" + }, + { + "file_path": "../../rgb/hdr_right_02990.png", + "transform_matrix": [ + [ + 0.9931835532188416, + -0.09548871964216232, + 0.0668463483452797, + 37.0290412902832 + ], + [ + -0.066624216735363, + 0.005515851080417633, + 0.9977629780769348, + -4.64200496673584 + ], + [ + -0.09564381092786789, + -0.9954152703285217, + -0.0008836131892167032, + -4.443751811981201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2990, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_138470172", + "mask_path": "../../mask/hdr_right_02990.png" + }, + { + "file_path": "../../rgb/hdr_right_02991.png", + "transform_matrix": [ + [ + 0.9937334060668945, + -0.09239593148231506, + 0.0629042312502861, + 36.978355407714844 + ], + [ + -0.06255485862493515, + 0.006675199139863253, + 0.9980192184448242, + -4.635834693908691 + ], + [ + -0.09263282269239426, + -0.995699942111969, + 0.0008535492233932018, + -4.444404602050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2991, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_238470315", + "mask_path": "../../mask/hdr_right_02991.png" + }, + { + "file_path": "../../rgb/hdr_right_02993.png", + "transform_matrix": [ + [ + 0.9941521286964417, + -0.0862443819642067, + 0.06498769670724869, + 36.890960693359375 + ], + [ + -0.06459515541791916, + 0.007337118033319712, + 0.9978845715522766, + -4.62352180480957 + ], + [ + -0.08653875440359116, + -0.9962470531463623, + 0.001723240246064961, + -4.435121059417725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2993, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_438469886", + "mask_path": "../../mask/hdr_right_02993.png" + }, + { + "file_path": "../../rgb/hdr_right_02995.png", + "transform_matrix": [ + [ + 0.9914835691452026, + -0.09695622324943542, + 0.08694855868816376, + 36.79730224609375 + ], + [ + -0.08654961735010147, + 0.008320602588355541, + 0.9962127804756165, + -4.597180366516113 + ], + [ + -0.09731248021125793, + -0.9952539205551147, + -0.00014178630954120308, + -4.413411617279053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2995, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_638469696", + "mask_path": "../../mask/hdr_right_02995.png" + }, + { + "file_path": "../../rgb/hdr_right_02996.png", + "transform_matrix": [ + [ + 0.9910163879394531, + -0.09807316958904266, + 0.09092908352613449, + 36.73971176147461 + ], + [ + -0.09059087932109833, + 0.007904984056949615, + 0.9958568811416626, + -4.5857768058776855 + ], + [ + -0.09838563203811646, + -0.9951478242874146, + -0.0010505662066861987, + -4.4001851081848145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2996, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_738470077", + "mask_path": "../../mask/hdr_right_02996.png" + }, + { + "file_path": "../../rgb/hdr_right_02997.png", + "transform_matrix": [ + [ + 0.9915297031402588, + -0.0957242026925087, + 0.08778202533721924, + 36.687320709228516 + ], + [ + -0.0870838612318039, + 0.011455271393060684, + 0.9961351156234741, + -4.578930854797363 + ], + [ + -0.09635980427265167, + -0.995341956615448, + 0.003022208111360669, + -4.4024457931518555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2997, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594466_838469982", + "mask_path": "../../mask/hdr_right_02997.png" + }, + { + "file_path": "../../rgb/hdr_right_02999.png", + "transform_matrix": [ + [ + 0.9919211864471436, + -0.09052624553442001, + 0.08886734396219254, + 36.60262680053711 + ], + [ + -0.08805976063013077, + 0.012883920222520828, + 0.9960319995880127, + -4.560273170471191 + ], + [ + -0.0913119986653328, + -0.9958106875419617, + 0.004808109253644943, + -4.4028143882751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2999, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_38470268", + "mask_path": "../../mask/hdr_right_02999.png" + }, + { + "file_path": "../../rgb/hdr_right_03001.png", + "transform_matrix": [ + [ + 0.9893879890441895, + -0.09289074689149857, + 0.11172579228878021, + 36.521949768066406 + ], + [ + -0.1113513857126236, + 0.009220551699399948, + 0.9937382936477661, + -4.52628755569458 + ], + [ + -0.09333926439285278, + -0.9956335425376892, + -0.0012208089465275407, + -4.384576797485352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_238468885", + "mask_path": "../../mask/hdr_right_03001.png" + }, + { + "file_path": "../../rgb/hdr_right_03003.png", + "transform_matrix": [ + [ + 0.988136887550354, + -0.09497962146997452, + 0.12068283557891846, + 36.4141960144043 + ], + [ + -0.12060482800006866, + 0.006581583060324192, + 0.9926788210868835, + -4.501873016357422 + ], + [ + -0.09507853537797928, + -0.9954574108123779, + -0.0049514989368617535, + -4.370552062988281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3003, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_438469648", + "mask_path": "../../mask/hdr_right_03003.png" + }, + { + "file_path": "../../rgb/hdr_right_03004.png", + "transform_matrix": [ + [ + 0.9887861609458923, + -0.09273195266723633, + 0.11705902218818665, + 36.36246871948242 + ], + [ + -0.1164691224694252, + 0.011765862815082073, + 0.9931246638298035, + -4.491846561431885 + ], + [ + -0.09347168356180191, + -0.9956216216087341, + 0.000833506986964494, + -4.372556686401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3004, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_538470029", + "mask_path": "../../mask/hdr_right_03004.png" + }, + { + "file_path": "../../rgb/hdr_right_03006.png", + "transform_matrix": [ + [ + 0.9893439412117004, + -0.08490513265132904, + 0.11827779561281204, + 36.277191162109375 + ], + [ + -0.11759337782859802, + 0.013035007752478123, + 0.9929763078689575, + -4.469758033752441 + ], + [ + -0.08585052937269211, + -0.9963037371635437, + 0.002911823336035013, + -4.367241859436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3006, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_738468647", + "mask_path": "../../mask/hdr_right_03006.png" + }, + { + "file_path": "../../rgb/hdr_right_03008.png", + "transform_matrix": [ + [ + 0.9868789911270142, + -0.09021306782960892, + 0.13390861451625824, + 36.191688537597656 + ], + [ + -0.1335768699645996, + 0.00973245408385992, + 0.9909906983375549, + -4.440408229827881 + ], + [ + -0.0907035768032074, + -0.9958749413490295, + -0.0024456290993839502, + -4.345128536224365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3008, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594467_938469648", + "mask_path": "../../mask/hdr_right_03008.png" + }, + { + "file_path": "../../rgb/hdr_right_03009.png", + "transform_matrix": [ + [ + 0.9866960048675537, + -0.0945446789264679, + 0.13225848972797394, + 36.138404846191406 + ], + [ + -0.13255614042282104, + 0.0031528030522167683, + 0.9911705851554871, + -4.431944370269775 + ], + [ + -0.09412689507007599, + -0.9955155849456787, + -0.009421623311936855, + -4.333167552947998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_38469314", + "mask_path": "../../mask/hdr_right_03009.png" + }, + { + "file_path": "../../rgb/hdr_right_03010.png", + "transform_matrix": [ + [ + 0.9882877469062805, + -0.09035798162221909, + 0.1229756623506546, + 36.085289001464844 + ], + [ + -0.1231972724199295, + 0.0031416225247085094, + 0.9923772811889648, + -4.425868988037109 + ], + [ + -0.09005554020404816, + -0.9959044456481934, + -0.008027034811675549, + -4.323816776275635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3010, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_138470649", + "mask_path": "../../mask/hdr_right_03010.png" + }, + { + "file_path": "../../rgb/hdr_right_03012.png", + "transform_matrix": [ + [ + 0.9909580945968628, + -0.08674610406160355, + 0.10235844552516937, + 35.99959945678711 + ], + [ + -0.10218397527933121, + 0.0064611718989908695, + 0.9947445392608643, + -4.4190826416015625 + ], + [ + -0.08695156127214432, + -0.9962095022201538, + -0.002461313037201762, + -4.325446128845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3012, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_338470697", + "mask_path": "../../mask/hdr_right_03012.png" + }, + { + "file_path": "../../rgb/hdr_right_03014.png", + "transform_matrix": [ + [ + 0.9918754696846008, + -0.09378112852573395, + 0.0859544426202774, + 35.92266082763672 + ], + [ + -0.08491766452789307, + 0.014997652731835842, + 0.9962751269340515, + -4.403378963470459 + ], + [ + -0.09472092986106873, + -0.9954798221588135, + 0.006912123411893845, + -4.296381950378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3014, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_538470506", + "mask_path": "../../mask/hdr_right_03014.png" + }, + { + "file_path": "../../rgb/hdr_right_03016.png", + "transform_matrix": [ + [ + 0.9928576350212097, + -0.10773571580648422, + 0.051252108067274094, + 35.848758697509766 + ], + [ + -0.051225192844867706, + 0.003018893301486969, + 0.9986826777458191, + -4.401314735412598 + ], + [ + -0.10774850100278854, + -0.9941749572753906, + -0.002521452959626913, + -4.274677753448486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3016, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_738469600", + "mask_path": "../../mask/hdr_right_03016.png" + }, + { + "file_path": "../../rgb/hdr_right_03018.png", + "transform_matrix": [ + [ + 0.9936739802360535, + -0.11137965321540833, + -0.014374172315001488, + 35.777381896972656 + ], + [ + 0.015385583974421024, + 0.008226285688579082, + 0.9998478293418884, + -4.4147629737854 + ], + [ + -0.11124445497989655, + -0.9937439560890198, + 0.009887883439660072, + -4.268822193145752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594468_938469886", + "mask_path": "../../mask/hdr_right_03018.png" + }, + { + "file_path": "../../rgb/hdr_right_03020.png", + "transform_matrix": [ + [ + 0.9899666905403137, + -0.11186105012893677, + -0.08633115887641907, + 35.72688293457031 + ], + [ + 0.08709773421287537, + 0.0019748813938349485, + 0.9961978793144226, + -4.444201946258545 + ], + [ + -0.11126524209976196, + -0.9937219023704529, + 0.011697906069457531, + -4.257483959197998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_138470172", + "mask_path": "../../mask/hdr_right_03020.png" + }, + { + "file_path": "../../rgb/hdr_right_03022.png", + "transform_matrix": [ + [ + 0.9819613099098206, + -0.12235670536756516, + -0.14415495097637177, + 35.6707763671875 + ], + [ + 0.1429300606250763, + -0.01877647265791893, + 0.9895547032356262, + -4.467606067657471 + ], + [ + -0.12378537654876709, + -0.9923085570335388, + -0.000949323468375951, + -4.238048553466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_338468790", + "mask_path": "../../mask/hdr_right_03022.png" + }, + { + "file_path": "../../rgb/hdr_right_03024.png", + "transform_matrix": [ + [ + 0.9753140807151794, + -0.11782107502222061, + -0.1867632418870926, + 35.59766387939453 + ], + [ + 0.1859685182571411, + -0.01780221238732338, + 0.9823945164680481, + -4.483575820922852 + ], + [ + -0.1190715804696083, + -0.9928752779960632, + 0.004548259545117617, + -4.234196186065674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_538470268", + "mask_path": "../../mask/hdr_right_03024.png" + }, + { + "file_path": "../../rgb/hdr_right_03026.png", + "transform_matrix": [ + [ + 0.9728075861930847, + -0.1215314045548439, + -0.1971684992313385, + 35.52022171020508 + ], + [ + 0.19589760899543762, + -0.022438064217567444, + 0.9803676009178162, + -4.498265743255615 + ], + [ + -0.1235695406794548, + -0.9923339486122131, + 0.001979788998141885, + -4.229298114776611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_738467216", + "mask_path": "../../mask/hdr_right_03026.png" + }, + { + "file_path": "../../rgb/hdr_right_03028.png", + "transform_matrix": [ + [ + 0.9720671772956848, + -0.1210419163107872, + -0.20108267664909363, + 35.42838668823242 + ], + [ + 0.1991073489189148, + -0.028324853628873825, + 0.9795682430267334, + -4.509643077850342 + ], + [ + -0.12426446378231049, + -0.9922431707382202, + -0.0034333260264247656, + -4.211488723754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3028, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594469_938470602", + "mask_path": "../../mask/hdr_right_03028.png" + }, + { + "file_path": "../../rgb/hdr_right_03030.png", + "transform_matrix": [ + [ + 0.9664435386657715, + -0.12533290684223175, + -0.2242288887500763, + 35.32041931152344 + ], + [ + 0.2208627611398697, + -0.04031827673316002, + 0.9744712114334106, + -4.531820297241211 + ], + [ + -0.13117383420467377, + -0.9912950992584229, + -0.011283968575298786, + -4.195968151092529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3030, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_138469219", + "mask_path": "../../mask/hdr_right_03030.png" + }, + { + "file_path": "../../rgb/hdr_right_03031.png", + "transform_matrix": [ + [ + 0.960887610912323, + -0.1175040751695633, + -0.250774621963501, + 35.266353607177734 + ], + [ + 0.2487679272890091, + -0.03168453276157379, + 0.9680448174476624, + -4.554059028625488 + ], + [ + -0.1216948851943016, + -0.9925668239593506, + -0.0012140283361077309, + -4.189665794372559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_238470077", + "mask_path": "../../mask/hdr_right_03031.png" + }, + { + "file_path": "../../rgb/hdr_right_03033.png", + "transform_matrix": [ + [ + 0.9447214603424072, + -0.11778330057859421, + -0.305987685918808, + 35.19074630737305 + ], + [ + 0.3052375316619873, + -0.024804269894957542, + 0.9519532322883606, + -4.586820602416992 + ], + [ + -0.11971396952867508, + -0.9927295446395874, + 0.012518751434981823, + -4.197643280029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_438470602", + "mask_path": "../../mask/hdr_right_03033.png" + }, + { + "file_path": "../../rgb/hdr_right_03035.png", + "transform_matrix": [ + [ + 0.9268695116043091, + -0.10387313365936279, + -0.3607260286808014, + 35.11890411376953 + ], + [ + 0.35893991589546204, + -0.03605971857905388, + 0.9326639175415039, + -4.628282070159912 + ], + [ + -0.10988640040159225, + -0.9939367175102234, + 0.0038615635130554438, + -4.1730217933654785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_638471126", + "mask_path": "../../mask/hdr_right_03035.png" + }, + { + "file_path": "../../rgb/hdr_right_03037.png", + "transform_matrix": [ + [ + 0.9130663275718689, + -0.09940623492002487, + -0.3955102860927582, + 35.04949951171875 + ], + [ + 0.39127227663993835, + -0.05985549837350845, + 0.9183263778686523, + -4.66620397567749 + ], + [ + -0.11496083438396454, + -0.9932450652122498, + -0.015757137909531593, + -4.16185998916626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3037, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_838470697", + "mask_path": "../../mask/hdr_right_03037.png" + }, + { + "file_path": "../../rgb/hdr_right_03038.png", + "transform_matrix": [ + [ + 0.9074420928955078, + -0.09248178452253342, + -0.40987321734428406, + 35.00120162963867 + ], + [ + 0.4055165946483612, + -0.0626683160662651, + 0.91193687915802, + -4.68991756439209 + ], + [ + -0.1100236177444458, + -0.9937403202056885, + -0.019364967942237854, + -4.150278568267822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3038, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594470_938470125", + "mask_path": "../../mask/hdr_right_03038.png" + }, + { + "file_path": "../../rgb/hdr_right_03039.png", + "transform_matrix": [ + [ + 0.8999062180519104, + -0.08517183363437653, + -0.42768508195877075, + 34.95882034301758 + ], + [ + 0.4241679906845093, + -0.05673571676015854, + 0.9038044810295105, + -4.712536334991455 + ], + [ + -0.10124371200799942, + -0.9947496056556702, + -0.014929664321243763, + -4.14650821685791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_38470745", + "mask_path": "../../mask/hdr_right_03039.png" + }, + { + "file_path": "../../rgb/hdr_right_03041.png", + "transform_matrix": [ + [ + 0.8933239579200745, + -0.07443547248840332, + -0.44320613145828247, + 34.901206970214844 + ], + [ + 0.44025102257728577, + -0.0531775988638401, + 0.8962986469268799, + -4.7595672607421875 + ], + [ + -0.0902850553393364, + -0.9958069324493408, + -0.014734534546732903, + -4.146483898162842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3041, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_238471508", + "mask_path": "../../mask/hdr_right_03041.png" + }, + { + "file_path": "../../rgb/hdr_right_03043.png", + "transform_matrix": [ + [ + 0.8954818844795227, + -0.0740533098578453, + -0.4388943612575531, + 34.82732391357422 + ], + [ + 0.4357624351978302, + -0.055034853518009186, + 0.8983775973320007, + -4.797611236572266 + ], + [ + -0.09068231284618378, + -0.9957345128059387, + -0.017013072967529297, + -4.126712322235107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_438470363", + "mask_path": "../../mask/hdr_right_03043.png" + }, + { + "file_path": "../../rgb/hdr_right_03045.png", + "transform_matrix": [ + [ + 0.9002140760421753, + -0.08196369558572769, + -0.4276641011238098, + 34.74098587036133 + ], + [ + 0.423414945602417, + -0.06452059745788574, + 0.9036353230476379, + -4.83002233505249 + ], + [ + -0.10165843367576599, + -0.9945446252822876, + -0.02337769977748394, + -4.112421035766602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3045, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_638470172", + "mask_path": "../../mask/hdr_right_03045.png" + }, + { + "file_path": "../../rgb/hdr_right_03046.png", + "transform_matrix": [ + [ + 0.9004600644111633, + -0.08349531888961792, + -0.4268491268157959, + 34.69249725341797 + ], + [ + 0.4226163923740387, + -0.0639864131808281, + 0.9040471315383911, + -4.848451137542725 + ], + [ + -0.10279624909162521, + -0.9944517016410828, + -0.022330721840262413, + -4.097402572631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_738469362", + "mask_path": "../../mask/hdr_right_03046.png" + }, + { + "file_path": "../../rgb/hdr_right_03048.png", + "transform_matrix": [ + [ + 0.8984082937240601, + -0.0838427022099495, + -0.43108344078063965, + 34.62112808227539 + ], + [ + 0.4281896948814392, + -0.050808586180210114, + 0.9022594094276428, + -4.877130031585693 + ], + [ + -0.09755060821771622, + -0.9951828122138977, + -0.00974627397954464, + -4.099000930786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594471_938470363", + "mask_path": "../../mask/hdr_right_03048.png" + }, + { + "file_path": "../../rgb/hdr_right_03050.png", + "transform_matrix": [ + [ + 0.9003801345825195, + -0.09136559814214706, + -0.42540329694747925, + 34.53830337524414 + ], + [ + 0.4232832193374634, + -0.042420972138643265, + 0.9050037860870361, + -4.892621994018555 + ], + [ + -0.1007322296500206, + -0.9949135184288025, + 0.00047852154239080846, + -4.074325084686279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_138470172", + "mask_path": "../../mask/hdr_right_03050.png" + }, + { + "file_path": "../../rgb/hdr_right_03052.png", + "transform_matrix": [ + [ + 0.9037229418754578, + -0.0997987687587738, + -0.41632339358329773, + 34.472171783447266 + ], + [ + 0.41368135809898376, + -0.046839501708745956, + 0.9092159867286682, + -4.902867317199707 + ], + [ + -0.11023902148008347, + -0.9939045906066895, + -0.0010450361296534538, + -4.063161849975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_338470220", + "mask_path": "../../mask/hdr_right_03052.png" + }, + { + "file_path": "../../rgb/hdr_right_03054.png", + "transform_matrix": [ + [ + 0.9051579236984253, + -0.10279923677444458, + -0.412457674741745, + 34.39793395996094 + ], + [ + 0.4097929894924164, + -0.04680905491113663, + 0.910976767539978, + -4.9174652099609375 + ], + [ + -0.11295446753501892, + -0.9936001300811768, + -0.00024318361829500645, + -4.04027795791626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_538470029", + "mask_path": "../../mask/hdr_right_03054.png" + }, + { + "file_path": "../../rgb/hdr_right_03056.png", + "transform_matrix": [ + [ + 0.9031107425689697, + -0.10711110383272171, + -0.4158344566822052, + 34.3327751159668 + ], + [ + 0.41387292742729187, + -0.04099791496992111, + 0.9094109535217285, + -4.944600582122803 + ], + [ + -0.11445636302232742, + -0.9934014678001404, + 0.007304731756448746, + -4.042149066925049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_738470554", + "mask_path": "../../mask/hdr_right_03056.png" + }, + { + "file_path": "../../rgb/hdr_right_03058.png", + "transform_matrix": [ + [ + 0.9065387845039368, + -0.10018959641456604, + -0.41006022691726685, + 34.27986526489258 + ], + [ + 0.40811264514923096, + -0.040168266743421555, + 0.9120475649833679, + -4.968931674957275 + ], + [ + -0.10784909129142761, + -0.9941571950912476, + 0.004474545828998089, + -4.02755880355835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594472_938469648", + "mask_path": "../../mask/hdr_right_03058.png" + }, + { + "file_path": "../../rgb/hdr_right_03060.png", + "transform_matrix": [ + [ + 0.9132543802261353, + -0.10567177832126617, + -0.39344608783721924, + 34.21364212036133 + ], + [ + 0.3907831311225891, + -0.04570075124502182, + 0.9193475842475891, + -4.985805988311768 + ], + [ + -0.11512987315654755, + -0.9933503866195679, + -0.00044166453881189227, + -4.017757892608643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3060, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_138470649", + "mask_path": "../../mask/hdr_right_03060.png" + }, + { + "file_path": "../../rgb/hdr_right_03062.png", + "transform_matrix": [ + [ + 0.9151745438575745, + -0.1132781133055687, + -0.3868121802806854, + 34.12628936767578 + ], + [ + 0.38348886370658875, + -0.050681788474321365, + 0.922153890132904, + -5.018176078796387 + ], + [ + -0.12406417727470398, + -0.9922698140144348, + -0.002941796323284507, + -3.9915482997894287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3062, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_338469743", + "mask_path": "../../mask/hdr_right_03062.png" + }, + { + "file_path": "../../rgb/hdr_right_03064.png", + "transform_matrix": [ + [ + 0.9147945642471313, + -0.11490310728549957, + -0.3872314691543579, + 34.069862365722656 + ], + [ + 0.38544952869415283, + -0.038253169506788254, + 0.9219357371330261, + -5.046436309814453 + ], + [ + -0.12074610590934753, + -0.9926400184631348, + 0.009295551106333733, + -3.9974865913391113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_538470029", + "mask_path": "../../mask/hdr_right_03064.png" + }, + { + "file_path": "../../rgb/hdr_right_03066.png", + "transform_matrix": [ + [ + 0.9173807501792908, + -0.1128162369132042, + -0.38168737292289734, + 34.00338363647461 + ], + [ + 0.38090780377388, + -0.029243363067507744, + 0.9241505265235901, + -5.070510387420654 + ], + [ + -0.11542101204395294, + -0.9931854605674744, + 0.016145288944244385, + -3.9712233543395996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3066, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_738469839", + "mask_path": "../../mask/hdr_right_03066.png" + }, + { + "file_path": "../../rgb/hdr_right_03068.png", + "transform_matrix": [ + [ + 0.9221102595329285, + -0.1199130266904831, + -0.36787736415863037, + 33.91813278198242 + ], + [ + 0.36631155014038086, + -0.03565913066267967, + 0.9298087358474731, + -5.084799289703369 + ], + [ + -0.12461436539888382, + -0.9921437501907349, + 0.011043878272175789, + -3.9542770385742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594473_938470840", + "mask_path": "../../mask/hdr_right_03068.png" + }, + { + "file_path": "../../rgb/hdr_right_03070.png", + "transform_matrix": [ + [ + 0.9225082397460938, + -0.12268033623695374, + -0.36596205830574036, + 33.82573699951172 + ], + [ + 0.36564871668815613, + -0.025877900421619415, + 0.9303932189941406, + -5.103085041046143 + ], + [ + -0.12361127138137817, + -0.9921087622642517, + 0.020985325798392296, + -3.9333133697509766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3070, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_138469696", + "mask_path": "../../mask/hdr_right_03070.png" + }, + { + "file_path": "../../rgb/hdr_right_03072.png", + "transform_matrix": [ + [ + 0.9227365255355835, + -0.11952335387468338, + -0.3664308488368988, + 33.7406005859375 + ], + [ + 0.36662790179252625, + -0.021137848496437073, + 0.9301275014877319, + -5.126407623291016 + ], + [ + -0.11891752481460571, + -0.9926064014434814, + 0.024315927177667618, + -3.932783365249634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3072, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_338470220", + "mask_path": "../../mask/hdr_right_03072.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/4fe14e8e/mesh.ply b/2024-11-14-15-22-43/splats/4fe14e8e/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8631ec5dd84740df26d4fd829ec3de3e64fde13b --- /dev/null +++ b/2024-11-14-15-22-43/splats/4fe14e8e/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01f5fe25103f1ad2d5950a7765984510ff18dcf289b6de85ff73a8c83949d2d1 +size 80883455 diff --git a/2024-11-14-15-22-43/splats/4fe14e8e/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/4fe14e8e/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..516cb6083bbed6a9d173e0f41af46c67d39b1afc --- /dev/null +++ b/2024-11-14-15-22-43/splats/4fe14e8e/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e743cff7f1aa38afa60d1a942c2ce1c18213bb315606324678d4f141d390c091 +size 1510731 diff --git a/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/config.yml b/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8d706c4a32181c5305e0c9f4a402e693a7cc6d68 --- /dev/null +++ b/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_4fe14e8e +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_4fe14e8e + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..820dd0818f69b054f74944ce36b846dbc807dd8e --- /dev/null +++ b/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9536610841751099, + 0.26690635085105896, + 0.13889457285404205, + 59.804168701171875 + ], + [ + 0.26690635085105896, + 0.9635356664657593, + -0.018975576385855675, + -11.420536041259766 + ], + [ + -0.13889457285404205, + 0.018975576385855675, + -0.9901254177093506, + 0.7041468620300293 + ] + ], + "scale": 0.1944074053748593 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..4188bdc73a7ef5c1da9cb8027e0befc541b00678 --- /dev/null +++ b/2024-11-14-15-22-43/splats/4fe14e8e/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a382fa604bbf28d78f0ac40f6e80d3588e8dc181b847d2e22e19f295da07b409 +size 350375994 diff --git a/2024-11-14-15-22-43/splats/4fe14e8e/transforms.json b/2024-11-14-15-22-43/splats/4fe14e8e/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3ccb5b6c989d5c19b2b09bc237c28eb839c271d0 --- /dev/null +++ b/2024-11-14-15-22-43/splats/4fe14e8e/transforms.json @@ -0,0 +1,16386 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01400.png", + "transform_matrix": [ + [ + 0.10533304512500763, + -0.12607121467590332, + -0.9864131212234497, + 55.32326889038086 + ], + [ + 0.9942834973335266, + -0.004077899735420942, + 0.10669465363025665, + -4.09630823135376 + ], + [ + -0.0174736175686121, + -0.9920128583908081, + 0.12492097914218903, + -7.0230393409729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1400, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_438468217", + "mask_path": "../../mask/hdr_front_01400.png" + }, + { + "file_path": "../../rgb/hdr_front_01401.png", + "transform_matrix": [ + [ + 0.11847981810569763, + -0.12707504630088806, + -0.9847915768623352, + 55.39361572265625 + ], + [ + 0.9928036332130432, + -0.002237222623080015, + 0.11973241716623306, + -4.106712818145752 + ], + [ + -0.01741819828748703, + -0.9918906092643738, + 0.12589550018310547, + -7.0267415046691895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1401, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_538469791", + "mask_path": "../../mask/hdr_front_01401.png" + }, + { + "file_path": "../../rgb/hdr_front_01402.png", + "transform_matrix": [ + [ + 0.13246867060661316, + -0.12250246107578278, + -0.983587920665741, + 55.45529556274414 + ], + [ + 0.9910243153572083, + -0.001623458694666624, + 0.13367238640785217, + -4.118657112121582 + ], + [ + -0.017972011119127274, + -0.992466926574707, + 0.12118784338235855, + -7.04174280166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1402, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_638470411", + "mask_path": "../../mask/hdr_front_01402.png" + }, + { + "file_path": "../../rgb/hdr_front_01403.png", + "transform_matrix": [ + [ + 0.14254996180534363, + -0.12241753935813904, + -0.9821881055831909, + 55.547767639160156 + ], + [ + 0.9894580245018005, + -0.007980813272297382, + 0.1445997804403305, + -4.134475231170654 + ], + [ + -0.02554020658135414, + -0.9924466013908386, + 0.11998936533927917, + -7.0611443519592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1403, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_738469362", + "mask_path": "../../mask/hdr_front_01403.png" + }, + { + "file_path": "../../rgb/hdr_front_01404.png", + "transform_matrix": [ + [ + 0.13951650261878967, + -0.1314171403646469, + -0.9814605712890625, + 55.646751403808594 + ], + [ + 0.9896737337112427, + -0.0144042382016778, + 0.1426127403974533, + -4.139742851257324 + ], + [ + -0.03287894278764725, + -0.9912225008010864, + 0.12805047631263733, + -7.075867176055908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1404, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_838470220", + "mask_path": "../../mask/hdr_front_01404.png" + }, + { + "file_path": "../../rgb/hdr_front_01405.png", + "transform_matrix": [ + [ + 0.13765062391757965, + -0.13135410845279694, + -0.9817323684692383, + 55.71163558959961 + ], + [ + 0.9899308085441589, + -0.014781252481043339, + 0.14077787101268768, + -4.143637180328369 + ], + [ + -0.03300298750400543, + -0.9912253618240356, + 0.12799683213233948, + -7.091619491577148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1405, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_938470840", + "mask_path": "../../mask/hdr_front_01405.png" + }, + { + "file_path": "../../rgb/hdr_front_01406.png", + "transform_matrix": [ + [ + 0.13739174604415894, + -0.13186044991016388, + -0.9817007780075073, + 55.79071044921875 + ], + [ + 0.9901125431060791, + -0.010028458200395107, + 0.13991603255271912, + -4.151665210723877 + ], + [ + -0.02829432673752308, + -0.9912176132202148, + 0.12917886674404144, + -7.108131408691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1406, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_38469791", + "mask_path": "../../mask/hdr_front_01406.png" + }, + { + "file_path": "../../rgb/hdr_front_01407.png", + "transform_matrix": [ + [ + 0.1437058299779892, + -0.13854816555976868, + -0.9798739552497864, + 55.886226654052734 + ], + [ + 0.989335834980011, + -0.003632493317127228, + 0.1456070840358734, + -4.176514148712158 + ], + [ + -0.023732980713248253, + -0.9903491139411926, + 0.13654865324497223, + -7.120341777801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1407, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_138469934", + "mask_path": "../../mask/hdr_front_01407.png" + }, + { + "file_path": "../../rgb/hdr_front_01408.png", + "transform_matrix": [ + [ + 0.15548808872699738, + -0.14251473546028137, + -0.9775034785270691, + 55.953369140625 + ], + [ + 0.9875071048736572, + -0.003178885905072093, + 0.15754282474517822, + -4.1976189613342285 + ], + [ + -0.025559544563293457, + -0.9897876381874084, + 0.14024002850055695, + -7.126540184020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1408, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_238470315", + "mask_path": "../../mask/hdr_front_01408.png" + }, + { + "file_path": "../../rgb/hdr_front_01409.png", + "transform_matrix": [ + [ + 0.16897231340408325, + -0.1398552507162094, + -0.9756479263305664, + 56.0101318359375 + ], + [ + 0.9852464199066162, + -0.0033091718796640635, + 0.17110906541347504, + -4.21513032913208 + ], + [ + -0.027159085497260094, + -0.990166425704956, + 0.1372327208518982, + -7.138945579528809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1409, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_338469505", + "mask_path": "../../mask/hdr_front_01409.png" + }, + { + "file_path": "../../rgb/hdr_front_01410.png", + "transform_matrix": [ + [ + 0.18147847056388855, + -0.1379907727241516, + -0.9736653566360474, + 56.09609603881836 + ], + [ + 0.9828387498855591, + -0.007842784747481346, + 0.18429981172084808, + -4.237740516662598 + ], + [ + -0.033067915588617325, + -0.9904025197029114, + 0.1341993808746338, + -7.154933929443359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1410, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_438469409", + "mask_path": "../../mask/hdr_front_01410.png" + }, + { + "file_path": "../../rgb/hdr_front_01411.png", + "transform_matrix": [ + [ + 0.18354825675487518, + -0.14334900677204132, + -0.9725025296211243, + 56.1950569152832 + ], + [ + 0.9823316335678101, + -0.010018881410360336, + 0.1868802160024643, + -4.251326084136963 + ], + [ + -0.03653247281908989, + -0.9896215200424194, + 0.1389773041009903, + -7.17229700088501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1411, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_538470029", + "mask_path": "../../mask/hdr_front_01411.png" + }, + { + "file_path": "../../rgb/hdr_front_01412.png", + "transform_matrix": [ + [ + 0.18312358856201172, + -0.14542795717716217, + -0.9722738862037659, + 56.2589111328125 + ], + [ + 0.9823508262634277, + -0.011273052543401718, + 0.18670770525932312, + -4.260584354400635 + ], + [ + -0.03811301290988922, + -0.9893046617507935, + 0.14079692959785461, + -7.184527397155762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1412, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_638470411", + "mask_path": "../../mask/hdr_front_01412.png" + }, + { + "file_path": "../../rgb/hdr_front_01413.png", + "transform_matrix": [ + [ + 0.18374930322170258, + -0.14344672858715057, + -0.9724502563476562, + 56.33168411254883 + ], + [ + 0.982427716255188, + -0.006153535563498735, + 0.1865423023700714, + -4.278403282165527 + ], + [ + -0.03274288401007652, + -0.9896389245986938, + 0.13979530334472656, + -7.20202112197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1413, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_738470554", + "mask_path": "../../mask/hdr_front_01413.png" + }, + { + "file_path": "../../rgb/hdr_front_01414.png", + "transform_matrix": [ + [ + 0.1876886487007141, + -0.14446686208248138, + -0.9715463519096375, + 56.423152923583984 + ], + [ + 0.981839120388031, + -0.00025791721418499947, + 0.1897154152393341, + -4.302384376525879 + ], + [ + -0.027658168226480484, + -0.989509642124176, + 0.141794815659523, + -7.221252918243408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1414, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_838469505", + "mask_path": "../../mask/hdr_front_01414.png" + }, + { + "file_path": "../../rgb/hdr_front_01415.png", + "transform_matrix": [ + [ + 0.19634702801704407, + -0.1505667269229889, + -0.9689052700996399, + 56.49591827392578 + ], + [ + 0.9801565408706665, + 0.0027068457566201687, + 0.19820643961429596, + -4.325722694396973 + ], + [ + -0.02722061239182949, + -0.9885961413383484, + 0.14811044931411743, + -7.2242631912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1415, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_938470125", + "mask_path": "../../mask/hdr_front_01415.png" + }, + { + "file_path": "../../rgb/hdr_front_01416.png", + "transform_matrix": [ + [ + 0.20740929245948792, + -0.14919741451740265, + -0.9668099880218506, + 56.548439025878906 + ], + [ + 0.9779658913612366, + 0.007626096718013287, + 0.20862571895122528, + -4.343138217926025 + ], + [ + -0.023753425106406212, + -0.9887780547142029, + 0.1474916785955429, + -7.233506679534912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1416, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_38470745", + "mask_path": "../../mask/hdr_front_01416.png" + }, + { + "file_path": "../../rgb/hdr_front_01417.png", + "transform_matrix": [ + [ + 0.2186305969953537, + -0.144126296043396, + -0.9651053547859192, + 56.62145233154297 + ], + [ + 0.9754981994628906, + 0.0073766144923865795, + 0.21988339722156525, + -4.35905647277832 + ], + [ + -0.02457176335155964, + -0.9895318150520325, + 0.14220768213272095, + -7.2484612464904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1417, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_138470888", + "mask_path": "../../mask/hdr_front_01417.png" + }, + { + "file_path": "../../rgb/hdr_front_01418.png", + "transform_matrix": [ + [ + 0.22243918478488922, + -0.14609532058238983, + -0.963938295841217, + 56.71210861206055 + ], + [ + 0.9743840098381042, + -0.0002714319562073797, + 0.2248907834291458, + -4.376545429229736 + ], + [ + -0.033117130398750305, + -0.9892704486846924, + 0.1422925591468811, + -7.263235569000244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1418, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_238470792", + "mask_path": "../../mask/hdr_front_01418.png" + }, + { + "file_path": "../../rgb/hdr_front_01419.png", + "transform_matrix": [ + [ + 0.21963682770729065, + -0.1476275473833084, + -0.9643474221229553, + 56.7824821472168 + ], + [ + 0.9750030040740967, + -0.0008265610667876899, + 0.2221902459859848, + -4.385458946228027 + ], + [ + -0.033598486334085464, + -0.9890427589416504, + 0.1437557339668274, + -7.275289058685303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1419, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_338469982", + "mask_path": "../../mask/hdr_front_01419.png" + }, + { + "file_path": "../../rgb/hdr_front_01420.png", + "transform_matrix": [ + [ + 0.21725887060165405, + -0.1447066366672516, + -0.9653282165527344, + 56.842411041259766 + ], + [ + 0.9757391214370728, + 0.004790480248630047, + 0.21888390183448792, + -4.391540050506592 + ], + [ + -0.027049565687775612, + -0.9894630312919617, + 0.14223670959472656, + -7.291483402252197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1420, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_438469886", + "mask_path": "../../mask/hdr_front_01420.png" + }, + { + "file_path": "../../rgb/hdr_front_01421.png", + "transform_matrix": [ + [ + 0.21728931367397308, + -0.14804576337337494, + -0.9648149013519287, + 56.91727828979492 + ], + [ + 0.9758409857749939, + 0.009862873703241348, + 0.21825917065143585, + -4.401841163635254 + ], + [ + -0.022796496748924255, + -0.9889313578605652, + 0.14661221206188202, + -7.3073625564575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1421, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_538469791", + "mask_path": "../../mask/hdr_front_01421.png" + }, + { + "file_path": "../../rgb/hdr_front_01422.png", + "transform_matrix": [ + [ + 0.2239343225955963, + -0.161727637052536, + -0.9610918760299683, + 56.98912811279297 + ], + [ + 0.9741848111152649, + 0.008217813447117805, + 0.2256021350622177, + -4.420183181762695 + ], + [ + -0.02858802303671837, + -0.986801266670227, + 0.15939286351203918, + -7.3188066482543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1422, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_638470411", + "mask_path": "../../mask/hdr_front_01422.png" + }, + { + "file_path": "../../rgb/hdr_front_01423.png", + "transform_matrix": [ + [ + 0.23373982310295105, + -0.16065041720867157, + -0.9589354395866394, + 57.045265197753906 + ], + [ + 0.971813976764679, + 0.007448176853358746, + 0.23563119769096375, + -4.440157413482666 + ], + [ + -0.03071192465722561, + -0.9869832992553711, + 0.15786327421665192, + -7.328163146972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1423, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_738469600", + "mask_path": "../../mask/hdr_front_01423.png" + }, + { + "file_path": "../../rgb/hdr_front_01424.png", + "transform_matrix": [ + [ + 0.24542619287967682, + -0.1523524522781372, + -0.9573687314987183, + 57.10985565185547 + ], + [ + 0.9689314961433411, + 0.007356977090239525, + 0.24721963703632355, + -4.456882953643799 + ], + [ + -0.030621176585555077, + -0.9882988929748535, + 0.1494246870279312, + -7.3405303955078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1424, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_838469982", + "mask_path": "../../mask/hdr_front_01424.png" + }, + { + "file_path": "../../rgb/hdr_front_01425.png", + "transform_matrix": [ + [ + 0.2524855434894562, + -0.15002945065498352, + -0.9558985829353333, + 57.197166442871094 + ], + [ + 0.9669445157051086, + 0.0027478602714836597, + 0.25497186183929443, + -4.476393222808838 + ], + [ + -0.0356266088783741, + -0.9886777997016907, + 0.14576394855976105, + -7.35938835144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1425, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_938470602", + "mask_path": "../../mask/hdr_front_01425.png" + }, + { + "file_path": "../../rgb/hdr_front_01426.png", + "transform_matrix": [ + [ + 0.24968238174915314, + -0.1567705124616623, + -0.9555531144142151, + 57.27896499633789 + ], + [ + 0.9673087000846863, + -0.004882154054939747, + 0.2535550594329834, + -4.491494178771973 + ], + [ + -0.04441511258482933, + -0.9876230359077454, + 0.1504264920949936, + -7.366124629974365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_38470268", + "mask_path": "../../mask/hdr_front_01426.png" + }, + { + "file_path": "../../rgb/hdr_front_01427.png", + "transform_matrix": [ + [ + 0.24789366126060486, + -0.15196575224399567, + -0.9567942023277283, + 57.33777618408203 + ], + [ + 0.9677227735519409, + -0.007441271562129259, + 0.251907080411911, + -4.501723289489746 + ], + [ + -0.045401010662317276, + -0.9883577823638916, + 0.14521607756614685, + -7.376016616821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1427, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_138470172", + "mask_path": "../../mask/hdr_front_01427.png" + }, + { + "file_path": "../../rgb/hdr_front_01428.png", + "transform_matrix": [ + [ + 0.2468939572572708, + -0.1448546051979065, + -0.9581547379493713, + 57.408016204833984 + ], + [ + 0.9681546688079834, + -0.005441257730126381, + 0.2502933144569397, + -4.517850875854492 + ], + [ + -0.04146971181035042, + -0.9894380569458008, + 0.13889826834201813, + -7.38978385925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1428, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_238469362", + "mask_path": "../../mask/hdr_front_01428.png" + }, + { + "file_path": "../../rgb/hdr_front_01429.png", + "transform_matrix": [ + [ + 0.2499919831752777, + -0.14351791143417358, + -0.957552433013916, + 57.49199295043945 + ], + [ + 0.9674213528633118, + -0.003829481778666377, + 0.25314244627952576, + -4.544466495513916 + ], + [ + -0.0399974025785923, + -0.9896402955055237, + 0.1378849446773529, + -7.406076908111572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1429, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_338469743", + "mask_path": "../../mask/hdr_front_01429.png" + }, + { + "file_path": "../../rgb/hdr_front_01430.png", + "transform_matrix": [ + [ + 0.259596049785614, + -0.14950019121170044, + -0.9540753364562988, + 57.56776428222656 + ], + [ + 0.9646950364112854, + -0.005300948396325111, + 0.26331624388694763, + -4.571745872497559 + ], + [ + -0.04442332684993744, + -0.9887475371360779, + 0.1428459882736206, + -7.41055965423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1430, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_438468456", + "mask_path": "../../mask/hdr_front_01430.png" + }, + { + "file_path": "../../rgb/hdr_front_01431.png", + "transform_matrix": [ + [ + 0.26943379640579224, + -0.14630597829818726, + -0.951840341091156, + 57.616783142089844 + ], + [ + 0.9620243310928345, + -0.004018306732177734, + 0.2729341685771942, + -4.5913543701171875 + ], + [ + -0.04375668242573738, + -0.989231288433075, + 0.13966722786426544, + -7.417501926422119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1431, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_538471460", + "mask_path": "../../mask/hdr_front_01431.png" + }, + { + "file_path": "../../rgb/hdr_front_01432.png", + "transform_matrix": [ + [ + 0.2770629823207855, + -0.1380808800458908, + -0.9508784413337708, + 57.687286376953125 + ], + [ + 0.9598486423492432, + -0.005433755926787853, + 0.2804657220840454, + -4.613317966461182 + ], + [ + -0.04389379173517227, + -0.9904060959815979, + 0.13103125989437103, + -7.429299831390381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1432, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_638470172", + "mask_path": "../../mask/hdr_front_01432.png" + }, + { + "file_path": "../../rgb/hdr_front_01433.png", + "transform_matrix": [ + [ + 0.2776901423931122, + -0.13169513642787933, + -0.9516010880470276, + 57.78464126586914 + ], + [ + 0.9594487547874451, + -0.011927319690585136, + 0.28163087368011475, + -4.634831428527832 + ], + [ + -0.04843946173787117, + -0.9912185668945312, + 0.12304263561964035, + -7.438076019287109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1433, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_738470792", + "mask_path": "../../mask/hdr_front_01433.png" + }, + { + "file_path": "../../rgb/hdr_front_01434.png", + "transform_matrix": [ + [ + 0.2715824544429779, + -0.13128116726875305, + -0.9534192681312561, + 57.8583984375 + ], + [ + 0.9611069560050964, + -0.014638968743383884, + 0.27578800916671753, + -4.649051666259766 + ], + [ + -0.050162848085165024, + -0.9912371039390564, + 0.12219956517219543, + -7.4441633224487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1434, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_838469743", + "mask_path": "../../mask/hdr_front_01434.png" + }, + { + "file_path": "../../rgb/hdr_front_01435.png", + "transform_matrix": [ + [ + 0.2655789256095886, + -0.1259281188249588, + -0.955829381942749, + 57.916587829589844 + ], + [ + 0.9630807042121887, + -0.010680081322789192, + 0.2690007984638214, + -4.659951210021973 + ], + [ + -0.04408309981226921, + -0.9919819235801697, + 0.11844253540039062, + -7.460451602935791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1435, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_938470602", + "mask_path": "../../mask/hdr_front_01435.png" + }, + { + "file_path": "../../rgb/hdr_front_01436.png", + "transform_matrix": [ + [ + 0.2547781765460968, + -0.12400959432125092, + -0.9590150117874146, + 57.999900817871094 + ], + [ + 0.9663640856742859, + -0.0032985324505716562, + 0.2571571171283722, + -4.679683208465576 + ], + [ + -0.03505329042673111, + -0.992275595664978, + 0.11899801343679428, + -7.471992015838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1436, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_38470506", + "mask_path": "../../mask/hdr_front_01436.png" + }, + { + "file_path": "../../rgb/hdr_front_01437.png", + "transform_matrix": [ + [ + 0.24235399067401886, + -0.13207882642745972, + -0.9611554741859436, + 58.07515335083008 + ], + [ + 0.9697786569595337, + 0.004207436926662922, + 0.24395017325878143, + -4.698609828948975 + ], + [ + -0.028176646679639816, + -0.991230309009552, + 0.12910690903663635, + -7.4759416580200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1437, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_138473749", + "mask_path": "../../mask/hdr_front_01437.png" + }, + { + "file_path": "../../rgb/hdr_front_01438.png", + "transform_matrix": [ + [ + 0.22617915272712708, + -0.13214461505413055, + -0.9650806784629822, + 58.124263763427734 + ], + [ + 0.9738612771034241, + 0.009405660443007946, + 0.22694909572601318, + -4.705546855926514 + ], + [ + -0.020912880077958107, + -0.9911859035491943, + 0.13081789016723633, + -7.487121105194092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1438, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_238470077", + "mask_path": "../../mask/hdr_front_01438.png" + }, + { + "file_path": "../../rgb/hdr_front_01439.png", + "transform_matrix": [ + [ + 0.20953352749347687, + -0.12569521367549896, + -0.9696888327598572, + 58.18751907348633 + ], + [ + 0.9777379035949707, + 0.015624426305294037, + 0.20924748480319977, + -4.708054542541504 + ], + [ + -0.011150570586323738, + -0.9919459223747253, + 0.126170814037323, + -7.501522064208984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1439, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_338469982", + "mask_path": "../../mask/hdr_front_01439.png" + }, + { + "file_path": "../../rgb/hdr_front_01440.png", + "transform_matrix": [ + [ + 0.19064980745315552, + -0.12429530173540115, + -0.9737573266029358, + 58.27327346801758 + ], + [ + 0.9816084504127502, + 0.014157452620565891, + 0.19037984311580658, + -4.712207317352295 + ], + [ + -0.009877393953502178, + -0.9921442866325378, + 0.12470841407775879, + -7.516025066375732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1440, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_438468933", + "mask_path": "../../mask/hdr_front_01440.png" + }, + { + "file_path": "../../rgb/hdr_front_01441.png", + "transform_matrix": [ + [ + 0.1749848574399948, + -0.13181209564208984, + -0.9757078886032104, + 58.353702545166016 + ], + [ + 0.9844697117805481, + 0.009199319407343864, + 0.17531345784664154, + -4.716061592102051 + ], + [ + -0.014132585376501083, + -0.9912320375442505, + 0.13137474656105042, + -7.527821063995361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1441, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_538469314", + "mask_path": "../../mask/hdr_front_01441.png" + }, + { + "file_path": "../../rgb/hdr_front_01442.png", + "transform_matrix": [ + [ + 0.17166323959827423, + -0.12936651706695557, + -0.9766247868537903, + 58.41448211669922 + ], + [ + 0.9850762486457825, + 0.009950393810868263, + 0.17183071374893188, + -4.7181620597839355 + ], + [ + -0.01251133717596531, + -0.9915469288825989, + 0.12914399802684784, + -7.5354390144348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1442, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_638468980", + "mask_path": "../../mask/hdr_front_01442.png" + }, + { + "file_path": "../../rgb/hdr_front_01443.png", + "transform_matrix": [ + [ + 0.17156068980693817, + -0.1265680193901062, + -0.9770094752311707, + 58.48565673828125 + ], + [ + 0.9851700663566589, + 0.01941029354929924, + 0.17047911882400513, + -4.7276835441589355 + ], + [ + -0.0026131628546863794, + -0.9917680621147156, + 0.12802107632160187, + -7.543383598327637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1443, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_738469123", + "mask_path": "../../mask/hdr_front_01443.png" + }, + { + "file_path": "../../rgb/hdr_front_01444.png", + "transform_matrix": [ + [ + 0.17446693778038025, + -0.13019528985023499, + -0.9760176539421082, + 58.56652069091797 + ], + [ + 0.9846606850624084, + 0.025227822363376617, + 0.1726466417312622, + -4.737549781799316 + ], + [ + 0.0021450144704431295, + -0.9911673665046692, + 0.1325996220111847, + -7.558391094207764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1444, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_838468790", + "mask_path": "../../mask/hdr_front_01444.png" + }, + { + "file_path": "../../rgb/hdr_front_01445.png", + "transform_matrix": [ + [ + 0.18392056226730347, + -0.13583771884441376, + -0.9735098481178284, + 58.643341064453125 + ], + [ + 0.9829388856887817, + 0.02331777662038803, + 0.1824483424425125, + -4.7482123374938965 + ], + [ + -0.002083280822262168, + -0.990456759929657, + 0.13780879974365234, + -7.566670894622803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1445, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_938469409", + "mask_path": "../../mask/hdr_front_01445.png" + }, + { + "file_path": "../../rgb/hdr_front_01446.png", + "transform_matrix": [ + [ + 0.19561699032783508, + -0.1320917308330536, + -0.9717437028884888, + 58.712684631347656 + ], + [ + 0.9806796312332153, + 0.02508295327425003, + 0.19400626420974731, + -4.757810592651367 + ], + [ + -0.0012524183839559555, + -0.9909201264381409, + 0.13444630801677704, + -7.577634811401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1446, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_38469314", + "mask_path": "../../mask/hdr_front_01446.png" + }, + { + "file_path": "../../rgb/hdr_front_01447.png", + "transform_matrix": [ + [ + 0.2080342322587967, + -0.12616221606731415, + -0.9699509739875793, + 58.80918884277344 + ], + [ + 0.9781155586242676, + 0.02336578443646431, + 0.2067461758852005, + -4.771873950958252 + ], + [ + -0.0034198909997940063, + -0.9917343854904175, + 0.12826208770275116, + -7.592127323150635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1447, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_138469934", + "mask_path": "../../mask/hdr_front_01447.png" + }, + { + "file_path": "../../rgb/hdr_front_01448.png", + "transform_matrix": [ + [ + 0.21197491884231567, + -0.12874259054660797, + -0.9687579870223999, + 58.91381072998047 + ], + [ + 0.9772190451622009, + 0.017302555963397026, + 0.21152688562870026, + -4.787812232971191 + ], + [ + -0.010470523498952389, + -0.9915271401405334, + 0.12947741150856018, + -7.608384609222412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1448, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_238469839", + "mask_path": "../../mask/hdr_front_01448.png" + }, + { + "file_path": "../../rgb/hdr_front_01449.png", + "transform_matrix": [ + [ + 0.2105787992477417, + -0.13014091551303864, + -0.968875527381897, + 58.98134231567383 + ], + [ + 0.9774444103240967, + 0.011710111983120441, + 0.2108682543039322, + -4.791625499725342 + ], + [ + -0.016096943989396095, + -0.991426408290863, + 0.12967140972614288, + -7.622654914855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1449, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_338471174", + "mask_path": "../../mask/hdr_front_01449.png" + }, + { + "file_path": "../../rgb/hdr_front_01450.png", + "transform_matrix": [ + [ + 0.21031628549098969, + -0.12841138243675232, + -0.9691634178161621, + 59.051727294921875 + ], + [ + 0.977524995803833, + 0.012858779169619083, + 0.21042709052562714, + -4.80242395401001 + ], + [ + -0.014558973722159863, + -0.9916377067565918, + 0.1282297521829605, + -7.637757778167725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1450, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_438470125", + "mask_path": "../../mask/hdr_front_01450.png" + }, + { + "file_path": "../../rgb/hdr_front_01451.png", + "transform_matrix": [ + [ + 0.2134057730436325, + -0.13409270346164703, + -0.9677175283432007, + 59.133079528808594 + ], + [ + 0.9768460392951965, + 0.013914189301431179, + 0.2134908139705658, + -4.825588226318359 + ], + [ + -0.015162557363510132, + -0.9908711314201355, + 0.13395731151103973, + -7.654618263244629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1451, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_538470506", + "mask_path": "../../mask/hdr_front_01451.png" + }, + { + "file_path": "../../rgb/hdr_front_01452.png", + "transform_matrix": [ + [ + 0.22262562811374664, + -0.14262071251869202, + -0.964415431022644, + 59.20462417602539 + ], + [ + 0.9746620655059814, + 0.010520809330046177, + 0.22343511879444122, + -4.851401329040527 + ], + [ + -0.02172004245221615, + -0.9897215366363525, + 0.1413491815328598, + -7.6616644859313965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1452, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_638469696", + "mask_path": "../../mask/hdr_front_01452.png" + }, + { + "file_path": "../../rgb/hdr_front_01453.png", + "transform_matrix": [ + [ + 0.2342141717672348, + -0.14028923213481903, + -0.9620097875595093, + 59.26206588745117 + ], + [ + 0.9719362854957581, + 0.01140604168176651, + 0.23496761918067932, + -4.86990213394165 + ], + [ + -0.02199069783091545, + -0.9900448322296143, + 0.13902366161346436, + -7.6731181144714355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1453, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_738470554", + "mask_path": "../../mask/hdr_front_01453.png" + }, + { + "file_path": "../../rgb/hdr_front_01454.png", + "transform_matrix": [ + [ + 0.24613407254219055, + -0.13726763427257538, + -0.9594663977622986, + 59.33619689941406 + ], + [ + 0.9689188003540039, + 0.009532812051475048, + 0.24719515442848206, + -4.892617225646973 + ], + [ + -0.024785475805401802, + -0.9904881715774536, + 0.13534756004810333, + -7.687867641448975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1454, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_838470220", + "mask_path": "../../mask/hdr_front_01454.png" + }, + { + "file_path": "../../rgb/hdr_front_01455.png", + "transform_matrix": [ + [ + 0.24871595203876495, + -0.14531026780605316, + -0.9576144814491272, + 59.4328498840332 + ], + [ + 0.9679114818572998, + 0.0006598702748306096, + 0.2512902617454529, + -4.916576862335205 + ], + [ + -0.03588315472006798, + -0.9893859624862671, + 0.14081160724163055, + -7.70791482925415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1455, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_938470363", + "mask_path": "../../mask/hdr_front_01455.png" + }, + { + "file_path": "../../rgb/hdr_front_01456.png", + "transform_matrix": [ + [ + 0.24312269687652588, + -0.15002943575382233, + -0.9583227634429932, + 59.511783599853516 + ], + [ + 0.9691967368125916, + -0.0025147751439362764, + 0.24627508223056793, + -4.936031341552734 + ], + [ + -0.0393584668636322, + -0.9886783361434937, + 0.14479663968086243, + -7.718447208404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1456, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_38469791", + "mask_path": "../../mask/hdr_front_01456.png" + }, + { + "file_path": "../../rgb/hdr_front_01457.png", + "transform_matrix": [ + [ + 0.2319527566432953, + -0.146015003323555, + -0.9617056250572205, + 59.58710861206055 + ], + [ + 0.9720935821533203, + -0.0008784502279013395, + 0.23459164798259735, + -4.947076797485352 + ], + [ + -0.03509870916604996, + -0.9892820119857788, + 0.14173652231693268, + -7.7341508865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1457, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_138470172", + "mask_path": "../../mask/hdr_front_01457.png" + }, + { + "file_path": "../../rgb/hdr_front_01458.png", + "transform_matrix": [ + [ + 0.2171371728181839, + -0.14550092816352844, + -0.9652361869812012, + 59.68024444580078 + ], + [ + 0.9758098125457764, + 0.0065964264795184135, + 0.21852144598960876, + -4.9589972496032715 + ], + [ + -0.025427963584661484, + -0.9893361330032349, + 0.14341354370117188, + -7.755322456359863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1458, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_238470315", + "mask_path": "../../mask/hdr_front_01458.png" + }, + { + "file_path": "../../rgb/hdr_front_01459.png", + "transform_matrix": [ + [ + 0.2055525928735733, + -0.15403562784194946, + -0.9664477109909058, + 59.76023864746094 + ], + [ + 0.9784529209136963, + 0.01272506546229124, + 0.20607779920101166, + -4.97320032119751 + ], + [ + -0.01944521814584732, + -0.9879833459854126, + 0.15333227813243866, + -7.763363838195801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1459, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_338470458", + "mask_path": "../../mask/hdr_front_01459.png" + }, + { + "file_path": "../../rgb/hdr_front_01460.png", + "transform_matrix": [ + [ + 0.19462159276008606, + -0.15162691473960876, + -0.969088077545166, + 59.81478500366211 + ], + [ + 0.9807840585708618, + 0.01637871190905571, + 0.1944078505039215, + -4.980870246887207 + ], + [ + -0.013605043292045593, + -0.9883021116256714, + 0.15190090239048004, + -7.768547058105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1460, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_438470125", + "mask_path": "../../mask/hdr_front_01460.png" + }, + { + "file_path": "../../rgb/hdr_front_01461.png", + "transform_matrix": [ + [ + 0.1873418092727661, + -0.14351534843444824, + -0.9717543125152588, + 59.8912239074707 + ], + [ + 0.9822493195533752, + 0.017853345721960068, + 0.18672841787338257, + -4.989556312561035 + ], + [ + -0.009449330158531666, + -0.9894870519638062, + 0.1443125307559967, + -7.783514976501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1461, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_538470745", + "mask_path": "../../mask/hdr_front_01461.png" + }, + { + "file_path": "../../rgb/hdr_front_01462.png", + "transform_matrix": [ + [ + 0.1831534504890442, + -0.14234930276870728, + -0.9727238416671753, + 59.994728088378906 + ], + [ + 0.9829866886138916, + 0.012571590952575207, + 0.18324613571166992, + -5.009257793426514 + ], + [ + -0.013856272213160992, + -0.9897366166114807, + 0.14223001897335052, + -7.80750846862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1462, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_638469934", + "mask_path": "../../mask/hdr_front_01462.png" + }, + { + "file_path": "../../rgb/hdr_front_01463.png", + "transform_matrix": [ + [ + 0.18241555988788605, + -0.14217828214168549, + -0.9728874564170837, + 60.080482482910156 + ], + [ + 0.9831986427307129, + 0.01961272582411766, + 0.1814826875925064, + -5.020869255065918 + ], + [ + -0.006721922662109137, + -0.9896467924118042, + 0.14336717128753662, + -7.818484783172607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1463, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_738469600", + "mask_path": "../../mask/hdr_front_01463.png" + }, + { + "file_path": "../../rgb/hdr_front_01464.png", + "transform_matrix": [ + [ + 0.18130972981452942, + -0.13610005378723145, + -0.9739629030227661, + 60.15592956542969 + ], + [ + 0.983424961566925, + 0.026524586603045464, + 0.17936471104621887, + -5.020434856414795 + ], + [ + 0.0014224174665287137, + -0.990339994430542, + 0.13865338265895844, + -7.835799694061279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_838469982", + "mask_path": "../../mask/hdr_front_01464.png" + }, + { + "file_path": "../../rgb/hdr_front_01465.png", + "transform_matrix": [ + [ + 0.1833070069551468, + -0.13759779930114746, + -0.9733783602714539, + 60.24309539794922 + ], + [ + 0.9830353856086731, + 0.032031647861003876, + 0.18059760332107544, + -5.032485008239746 + ], + [ + 0.0063290842808783054, + -0.9899701476097107, + 0.14113512635231018, + -7.8526387214660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1465, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_938470125", + "mask_path": "../../mask/hdr_front_01465.png" + }, + { + "file_path": "../../rgb/hdr_front_01466.png", + "transform_matrix": [ + [ + 0.1937488168478012, + -0.14892202615737915, + -0.9696822166442871, + 60.322261810302734 + ], + [ + 0.9810428023338318, + 0.03349114581942558, + 0.19087523221969604, + -5.0542378425598145 + ], + [ + 0.004050243645906448, + -0.9882816672325134, + 0.15258774161338806, + -7.855090618133545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1466, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_38470983", + "mask_path": "../../mask/hdr_front_01466.png" + }, + { + "file_path": "../../rgb/hdr_front_01467.png", + "transform_matrix": [ + [ + 0.2047518789768219, + -0.14220622181892395, + -0.9684286713600159, + 60.38799285888672 + ], + [ + 0.9787896275520325, + 0.03671415150165558, + 0.20155128836631775, + -5.0709052085876465 + ], + [ + 0.006893191486597061, + -0.9891560077667236, + 0.14670728147029877, + -7.859593868255615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1467, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_138469696", + "mask_path": "../../mask/hdr_front_01467.png" + }, + { + "file_path": "../../rgb/hdr_front_01468.png", + "transform_matrix": [ + [ + 0.214961439371109, + -0.13296154141426086, + -0.9675292372703552, + 60.46702194213867 + ], + [ + 0.9765976071357727, + 0.03634883463382721, + 0.21198102831840515, + -5.0869622230529785 + ], + [ + 0.006983235478401184, + -0.9904544949531555, + 0.13766352832317352, + -7.87119197845459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1468, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_238470077", + "mask_path": "../../mask/hdr_front_01468.png" + }, + { + "file_path": "../../rgb/hdr_front_01469.png", + "transform_matrix": [ + [ + 0.21940039098262787, + -0.1305733621120453, + -0.9668578505516052, + 60.57281494140625 + ], + [ + 0.9756349325180054, + 0.029370810836553574, + 0.21742558479309082, + -5.100059986114502 + ], + [ + 7.413060757244239e-06, + -0.9910035729408264, + 0.13383589684963226, + -7.889626502990723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1469, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_338469028", + "mask_path": "../../mask/hdr_front_01469.png" + }, + { + "file_path": "../../rgb/hdr_front_01470.png", + "transform_matrix": [ + [ + 0.21632696688175201, + -0.13090890645980835, + -0.9675047993659973, + 60.65378189086914 + ], + [ + 0.9763167500495911, + 0.031907618045806885, + 0.21397998929023743, + -5.108363628387451 + ], + [ + 0.0028588881250470877, + -0.9908807873725891, + 0.13471105694770813, + -7.900266647338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1470, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_438470363", + "mask_path": "../../mask/hdr_front_01470.png" + }, + { + "file_path": "../../rgb/hdr_front_01471.png", + "transform_matrix": [ + [ + 0.2138962298631668, + -0.12351346015930176, + -0.9690164923667908, + 60.721527099609375 + ], + [ + 0.9767898321151733, + 0.03862246498465538, + 0.21068917214870453, + -5.112452983856201 + ], + [ + 0.011402861215174198, + -0.9915910363197327, + 0.12890787422657013, + -7.917110919952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1471, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_538470268", + "mask_path": "../../mask/hdr_front_01471.png" + }, + { + "file_path": "../../rgb/hdr_front_01472.png", + "transform_matrix": [ + [ + 0.21354949474334717, + -0.12249715626239777, + -0.9692218899726868, + 60.80241012573242 + ], + [ + 0.9768350124359131, + 0.040773168206214905, + 0.21007367968559265, + -5.131020545959473 + ], + [ + 0.013784819282591343, + -0.991631031036377, + 0.1283665895462036, + -7.9286885261535645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1472, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_638468742", + "mask_path": "../../mask/hdr_front_01472.png" + }, + { + "file_path": "../../rgb/hdr_front_01473.png", + "transform_matrix": [ + [ + 0.2164720594882965, + -0.13035087287425995, + -0.9675477147102356, + 60.87615966796875 + ], + [ + 0.9762657880783081, + 0.03571061044931412, + 0.21361154317855835, + -5.149835109710693 + ], + [ + 0.006707265041768551, + -0.9908246397972107, + 0.1349874585866928, + -7.928799629211426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1473, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_738470554", + "mask_path": "../../mask/hdr_front_01473.png" + }, + { + "file_path": "../../rgb/hdr_front_01474.png", + "transform_matrix": [ + [ + 0.21311043202877045, + -0.1259203553199768, + -0.9688796997070312, + 60.94536209106445 + ], + [ + 0.9769718050956726, + 0.03811238333582878, + 0.20993706583976746, + -5.16234827041626 + ], + [ + 0.010490969754755497, + -0.9913080930709839, + 0.1311427801847458, + -7.933838367462158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1474, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_838469743", + "mask_path": "../../mask/hdr_front_01474.png" + }, + { + "file_path": "../../rgb/hdr_front_01475.png", + "transform_matrix": [ + [ + 0.21177050471305847, + -0.11699189245700836, + -0.9702917337417603, + 61.02644348144531 + ], + [ + 0.9772605895996094, + 0.03625638037919998, + 0.20891986787319183, + -5.173817157745361 + ], + [ + 0.010737339965999126, + -0.992470920085907, + 0.12200958281755447, + -7.943729877471924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_938470602", + "mask_path": "../../mask/hdr_front_01475.png" + }, + { + "file_path": "../../rgb/hdr_front_01476.png", + "transform_matrix": [ + [ + 0.20704516768455505, + -0.11604136973619461, + -0.9714251160621643, + 61.12503433227539 + ], + [ + 0.9783313274383545, + 0.024815695360302925, + 0.2055528163909912, + -5.19144868850708 + ], + [ + 0.0002539653214626014, + -0.9929344058036804, + 0.11866488307714462, + -7.9619646072387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1476, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_38469791", + "mask_path": "../../mask/hdr_front_01476.png" + }, + { + "file_path": "../../rgb/hdr_front_01477.png", + "transform_matrix": [ + [ + 0.20038218796253204, + -0.11802437156438828, + -0.9725828170776367, + 61.21013641357422 + ], + [ + 0.9797177314758301, + 0.023588528856635094, + 0.19898971915245056, + -5.205656051635742 + ], + [ + -0.0005438376683741808, + -0.9927305579185486, + 0.12035728245973587, + -7.9747090339660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1477, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_138470411", + "mask_path": "../../mask/hdr_front_01477.png" + }, + { + "file_path": "../../rgb/hdr_front_01478.png", + "transform_matrix": [ + [ + 0.19178150594234467, + -0.11311555653810501, + -0.9748973250389099, + 61.283172607421875 + ], + [ + 0.9814311861991882, + 0.02571754902601242, + 0.19008289277553558, + -5.2075276374816895 + ], + [ + 0.0035706397611647844, + -0.9932489395141602, + 0.11594728380441666, + -7.987799644470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1478, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_238469839", + "mask_path": "../../mask/hdr_front_01478.png" + }, + { + "file_path": "../../rgb/hdr_front_01479.png", + "transform_matrix": [ + [ + 0.18703772127628326, + -0.11577917635440826, + -0.9755060076713562, + 61.36875915527344 + ], + [ + 0.9823019504547119, + 0.03213343769311905, + 0.1845269352197647, + -5.217014312744141 + ], + [ + 0.009981987997889519, + -0.992755115032196, + 0.11974028497934341, + -7.999858856201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1479, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_338470458", + "mask_path": "../../mask/hdr_front_01479.png" + }, + { + "file_path": "../../rgb/hdr_front_01480.png", + "transform_matrix": [ + [ + 0.19127635657787323, + -0.13027966022491455, + -0.9728518128395081, + 61.443023681640625 + ], + [ + 0.9814754724502563, + 0.036415308713912964, + 0.1880953460931778, + -5.234927177429199 + ], + [ + 0.010921705514192581, + -0.990808367729187, + 0.13483168184757233, + -8.00357437133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1480, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_438470125", + "mask_path": "../../mask/hdr_front_01480.png" + }, + { + "file_path": "../../rgb/hdr_front_01481.png", + "transform_matrix": [ + [ + 0.19415165483951569, + -0.1279437243938446, + -0.9725921750068665, + 61.500335693359375 + ], + [ + 0.980896532535553, + 0.037579357624053955, + 0.19086582958698273, + -5.248630046844482 + ], + [ + 0.012129304930567741, + -0.9910691976547241, + 0.13279564678668976, + -8.00925064086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1481, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_538470506", + "mask_path": "../../mask/hdr_front_01481.png" + }, + { + "file_path": "../../rgb/hdr_front_01482.png", + "transform_matrix": [ + [ + 0.1964932382106781, + -0.12051426619291306, + -0.9730708003044128, + 61.567378997802734 + ], + [ + 0.9804052114486694, + 0.038321010768413544, + 0.19322824478149414, + -5.259222984313965 + ], + [ + 0.014002298004925251, + -0.9919717311859131, + 0.12568263709545135, + -8.022316932678223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1482, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_638469934", + "mask_path": "../../mask/hdr_front_01482.png" + }, + { + "file_path": "../../rgb/hdr_front_01483.png", + "transform_matrix": [ + [ + 0.1954728364944458, + -0.1232813224196434, + -0.9729296565055847, + 61.663082122802734 + ], + [ + 0.980678379535675, + 0.032430555671453476, + 0.19292032718658447, + -5.270323276519775 + ], + [ + 0.0077691772021353245, + -0.991841733455658, + 0.12723860144615173, + -8.042022705078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1483, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_738470315", + "mask_path": "../../mask/hdr_front_01483.png" + }, + { + "file_path": "../../rgb/hdr_front_01484.png", + "transform_matrix": [ + [ + 0.18736980855464935, + -0.13633230328559875, + -0.9727827906608582, + 61.74587631225586 + ], + [ + 0.9822878241539001, + 0.027768131345510483, + 0.185309037566185, + -5.2757649421691895 + ], + [ + 0.001748749054968357, + -0.9902738928794861, + 0.13912048935890198, + -8.058399200439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1484, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_838470935", + "mask_path": "../../mask/hdr_front_01484.png" + }, + { + "file_path": "../../rgb/hdr_front_01485.png", + "transform_matrix": [ + [ + 0.1776462197303772, + -0.1339012235403061, + -0.9749422073364258, + 61.80840301513672 + ], + [ + 0.9840783476829529, + 0.029818153008818626, + 0.17521564662456512, + -5.274338722229004 + ], + [ + 0.005609383340924978, + -0.9905459880828857, + 0.13706637918949127, + -8.073078155517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1485, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_938469409", + "mask_path": "../../mask/hdr_front_01485.png" + }, + { + "file_path": "../../rgb/hdr_front_01486.png", + "transform_matrix": [ + [ + 0.16907183825969696, + -0.13354797661304474, + -0.9765140414237976, + 61.88266372680664 + ], + [ + 0.9855246543884277, + 0.03545203059911728, + 0.16578352451324463, + -5.2776780128479 + ], + [ + 0.012479357421398163, + -0.9904080629348755, + 0.13760878145694733, + -8.089570045471191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1486, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_38469314", + "mask_path": "../../mask/hdr_front_01486.png" + }, + { + "file_path": "../../rgb/hdr_front_01487.png", + "transform_matrix": [ + [ + 0.16539883613586426, + -0.1414930373430252, + -0.9760240912437439, + 61.965118408203125 + ], + [ + 0.9861379861831665, + 0.03701309487223625, + 0.161747008562088, + -5.289871692657471 + ], + [ + 0.013239594176411629, + -0.9892470240592957, + 0.14565354585647583, + -8.103219985961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1487, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_138468742", + "mask_path": "../../mask/hdr_front_01487.png" + }, + { + "file_path": "../../rgb/hdr_front_01488.png", + "transform_matrix": [ + [ + 0.16529838740825653, + -0.14484067261219025, + -0.9755499362945557, + 62.0357551574707 + ], + [ + 0.9862081408500671, + 0.03265530243515968, + 0.16225597262382507, + -5.3005690574646 + ], + [ + 0.00835561566054821, + -0.9889160394668579, + 0.14824092388153076, + -8.107565879821777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1488, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_238469362", + "mask_path": "../../mask/hdr_front_01488.png" + }, + { + "file_path": "../../rgb/hdr_front_01489.png", + "transform_matrix": [ + [ + 0.16690291464328766, + -0.13982997834682465, + -0.9760076999664307, + 62.10124206542969 + ], + [ + 0.9859133958816528, + 0.034588802605867386, + 0.16364139318466187, + -5.310330867767334 + ], + [ + 0.010876963846385479, + -0.989571213722229, + 0.14363320171833038, + -8.118989944458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1489, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_338469266", + "mask_path": "../../mask/hdr_front_01489.png" + }, + { + "file_path": "../../rgb/hdr_front_01490.png", + "transform_matrix": [ + [ + 0.16943323612213135, + -0.13228952884674072, + -0.9766226410865784, + 62.18620681762695 + ], + [ + 0.9854742288589478, + 0.034333791583776474, + 0.16631817817687988, + -5.322474479675293 + ], + [ + 0.01152900978922844, + -0.9906163811683655, + 0.1361851990222931, + -8.136143684387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1490, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_438468694", + "mask_path": "../../mask/hdr_front_01490.png" + }, + { + "file_path": "../../rgb/hdr_front_01491.png", + "transform_matrix": [ + [ + 0.16564752161502838, + -0.1341845691204071, + -0.9770135283470154, + 62.28734588623047 + ], + [ + 0.9861763715744019, + 0.026684194803237915, + 0.1635362207889557, + -5.32953405380249 + ], + [ + 0.004126785788685083, + -0.9905970692634583, + 0.13674981892108917, + -8.151925086975098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1491, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_538470029", + "mask_path": "../../mask/hdr_front_01491.png" + }, + { + "file_path": "../../rgb/hdr_front_01492.png", + "transform_matrix": [ + [ + 0.15741315484046936, + -0.13541637361049652, + -0.9782041907310486, + 62.361366271972656 + ], + [ + 0.9875322580337524, + 0.02260681800544262, + 0.15578468143939972, + -5.33528995513916 + ], + [ + 0.0010182849364355206, + -0.9905309081077576, + 0.13728664815425873, + -8.164437294006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1492, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_638470411", + "mask_path": "../../mask/hdr_front_01492.png" + }, + { + "file_path": "../../rgb/hdr_front_01493.png", + "transform_matrix": [ + [ + 0.15127083659172058, + -0.13257692754268646, + -0.979561448097229, + 62.428932189941406 + ], + [ + 0.9884887933731079, + 0.022941773757338524, + 0.14954447746276855, + -5.343954086303711 + ], + [ + 0.002646730514243245, + -0.9909071922302246, + 0.1345212161540985, + -8.181283950805664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1493, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_738470077", + "mask_path": "../../mask/hdr_front_01493.png" + }, + { + "file_path": "../../rgb/hdr_front_01494.png", + "transform_matrix": [ + [ + 0.14736169576644897, + -0.134948268532753, + -0.9798334240913391, + 62.51060104370117 + ], + [ + 0.9890691637992859, + 0.025282593443989754, + 0.14526861906051636, + -5.355483531951904 + ], + [ + 0.0051689837127923965, + -0.9905300736427307, + 0.13719885051250458, + -8.197798728942871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1494, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_838469982", + "mask_path": "../../mask/hdr_front_01494.png" + }, + { + "file_path": "../../rgb/hdr_front_01495.png", + "transform_matrix": [ + [ + 0.14964985847473145, + -0.14547325670719147, + -0.9779787659645081, + 62.58477783203125 + ], + [ + 0.9887346029281616, + 0.02498692087829113, + 0.14757893979549408, + -5.368502140045166 + ], + [ + 0.002967890352010727, + -0.989046573638916, + 0.14757373929023743, + -8.208656311035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1495, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_938470602", + "mask_path": "../../mask/hdr_front_01495.png" + }, + { + "file_path": "../../rgb/hdr_front_01496.png", + "transform_matrix": [ + [ + 0.15497517585754395, + -0.14518220722675323, + -0.9771924018859863, + 62.634700775146484 + ], + [ + 0.9879094958305359, + 0.026978494599461555, + 0.15266665816307068, + -5.378365516662598 + ], + [ + 0.004198700189590454, + -0.9890370965003967, + 0.14760787785053253, + -8.211979866027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1496, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_38470745", + "mask_path": "../../mask/hdr_front_01496.png" + }, + { + "file_path": "../../rgb/hdr_front_01498.png", + "transform_matrix": [ + [ + 0.16643644869327545, + -0.13591553270816803, + -0.9766401648521423, + 62.76629638671875 + ], + [ + 0.9860413074493408, + 0.027593214064836502, + 0.16419853270053864, + -5.397739410400391 + ], + [ + 0.004631511401385069, + -0.9903361797332764, + 0.13861083984375, + -8.233832359313965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1498, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_238471746", + "mask_path": "../../mask/hdr_front_01498.png" + }, + { + "file_path": "../../rgb/hdr_front_01499.png", + "transform_matrix": [ + [ + 0.1642398238182068, + -0.14243273437023163, + -0.9760830998420715, + 62.843936920166016 + ], + [ + 0.9864202737808228, + 0.023112181574106216, + 0.1626065969467163, + -5.401496410369873 + ], + [ + -0.0006010926445014775, + -0.9895346760749817, + 0.14429447054862976, + -8.245803833007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1499, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_338470458", + "mask_path": "../../mask/hdr_front_01499.png" + }, + { + "file_path": "../../rgb/hdr_front_01500.png", + "transform_matrix": [ + [ + 0.16027656197547913, + -0.14178495109081268, + -0.9768359661102295, + 62.903709411621094 + ], + [ + 0.9870718121528625, + 0.02227051556110382, + 0.15872353315353394, + -5.402393817901611 + ], + [ + -0.0007499705534428358, + -0.9896469116210938, + 0.14352136850357056, + -8.25904369354248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_438472270", + "mask_path": "../../mask/hdr_front_01500.png" + }, + { + "file_path": "../../rgb/hdr_front_01501.png", + "transform_matrix": [ + [ + 0.15625882148742676, + -0.14202472567558289, + -0.9774518609046936, + 62.97148513793945 + ], + [ + 0.9877026677131653, + 0.027638603001832962, + 0.15388163924217224, + -5.40590763092041 + ], + [ + 0.005160405766218901, + -0.9894772171974182, + 0.14459696412086487, + -8.27223014831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1501, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_538469314", + "mask_path": "../../mask/hdr_front_01501.png" + }, + { + "file_path": "../../rgb/hdr_front_01502.png", + "transform_matrix": [ + [ + 0.15695606172084808, + -0.15109246969223022, + -0.9759795069694519, + 63.050270080566406 + ], + [ + 0.9875827431678772, + 0.03071998804807663, + 0.1540662944316864, + -5.419022083282471 + ], + [ + 0.006703817751258612, + -0.9880421757698059, + 0.15403801202774048, + -8.290818214416504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1502, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_638470649", + "mask_path": "../../mask/hdr_front_01502.png" + }, + { + "file_path": "../../rgb/hdr_front_01503.png", + "transform_matrix": [ + [ + 0.16057974100112915, + -0.15822924673557281, + -0.9742574691772461, + 63.114036560058594 + ], + [ + 0.9870200753211975, + 0.028063906356692314, + 0.15812543034553528, + -5.432604789733887 + ], + [ + 0.0023214032407850027, + -0.98700350522995, + 0.16068194806575775, + -8.298776626586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1503, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_738470077", + "mask_path": "../../mask/hdr_front_01503.png" + }, + { + "file_path": "../../rgb/hdr_front_01504.png", + "transform_matrix": [ + [ + 0.16597124934196472, + -0.15541914105415344, + -0.9738062024116516, + 63.1729736328125 + ], + [ + 0.9861230254173279, + 0.03000650368630886, + 0.16328147053718567, + -5.442776679992676 + ], + [ + 0.0038434541784226894, + -0.987392783164978, + 0.1582426130771637, + -8.311866760253906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1504, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_838470220", + "mask_path": "../../mask/hdr_front_01504.png" + }, + { + "file_path": "../../rgb/hdr_front_01505.png", + "transform_matrix": [ + [ + 0.17296135425567627, + -0.15232455730438232, + -0.9730784296989441, + 63.25944900512695 + ], + [ + 0.9849274158477783, + 0.02830571122467518, + 0.17063650488853455, + -5.45852518081665 + ], + [ + 0.0015515454579144716, + -0.987925112247467, + 0.1549244076013565, + -8.33064079284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_938469886", + "mask_path": "../../mask/hdr_front_01505.png" + }, + { + "file_path": "../../rgb/hdr_front_01506.png", + "transform_matrix": [ + [ + 0.17116451263427734, + -0.16099506616592407, + -0.9719997048377991, + 63.362186431884766 + ], + [ + 0.9851596355438232, + 0.015174174681305885, + 0.17096859216690063, + -5.473958492279053 + ], + [ + -0.01277580950409174, + -0.9868386387825012, + 0.16120311617851257, + -8.3528470993042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1506, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_38469314", + "mask_path": "../../mask/hdr_front_01506.png" + }, + { + "file_path": "../../rgb/hdr_front_01507.png", + "transform_matrix": [ + [ + 0.16401614248752594, + -0.1630040407180786, + -0.9728969931602478, + 63.436302185058594 + ], + [ + 0.986327588558197, + 0.011083932593464851, + 0.16442330181598663, + -5.477522373199463 + ], + [ + -0.016018139198422432, + -0.9865631461143494, + 0.16259333491325378, + -8.366666793823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_138469219", + "mask_path": "../../mask/hdr_front_01507.png" + }, + { + "file_path": "../../rgb/hdr_front_01508.png", + "transform_matrix": [ + [ + 0.15875685214996338, + -0.16087917983531952, + -0.9741222262382507, + 63.50392532348633 + ], + [ + 0.9872401356697083, + 0.013501315377652645, + 0.15866491198539734, + -5.483896732330322 + ], + [ + -0.012373952195048332, + -0.9868818521499634, + 0.1609698235988617, + -8.386787414550781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1508, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_238469600", + "mask_path": "../../mask/hdr_front_01508.png" + }, + { + "file_path": "../../rgb/hdr_front_01509.png", + "transform_matrix": [ + [ + 0.15716230869293213, + -0.1653854101896286, + -0.9736260771751404, + 63.58503341674805 + ], + [ + 0.9875415563583374, + 0.018467161804437637, + 0.15627159178256989, + -5.496640682220459 + ], + [ + -0.007864930666983128, + -0.9860562086105347, + 0.1662272810935974, + -8.408233642578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1509, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_338469982", + "mask_path": "../../mask/hdr_front_01509.png" + }, + { + "file_path": "../../rgb/hdr_front_01510.png", + "transform_matrix": [ + [ + 0.16260944306850433, + -0.17683181166648865, + -0.9707156419754028, + 63.65800476074219 + ], + [ + 0.9866499900817871, + 0.020227279514074326, + 0.1615939736366272, + -5.512044906616211 + ], + [ + -0.008940024301409721, + -0.9840332865715027, + 0.1777602583169937, + -8.411981582641602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1510, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_438467025", + "mask_path": "../../mask/hdr_front_01510.png" + }, + { + "file_path": "../../rgb/hdr_front_01511.png", + "transform_matrix": [ + [ + 0.16812723875045776, + -0.17206618189811707, + -0.970632016658783, + 63.713401794433594 + ], + [ + 0.9857251644134521, + 0.020455865189433098, + 0.16711533069610596, + -5.522694110870361 + ], + [ + -0.008899773471057415, + -0.9848729372024536, + 0.17304913699626923, + -8.415108680725098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1511, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_538469791", + "mask_path": "../../mask/hdr_front_01511.png" + }, + { + "file_path": "../../rgb/hdr_front_01512.png", + "transform_matrix": [ + [ + 0.17530837655067444, + -0.16329601407051086, + -0.9708766341209412, + 63.782623291015625 + ], + [ + 0.9844783544540405, + 0.020735012367367744, + 0.1742769032716751, + -5.5356221199035645 + ], + [ + -0.008327579125761986, + -0.986359179019928, + 0.16439637541770935, + -8.427597999572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_638470172", + "mask_path": "../../mask/hdr_front_01512.png" + }, + { + "file_path": "../../rgb/hdr_front_01513.png", + "transform_matrix": [ + [ + 0.17723138630390167, + -0.15796078741550446, + -0.9714099764823914, + 63.87918472290039 + ], + [ + 0.9840921759605408, + 0.016099413856863976, + 0.17692731320858002, + -5.5489726066589355 + ], + [ + -0.01230844110250473, + -0.9873141646385193, + 0.15830130875110626, + -8.444498062133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1513, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_738468408", + "mask_path": "../../mask/hdr_front_01513.png" + }, + { + "file_path": "../../rgb/hdr_front_01514.png", + "transform_matrix": [ + [ + 0.17060382664203644, + -0.1576361060142517, + -0.9726486802101135, + 63.96147537231445 + ], + [ + 0.9852423071861267, + 0.013412675820291042, + 0.1706390231847763, + -5.552272319793701 + ], + [ + -0.013853047043085098, + -0.9874062538146973, + 0.15759800374507904, + -8.451227188110352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1514, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_838469982", + "mask_path": "../../mask/hdr_front_01514.png" + }, + { + "file_path": "../../rgb/hdr_front_01515.png", + "transform_matrix": [ + [ + 0.16403061151504517, + -0.15168076753616333, + -0.9747240543365479, + 64.02119445800781 + ], + [ + 0.9864164590835571, + 0.016462307423353195, + 0.16343651711940765, + -5.557163238525391 + ], + [ + -0.008743971586227417, + -0.9882925152778625, + 0.1523207426071167, + -8.46735668182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1515, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_938469171", + "mask_path": "../../mask/hdr_front_01515.png" + }, + { + "file_path": "../../rgb/hdr_front_01516.png", + "transform_matrix": [ + [ + 0.15812034904956818, + -0.15007822215557098, + -0.9759479761123657, + 64.10108947753906 + ], + [ + 0.987413227558136, + 0.020419465377926826, + 0.15683791041374207, + -5.564343452453613 + ], + [ + -0.003609615610912442, + -0.988463282585144, + 0.15141794085502625, + -8.479828834533691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_38470983", + "mask_path": "../../mask/hdr_front_01516.png" + }, + { + "file_path": "../../rgb/hdr_front_01517.png", + "transform_matrix": [ + [ + 0.15947574377059937, + -0.15639416873455048, + -0.9747350811958313, + 64.18781280517578 + ], + [ + 0.9871890544891357, + 0.020223988220095634, + 0.15826843678951263, + -5.58015775680542 + ], + [ + -0.005039226729422808, + -0.9874876737594604, + 0.15761582553386688, + -8.489109992980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1517, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_138470411", + "mask_path": "../../mask/hdr_front_01517.png" + }, + { + "file_path": "../../rgb/hdr_front_01518.png", + "transform_matrix": [ + [ + 0.16562610864639282, + -0.15627025067806244, + -0.9737286567687988, + 64.24919128417969 + ], + [ + 0.986168384552002, + 0.01992003433406353, + 0.16454516351222992, + -5.593620300292969 + ], + [ + -0.006316800136119127, + -0.9875134825706482, + 0.15740805864334106, + -8.496946334838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1518, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_238469839", + "mask_path": "../../mask/hdr_front_01518.png" + }, + { + "file_path": "../../rgb/hdr_front_01520.png", + "transform_matrix": [ + [ + 0.1752265840768814, + -0.1416044533252716, + -0.9742915034294128, + 64.40145111083984 + ], + [ + 0.9844507575035095, + 0.012791426852345467, + 0.1751946359872818, + -5.61804723739624 + ], + [ + -0.012345760129392147, + -0.9898407459259033, + 0.14164401590824127, + -8.528146743774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_438469648", + "mask_path": "../../mask/hdr_front_01520.png" + }, + { + "file_path": "../../rgb/hdr_front_01521.png", + "transform_matrix": [ + [ + 0.16963538527488708, + -0.13731329143047333, + -0.9758938550949097, + 64.49994659423828 + ], + [ + 0.9853283762931824, + 0.004785677883774042, + 0.1706019937992096, + -5.627778053283691 + ], + [ + -0.018755605444312096, + -0.9905160665512085, + 0.13611049950122833, + -8.532794952392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1521, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_538470745", + "mask_path": "../../mask/hdr_front_01521.png" + }, + { + "file_path": "../../rgb/hdr_front_01522.png", + "transform_matrix": [ + [ + 0.15997086465358734, + -0.13637027144432068, + -0.9776566028594971, + 64.5674057006836 + ], + [ + 0.9868325591087341, + -0.0018764196429401636, + 0.16173404455184937, + -5.628599643707275 + ], + [ + -0.023890206590294838, + -0.9906561970710754, + 0.1342744529247284, + -8.541510581970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1522, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_638470649", + "mask_path": "../../mask/hdr_front_01522.png" + }, + { + "file_path": "../../rgb/hdr_front_01523.png", + "transform_matrix": [ + [ + 0.15405823290348053, + -0.134083554148674, + -0.9789217710494995, + 64.6417236328125 + ], + [ + 0.9878746271133423, + 0.0016174372285604477, + 0.15524564683437347, + -5.634279251098633 + ], + [ + -0.01923254318535328, + -0.9909688234329224, + 0.1327069252729416, + -8.555872917175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1523, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_738469123", + "mask_path": "../../mask/hdr_front_01523.png" + }, + { + "file_path": "../../rgb/hdr_front_01524.png", + "transform_matrix": [ + [ + 0.1529693603515625, + -0.13901537656784058, + -0.9784044027328491, + 64.73072052001953 + ], + [ + 0.9881741404533386, + 0.010906284675002098, + 0.15294723212718964, + -5.646639347076416 + ], + [ + -0.010591259226202965, + -0.9902302026748657, + 0.13903973996639252, + -8.570064544677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1524, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_838469743", + "mask_path": "../../mask/hdr_front_01524.png" + }, + { + "file_path": "../../rgb/hdr_front_01525.png", + "transform_matrix": [ + [ + 0.15699292719364166, + -0.1487276554107666, + -0.9763367176055908, + 64.79400634765625 + ], + [ + 0.9875156879425049, + 0.01074886042624712, + 0.15715309977531433, + -5.660006523132324 + ], + [ + -0.012878503650426865, + -0.9888197779655457, + 0.14855840802192688, + -8.579693794250488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1525, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_938468933", + "mask_path": "../../mask/hdr_front_01525.png" + }, + { + "file_path": "../../rgb/hdr_front_01526.png", + "transform_matrix": [ + [ + 0.16236612200737, + -0.14935985207557678, + -0.9753608703613281, + 64.84630584716797 + ], + [ + 0.9866495132446289, + 0.011902052909135818, + 0.16242271661758423, + -5.6707539558410645 + ], + [ + -0.012650634162127972, + -0.9887112975120544, + 0.1492982804775238, + -8.59094524383545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1526, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_38469552", + "mask_path": "../../mask/hdr_front_01526.png" + }, + { + "file_path": "../../rgb/hdr_front_01527.png", + "transform_matrix": [ + [ + 0.16912496089935303, + -0.14706118404865265, + -0.9745613932609558, + 64.91776275634766 + ], + [ + 0.9854933023452759, + 0.011054500006139278, + 0.16935394704341888, + -5.681690216064453 + ], + [ + -0.014132105745375156, + -0.9890656471252441, + 0.14679741859436035, + -8.606141090393066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1527, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_138469457", + "mask_path": "../../mask/hdr_front_01527.png" + }, + { + "file_path": "../../rgb/hdr_front_01528.png", + "transform_matrix": [ + [ + 0.16782815754413605, + -0.15099379420280457, + -0.9741840362548828, + 65.00617218017578 + ], + [ + 0.9855281710624695, + 0.0018094596453011036, + 0.16950203478336334, + -5.691402912139893 + ], + [ + -0.02383100613951683, + -0.988533079624176, + 0.14911231398582458, + -8.62519645690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1528, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_238466024", + "mask_path": "../../mask/hdr_front_01528.png" + }, + { + "file_path": "../../rgb/hdr_front_01529.png", + "transform_matrix": [ + [ + 0.16047348082065582, + -0.15603411197662354, + -0.9746290445327759, + 65.08374786376953 + ], + [ + 0.9865689873695374, + -0.005148814059793949, + 0.163263738155365, + -5.697032451629639 + ], + [ + -0.030492892488837242, + -0.9877382516860962, + 0.15311218798160553, + -8.640381813049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1529, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_338467121", + "mask_path": "../../mask/hdr_front_01529.png" + }, + { + "file_path": "../../rgb/hdr_front_01530.png", + "transform_matrix": [ + [ + 0.15320654213428497, + -0.15481962263584137, + -0.9759911298751831, + 65.15125274658203 + ], + [ + 0.9876716732978821, + -0.008123636245727539, + 0.1563287079334259, + -5.708270072937012 + ], + [ + -0.032131344079971313, + -0.9879094362258911, + 0.15166634321212769, + -8.657461166381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1530, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_438469409", + "mask_path": "../../mask/hdr_front_01530.png" + }, + { + "file_path": "../../rgb/hdr_front_01531.png", + "transform_matrix": [ + [ + 0.14915890991687775, + -0.16172873973846436, + -0.9754974842071533, + 65.23885345458984 + ], + [ + 0.9884980320930481, + -0.0005187647766433656, + 0.1512327939271927, + -5.722804546356201 + ], + [ + -0.024964740499854088, + -0.9868351817131042, + 0.15979114174842834, + -8.674166679382324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1531, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_538469552", + "mask_path": "../../mask/hdr_front_01531.png" + }, + { + "file_path": "../../rgb/hdr_left_01426.png", + "transform_matrix": [ + [ + 0.9505664706230164, + -0.12601123750209808, + 0.28380343317985535, + 55.23436737060547 + ], + [ + -0.2849537134170532, + 0.009184789843857288, + 0.9584972858428955, + -4.189891815185547 + ], + [ + -0.12338809669017792, + -0.9919863343238831, + -0.027176611125469208, + -7.012493133544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1426, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_438468217", + "mask_path": "../../mask/hdr_left_01426.png" + }, + { + "file_path": "../../rgb/hdr_left_01427.png", + "transform_matrix": [ + [ + 0.9465878009796143, + -0.12683933973312378, + 0.2964509129524231, + 55.303489685058594 + ], + [ + -0.2975011467933655, + 0.011023503728210926, + 0.9546578526496887, + -4.1991119384765625 + ], + [ + -0.12435607612133026, + -0.9918620586395264, + -0.02730013057589531, + -7.016123294830322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1427, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_538469791", + "mask_path": "../../mask/hdr_left_01427.png" + }, + { + "file_path": "../../rgb/hdr_left_01428.png", + "transform_matrix": [ + [ + 0.9428885579109192, + -0.1220809668302536, + 0.3099312484264374, + 55.36383819580078 + ], + [ + -0.3108862340450287, + 0.011632686480879784, + 0.950376033782959, + -4.209771633148193 + ], + [ + -0.11962813884019852, + -0.9924520254135132, + -0.026984961703419685, + -7.031440734863281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1428, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_638470411", + "mask_path": "../../mask/hdr_left_01428.png" + }, + { + "file_path": "../../rgb/hdr_left_01429.png", + "transform_matrix": [ + [ + 0.9396870732307434, + -0.12186115235090256, + 0.3195904791355133, + 55.455387115478516 + ], + [ + -0.3213730752468109, + 0.005270079243928194, + 0.9469379782676697, + -4.224572658538818 + ], + [ + -0.1170792207121849, + -0.9925331473350525, + -0.03421067073941231, + -7.050160884857178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1429, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_738469362", + "mask_path": "../../mask/hdr_left_01429.png" + }, + { + "file_path": "../../rgb/hdr_left_01430.png", + "transform_matrix": [ + [ + 0.939487099647522, + -0.13089899718761444, + 0.31659021973609924, + 55.55472946166992 + ], + [ + -0.31948190927505493, + -0.0011526353191584349, + 0.9475916624069214, + -4.230026721954346 + ], + [ + -0.12367388606071472, + -0.9913950562477112, + -0.04290274158120155, + -7.0634918212890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1430, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_838470220", + "mask_path": "../../mask/hdr_left_01430.png" + }, + { + "file_path": "../../rgb/hdr_left_01431.png", + "transform_matrix": [ + [ + 0.9400924444198608, + -0.13086095452308655, + 0.3148037791252136, + 55.619781494140625 + ], + [ + -0.317725270986557, + -0.001528718858025968, + 0.9481815099716187, + -4.234092712402344 + ], + [ + -0.12359868735074997, + -0.9913995862007141, + -0.043014973402023315, + -7.079235553741455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1431, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_938470840", + "mask_path": "../../mask/hdr_left_01431.png" + }, + { + "file_path": "../../rgb/hdr_left_01432.png", + "transform_matrix": [ + [ + 0.9401063919067383, + -0.13137061893939972, + 0.31454992294311523, + 55.698883056640625 + ], + [ + -0.31689292192459106, + 0.003224883461371064, + 0.948455810546875, + -4.242202281951904 + ], + [ + -0.12561360001564026, + -0.9913281202316284, + -0.0385986752808094, + -7.096137523651123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1432, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_38469791", + "mask_path": "../../mask/hdr_left_01432.png" + }, + { + "file_path": "../../rgb/hdr_left_01433.png", + "transform_matrix": [ + [ + 0.9371418356895447, + -0.13797196745872498, + 0.32051345705986023, + 55.79389190673828 + ], + [ + -0.3223254382610321, + 0.009617774747312069, + 0.9465800523757935, + -4.266514301300049 + ], + [ + -0.13368412852287292, + -0.9903895258903503, + -0.035458654165267944, + -7.108232021331787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1433, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_138469934", + "mask_path": "../../mask/hdr_left_01433.png" + }, + { + "file_path": "../../rgb/hdr_left_01434.png", + "transform_matrix": [ + [ + 0.9326626658439636, + -0.14177952706813812, + 0.3317211866378784, + 55.860008239746094 + ], + [ + -0.333731085062027, + 0.010063438676297665, + 0.9426146745681763, + -4.286488056182861 + ], + [ + -0.13698168098926544, + -0.9898471832275391, + -0.037930432707071304, + -7.113951206207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1434, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_238470315", + "mask_path": "../../mask/hdr_left_01434.png" + }, + { + "file_path": "../../rgb/hdr_left_01435.png", + "transform_matrix": [ + [ + 0.9284064769744873, + -0.13893985748291016, + 0.34461158514022827, + 55.91553497314453 + ], + [ + -0.3466642498970032, + 0.009921780787408352, + 0.9379367232322693, + -4.302695274353027 + ], + [ + -0.13373595476150513, + -0.9902511239051819, + -0.03895403444766998, + -7.126430511474609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1435, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_338469505", + "mask_path": "../../mask/hdr_left_01435.png" + }, + { + "file_path": "../../rgb/hdr_left_01436.png", + "transform_matrix": [ + [ + 0.9241994023323059, + -0.13690786063671112, + 0.3565272092819214, + 56.0003776550293 + ], + [ + -0.35921791195869446, + 0.0053747305646538734, + 0.9332382082939148, + -4.324021339416504 + ], + [ + -0.12968386709690094, + -0.9905692338943481, + -0.044212426990270615, + -7.14205265045166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1436, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_438469409", + "mask_path": "../../mask/hdr_left_01436.png" + }, + { + "file_path": "../../rgb/hdr_left_01437.png", + "transform_matrix": [ + [ + 0.9226611852645874, + -0.14223672449588776, + 0.3584202826023102, + 56.09920883178711 + ], + [ + -0.36167195439338684, + 0.0031956429593265057, + 0.9322999119758606, + -4.337353229522705 + ], + [ + -0.13375265896320343, + -0.989827573299408, + -0.04849453270435333, + -7.158681869506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1437, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_538470029", + "mask_path": "../../mask/hdr_left_01437.png" + }, + { + "file_path": "../../rgb/hdr_left_01438.png", + "transform_matrix": [ + [ + 0.9225053787231445, + -0.1443208009004593, + 0.3579877018928528, + 56.163124084472656 + ], + [ + -0.3615104556083679, + 0.0019415991846472025, + 0.9323659539222717, + -4.346628665924072 + ], + [ + -0.1352548748254776, + -0.9895290732383728, + -0.0503823421895504, + -7.170605659484863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1438, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_638470411", + "mask_path": "../../mask/hdr_left_01438.png" + }, + { + "file_path": "../../rgb/hdr_left_01439.png", + "transform_matrix": [ + [ + 0.922572910785675, + -0.14233171939849854, + 0.35860973596572876, + 56.23582077026367 + ], + [ + -0.3613426387310028, + 0.007061456795781851, + 0.932406485080719, + -4.364462852478027 + ], + [ + -0.13524331152439117, + -0.9897938966751099, + -0.044915806502103806, + -7.188729763031006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1439, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_738470554", + "mask_path": "../../mask/hdr_left_01439.png" + }, + { + "file_path": "../../rgb/hdr_left_01440.png", + "transform_matrix": [ + [ + 0.9209670424461365, + -0.14329858124256134, + 0.3623329699039459, + 56.32695770263672 + ], + [ + -0.3643347918987274, + 0.012953105382621288, + 0.9311780333518982, + -4.388126373291016 + ], + [ + -0.1381298154592514, + -0.9895947575569153, + -0.040279265493154526, + -7.208325386047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1440, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_838469505", + "mask_path": "../../mask/hdr_left_01440.png" + }, + { + "file_path": "../../rgb/hdr_left_01441.png", + "transform_matrix": [ + [ + 0.9167793989181519, + -0.14928008615970612, + 0.37044692039489746, + 56.3990364074707 + ], + [ + -0.37236976623535156, + 0.01590694859623909, + 0.9279481172561646, + -4.410617351531982 + ], + [ + -0.14441682398319244, + -0.9886670112609863, + -0.04100421816110611, + -7.210880279541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1441, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_938470125", + "mask_path": "../../mask/hdr_left_01441.png" + }, + { + "file_path": "../../rgb/hdr_left_01442.png", + "transform_matrix": [ + [ + 0.9127210378646851, + -0.14776208996772766, + 0.38092857599258423, + 56.45058822631836 + ], + [ + -0.3822018504142761, + 0.02081102877855301, + 0.9238445162773132, + -4.426979064941406 + ], + [ + -0.14443667232990265, + -0.9888039827346802, + -0.037480272352695465, + -7.220528602600098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1442, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_38470745", + "mask_path": "../../mask/hdr_left_01442.png" + }, + { + "file_path": "../../rgb/hdr_left_01443.png", + "transform_matrix": [ + [ + 0.9090319275856018, + -0.1425410807132721, + 0.3915902376174927, + 56.52259063720703 + ], + [ + -0.392827570438385, + 0.02054431475698948, + 0.9193825721740723, + -4.441755294799805 + ], + [ + -0.13909472525119781, + -0.9895756840705872, + -0.03731862083077431, + -7.2358174324035645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1443, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_138470888", + "mask_path": "../../mask/hdr_left_01443.png" + }, + { + "file_path": "../../rgb/hdr_left_01444.png", + "transform_matrix": [ + [ + 0.9071874022483826, + -0.1444580852985382, + 0.39514926075935364, + 56.612945556640625 + ], + [ + -0.39757898449897766, + 0.012889049015939236, + 0.9174774885177612, + -4.458742618560791 + ], + [ + -0.13763011991977692, + -0.9894269704818726, + -0.04574070870876312, + -7.249708652496338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1444, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_238470792", + "mask_path": "../../mask/hdr_left_01444.png" + }, + { + "file_path": "../../rgb/hdr_left_01445.png", + "transform_matrix": [ + [ + 0.9080912470817566, + -0.14602769911289215, + 0.3924870193004608, + 56.68357467651367 + ], + [ + -0.3950372338294983, + 0.01233846414834261, + 0.9185822606086731, + -4.467933654785156 + ], + [ + -0.1389811486005783, + -0.9892036318778992, + -0.04648192226886749, + -7.261596202850342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1445, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_338469982", + "mask_path": "../../mask/hdr_left_01445.png" + }, + { + "file_path": "../../rgb/hdr_left_01446.png", + "transform_matrix": [ + [ + 0.9094973802566528, + -0.1431397646665573, + 0.3902890384197235, + 56.74367141723633 + ], + [ + -0.39189785718917847, + 0.017960229888558388, + 0.9198334217071533, + -4.4743452072143555 + ], + [ + -0.13867440819740295, + -0.9895395636558533, + -0.039761386811733246, + -7.27858304977417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1446, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_438469886", + "mask_path": "../../mask/hdr_left_01446.png" + }, + { + "file_path": "../../rgb/hdr_left_01447.png", + "transform_matrix": [ + [ + 0.9089745879173279, + -0.14647749066352844, + 0.3902685344219208, + 56.818572998046875 + ], + [ + -0.3912830352783203, + 0.023032670840620995, + 0.9199821352958679, + -4.484700679779053 + ], + [ + -0.14374558627605438, + -0.9889458417892456, + -0.03637804090976715, + -7.294552326202393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1447, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_538469791", + "mask_path": "../../mask/hdr_left_01447.png" + }, + { + "file_path": "../../rgb/hdr_left_01448.png", + "transform_matrix": [ + [ + 0.9040590524673462, + -0.1600654423236847, + 0.3963031470775604, + 56.890018463134766 + ], + [ + -0.39821088314056396, + 0.021375887095928192, + 0.9170447587966919, + -4.502294063568115 + ], + [ + -0.15525850653648376, + -0.9868749976158142, + -0.04441473260521889, + -7.304389476776123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1448, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_638470411", + "mask_path": "../../mask/hdr_left_01448.png" + }, + { + "file_path": "../../rgb/hdr_left_01449.png", + "transform_matrix": [ + [ + 0.9001671075820923, + -0.15885601937770844, + 0.4055415391921997, + 56.94532012939453 + ], + [ + -0.4076477885246277, + 0.020588671788573265, + 0.912907063961029, + -4.521233558654785 + ], + [ + -0.15337035059928894, + -0.9870871305465698, + -0.04622406139969826, + -7.313649654388428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1449, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_738469600", + "mask_path": "../../mask/hdr_left_01449.png" + }, + { + "file_path": "../../rgb/hdr_left_01450.png", + "transform_matrix": [ + [ + 0.8965414762496948, + -0.1504024714231491, + 0.41664445400238037, + 57.008846282958984 + ], + [ + -0.4185231328010559, + 0.020475203171372414, + 0.9079752564430237, + -4.536747455596924 + ], + [ + -0.14509262144565582, + -0.9884128570556641, + -0.0445900522172451, + -7.326694488525391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1450, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_838469982", + "mask_path": "../../mask/hdr_left_01450.png" + }, + { + "file_path": "../../rgb/hdr_left_01451.png", + "transform_matrix": [ + [ + 0.8938263058662415, + -0.1479845494031906, + 0.42329075932502747, + 57.095550537109375 + ], + [ + -0.42580464482307434, + 0.015850814059376717, + 0.9046762585639954, + -4.555446624755859 + ], + [ + -0.14058759808540344, + -0.9888626933097839, + -0.048844628036022186, + -7.345328330993652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1451, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_938470602", + "mask_path": "../../mask/hdr_left_01451.png" + }, + { + "file_path": "../../rgb/hdr_left_01452.png", + "transform_matrix": [ + [ + 0.8939688205718994, + -0.15476153790950775, + 0.4205574095249176, + 57.17766189575195 + ], + [ + -0.4245056211948395, + 0.008224349468946457, + 0.9053879380226135, + -4.570704936981201 + ], + [ + -0.14357803761959076, + -0.9879176616668701, + -0.058344822376966476, + -7.350793361663818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1452, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_38470268", + "mask_path": "../../mask/hdr_left_01452.png" + }, + { + "file_path": "../../rgb/hdr_left_01453.png", + "transform_matrix": [ + [ + 0.8955311179161072, + -0.1499824821949005, + 0.4189620018005371, + 57.2365608215332 + ], + [ + -0.42296937108039856, + 0.005668679717928171, + 0.9061262011528015, + -4.581110000610352 + ], + [ + -0.1382780224084854, + -0.9886724352836609, + -0.058361515402793884, + -7.360997200012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1453, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_138470172", + "mask_path": "../../mask/hdr_left_01453.png" + }, + { + "file_path": "../../rgb/hdr_left_01454.png", + "transform_matrix": [ + [ + 0.8970766663551331, + -0.14288699626922607, + 0.4181347191333771, + 57.30680465698242 + ], + [ + -0.4214530885219574, + 0.007672022096812725, + 0.9068176746368408, + -4.597407341003418 + ], + [ + -0.13278040289878845, + -0.9897093176841736, + -0.05333777517080307, + -7.375668048858643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1454, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_238469362", + "mask_path": "../../mask/hdr_left_01454.png" + }, + { + "file_path": "../../rgb/hdr_left_01455.png", + "transform_matrix": [ + [ + 0.8959284424781799, + -0.14150872826576233, + 0.4210551977157593, + 57.39051055908203 + ], + [ + -0.4241163432598114, + 0.009277855046093464, + 0.9055601358413696, + -4.623720645904541 + ], + [ + -0.13205112516880035, + -0.9898935556411743, + -0.051703859120607376, + -7.392192363739014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1455, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_338469743", + "mask_path": "../../mask/hdr_left_01455.png" + }, + { + "file_path": "../../rgb/hdr_left_01456.png", + "transform_matrix": [ + [ + 0.8907477855682373, + -0.14735905826091766, + 0.42994624376296997, + 57.4655647277832 + ], + [ + -0.43363380432128906, + 0.007784378249198198, + 0.9010555148124695, + -4.649918079376221 + ], + [ + -0.1361255794763565, + -0.9890524744987488, + -0.05696595087647438, + -7.3958282470703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1456, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_438468456", + "mask_path": "../../mask/hdr_left_01456.png" + }, + { + "file_path": "../../rgb/hdr_left_01457.png", + "transform_matrix": [ + [ + 0.8867805600166321, + -0.1440322995185852, + 0.43917518854141235, + 57.51375198364258 + ], + [ + -0.4426044523715973, + 0.009044745936989784, + 0.8966713547706604, + -4.668490886688232 + ], + [ + -0.13312184810638428, + -0.9895317554473877, + -0.05572862550616264, + -7.403090476989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1457, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_538471460", + "mask_path": "../../mask/hdr_left_01457.png" + }, + { + "file_path": "../../rgb/hdr_left_01458.png", + "transform_matrix": [ + [ + 0.8844839930534363, + -0.13570596277713776, + 0.4463987350463867, + 57.583560943603516 + ], + [ + -0.44962289929389954, + 0.007610956206917763, + 0.8931860327720642, + -4.689637660980225 + ], + [ + -0.12460819631814957, + -0.9907199740409851, + -0.05428473651409149, + -7.415557861328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1458, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_638470172", + "mask_path": "../../mask/hdr_left_01458.png" + }, + { + "file_path": "../../rgb/hdr_left_01459.png", + "transform_matrix": [ + [ + 0.8851050138473511, + -0.12931349873542786, + 0.4470650851726532, + 57.68080139160156 + ], + [ + -0.45072054862976074, + 0.001114268903620541, + 0.8926644325256348, + -4.711025238037109 + ], + [ + -0.11593169718980789, + -0.9916031956672668, + -0.057297997176647186, + -7.424500465393066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1459, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_738470792", + "mask_path": "../../mask/hdr_left_01459.png" + }, + { + "file_path": "../../rgb/hdr_left_01460.png", + "transform_matrix": [ + [ + 0.8880003690719604, + -0.12898260354995728, + 0.4413827955722809, + 57.755043029785156 + ], + [ + -0.44528457522392273, + -0.0015832061180844903, + 0.8953876495361328, + -4.7258806228637695 + ], + [ + -0.11479064077138901, + -0.9916456341743469, + -0.05883985385298729, + -7.430477142333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1460, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_838469743", + "mask_path": "../../mask/hdr_left_01460.png" + }, + { + "file_path": "../../rgb/hdr_left_01461.png", + "transform_matrix": [ + [ + 0.8914775848388672, + -0.12371250241994858, + 0.43584731221199036, + 57.813663482666016 + ], + [ + -0.43895217776298523, + 0.0023921476677060127, + 0.8985071778297424, + -4.737514495849609 + ], + [ + -0.11219917982816696, + -0.9923152923583984, + -0.05217132344841957, + -7.447687149047852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1461, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_938470602", + "mask_path": "../../mask/hdr_left_01461.png" + }, + { + "file_path": "../../rgb/hdr_left_01462.png", + "transform_matrix": [ + [ + 0.896573007106781, + -0.1219409704208374, + 0.4257783889770508, + 57.89783477783203 + ], + [ + -0.4278711974620819, + 0.009800265543162823, + 0.9037866592407227, + -4.758511066436768 + ], + [ + -0.1143813505768776, + -0.9924890398979187, + -0.043388377875089645, + -7.460110187530518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1462, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_38470506", + "mask_path": "../../mask/hdr_left_01462.png" + }, + { + "file_path": "../../rgb/hdr_left_01463.png", + "transform_matrix": [ + [ + 0.9008973240852356, + -0.13017630577087402, + 0.4140509366989136, + 57.974185943603516 + ], + [ + -0.4154728353023529, + 0.01733267307281494, + 0.9094404578208923, + -4.778823375701904 + ], + [ + -0.12556420266628265, + -0.991339385509491, + -0.03846975788474083, + -7.46396541595459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1463, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_138473749", + "mask_path": "../../mask/hdr_left_01463.png" + }, + { + "file_path": "../../rgb/hdr_left_01464.png", + "transform_matrix": [ + [ + 0.9076856970787048, + -0.13046082854270935, + 0.39885640144348145, + 58.02464294433594 + ], + [ + -0.39947256445884705, + 0.022561190649867058, + 0.916467547416687, + -4.7875165939331055 + ], + [ + -0.12856177985668182, + -0.9911968111991882, + -0.0316370464861393, + -7.475754737854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1464, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_238470077", + "mask_path": "../../mask/hdr_left_01464.png" + }, + { + "file_path": "../../rgb/hdr_left_01465.png", + "transform_matrix": [ + [ + 0.9152553081512451, + -0.12423785775899887, + 0.38323962688446045, + 58.08924865722656 + ], + [ + -0.3827422559261322, + 0.028806492686271667, + 0.9234059453010559, + -4.791813850402832 + ], + [ + -0.12576176226139069, + -0.9918343424797058, + -0.021185776218771935, + -7.491525173187256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1465, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_338469982", + "mask_path": "../../mask/hdr_left_01465.png" + }, + { + "file_path": "../../rgb/hdr_left_01466.png", + "transform_matrix": [ + [ + 0.9226805567741394, + -0.12309272587299347, + 0.36538854241371155, + 58.17662048339844 + ], + [ + -0.36489275097846985, + 0.0273650661110878, + 0.9306473135948181, + -4.797856330871582 + ], + [ + -0.12455476820468903, + -0.9920178651809692, + -0.019666418433189392, + -7.506274700164795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1466, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_438468933", + "mask_path": "../../mask/hdr_left_01466.png" + }, + { + "file_path": "../../rgb/hdr_left_01467.png", + "transform_matrix": [ + [ + 0.9274068474769592, + -0.130818173289299, + 0.35043269395828247, + 58.25849533081055 + ], + [ + -0.3506118953227997, + 0.022424640133976936, + 0.9362523555755615, + -4.8032002449035645 + ], + [ + -0.13033711910247803, + -0.9911527633666992, + -0.025069642812013626, + -7.517106533050537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1467, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_538469314", + "mask_path": "../../mask/hdr_left_01467.png" + }, + { + "file_path": "../../rgb/hdr_left_01468.png", + "transform_matrix": [ + [ + 0.9289190173149109, + -0.12841787934303284, + 0.347301185131073, + 58.31954574584961 + ], + [ + -0.34729376435279846, + 0.023178914561867714, + 0.9374698996543884, + -4.805637836456299 + ], + [ + -0.12843795120716095, + -0.991449236869812, + -0.023067384958267212, + -7.525067329406738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1468, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_638468980", + "mask_path": "../../mask/hdr_left_01468.png" + }, + { + "file_path": "../../rgb/hdr_left_01469.png", + "transform_matrix": [ + [ + 0.9293263554573059, + -0.125621497631073, + 0.3472343385219574, + 58.39070129394531 + ], + [ + -0.3459462523460388, + 0.03263738378882408, + 0.9376865029335022, + -4.815264701843262 + ], + [ + -0.1291263997554779, + -0.99154132604599, + -0.013127503916621208, + -7.534116268157959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1469, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_738469123", + "mask_path": "../../mask/hdr_left_01469.png" + }, + { + "file_path": "../../rgb/hdr_left_01470.png", + "transform_matrix": [ + [ + 0.9278112649917603, + -0.1292087733745575, + 0.3499588966369629, + 58.471343994140625 + ], + [ + -0.3479640483856201, + 0.03845062479376793, + 0.9367190003395081, + -4.824901103973389 + ], + [ + -0.13448844850063324, + -0.9908716678619385, + -0.00928508397191763, + -7.54925012588501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1470, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_838468790", + "mask_path": "../../mask/hdr_left_01470.png" + }, + { + "file_path": "../../rgb/hdr_left_01471.png", + "transform_matrix": [ + [ + 0.9236123561859131, + -0.13472257554531097, + 0.3588732182979584, + 58.547386169433594 + ], + [ + -0.3572990894317627, + 0.03653135523200035, + 0.9332753419876099, + -4.8346147537231445 + ], + [ + -0.1388433575630188, + -0.9902098178863525, + -0.014395436272025108, + -7.55668306350708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1471, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_938469409", + "mask_path": "../../mask/hdr_left_01471.png" + }, + { + "file_path": "../../rgb/hdr_left_01472.png", + "transform_matrix": [ + [ + 0.9197719097137451, + -0.13082019984722137, + 0.37000781297683716, + 58.61567306518555 + ], + [ + -0.3682503402233124, + 0.038282282650470734, + 0.9289382100105286, + -4.8430657386779785 + ], + [ + -0.13568861782550812, + -0.9906667470932007, + -0.01296361442655325, + -7.567998886108398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1472, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_38469314", + "mask_path": "../../mask/hdr_left_01472.png" + }, + { + "file_path": "../../rgb/hdr_left_01473.png", + "transform_matrix": [ + [ + 0.9157828092575073, + -0.12472495436668396, + 0.3818186819553375, + 58.71105194091797 + ], + [ + -0.38032183051109314, + 0.03654875233769417, + 0.9241316914558411, + -4.855861186981201 + ], + [ + -0.129217267036438, + -0.991517961025238, + -0.01396490354090929, + -7.58275842666626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1473, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_138469934", + "mask_path": "../../mask/hdr_left_01473.png" + }, + { + "file_path": "../../rgb/hdr_left_01474.png", + "transform_matrix": [ + [ + 0.9138864278793335, + -0.1272514909505844, + 0.38551071286201477, + 58.81536102294922 + ], + [ + -0.3848837912082672, + 0.030480727553367615, + 0.9224616289138794, + -4.871336460113525 + ], + [ + -0.12913523614406586, + -0.9914020895957947, + -0.021121101453900337, + -7.598196029663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1474, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_238469839", + "mask_path": "../../mask/hdr_left_01474.png" + }, + { + "file_path": "../../rgb/hdr_left_01475.png", + "transform_matrix": [ + [ + 0.9142496585845947, + -0.12866826355457306, + 0.3841768503189087, + 58.883026123046875 + ], + [ + -0.3842976987361908, + 0.024890853092074394, + 0.9228736758232117, + -4.8752312660217285 + ], + [ + -0.128307044506073, + -0.9913753271102905, + -0.02669045887887478, + -7.611873626708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1475, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_338471174", + "mask_path": "../../mask/hdr_left_01475.png" + }, + { + "file_path": "../../rgb/hdr_left_01476.png", + "transform_matrix": [ + [ + 0.9145867228507996, + -0.12694275379180908, + 0.3839488625526428, + 58.95341491699219 + ], + [ + -0.3838741183280945, + 0.026039881631731987, + 0.923018217086792, + -4.886071681976318 + ], + [ + -0.1271684318780899, + -0.9915682673454285, + -0.024914298206567764, + -7.627248287200928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1476, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_438470125", + "mask_path": "../../mask/hdr_left_01476.png" + }, + { + "file_path": "../../rgb/hdr_left_01477.png", + "transform_matrix": [ + [ + 0.9125841856002808, + -0.13258084654808044, + 0.3867974877357483, + 59.0345573425293 + ], + [ + -0.3867603540420532, + 0.02709040604531765, + 0.9217822551727295, + -4.908923149108887 + ], + [ + -0.13268917798995972, + -0.990801990032196, + -0.026554735377430916, + -7.643593788146973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1477, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_538470506", + "mask_path": "../../mask/hdr_left_01477.png" + }, + { + "file_path": "../../rgb/hdr_left_01478.png", + "transform_matrix": [ + [ + 0.9076358079910278, + -0.14098197221755981, + 0.3953748047351837, + 59.10540771484375 + ], + [ + -0.39615753293037415, + 0.02368202991783619, + 0.9178771376609802, + -4.933729648590088 + ], + [ + -0.13876739144325256, + -0.9897289276123047, + -0.03435640409588814, + -7.649381637573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1478, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_638469696", + "mask_path": "../../mask/hdr_left_01478.png" + }, + { + "file_path": "../../rgb/hdr_left_01479.png", + "transform_matrix": [ + [ + 0.9031805992126465, + -0.1384945511817932, + 0.4063055217266083, + 59.16185760498047 + ], + [ + -0.40700259804725647, + 0.024546898901462555, + 0.9130971431732178, + -4.951038837432861 + ], + [ + -0.13643251359462738, + -0.990058958530426, + -0.034197352826595306, + -7.660991668701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1479, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_738470554", + "mask_path": "../../mask/hdr_left_01479.png" + }, + { + "file_path": "../../rgb/hdr_left_01480.png", + "transform_matrix": [ + [ + 0.898532509803772, + -0.1353125125169754, + 0.4175283908843994, + 59.23496627807617 + ], + [ + -0.41848865151405334, + 0.022650644183158875, + 0.9079395532608032, + -4.972479820251465 + ], + [ + -0.1323128491640091, + -0.9905440807342529, + -0.03627440333366394, + -7.675745010375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1480, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_838470220", + "mask_path": "../../mask/hdr_left_01480.png" + }, + { + "file_path": "../../rgb/hdr_left_01481.png", + "transform_matrix": [ + [ + 0.8962137699127197, + -0.14331784844398499, + 0.4198344051837921, + 59.33149337768555 + ], + [ + -0.422366738319397, + 0.013770761899650097, + 0.9063203930854797, + -4.996022701263428 + ], + [ + -0.13567332923412323, + -0.9895809292793274, + -0.048191145062446594, + -7.694221019744873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1481, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_938470363", + "mask_path": "../../mask/hdr_left_01481.png" + }, + { + "file_path": "../../rgb/hdr_left_01482.png", + "transform_matrix": [ + [ + 0.8979054093360901, + -0.14811135828495026, + 0.4145224094390869, + 59.41093826293945 + ], + [ + -0.41767898201942444, + 0.010606534779071808, + 0.9085327982902527, + -5.0160088539123535 + ], + [ + -0.13896065950393677, + -0.9889138340950012, + -0.052339326590299606, + -7.704081058502197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1482, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_38469791", + "mask_path": "../../mask/hdr_left_01482.png" + }, + { + "file_path": "../../rgb/hdr_left_01483.png", + "transform_matrix": [ + [ + 0.9032694697380066, + -0.14424924552440643, + 0.4040994942188263, + 59.48714828491211 + ], + [ + -0.4067070484161377, + 0.01226505171507597, + 0.9134762287139893, + -5.028273105621338 + ], + [ + -0.1367245763540268, + -0.9894654154777527, + -0.0475885383784771, + -7.72046422958374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1483, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_138470172", + "mask_path": "../../mask/hdr_left_01483.png" + }, + { + "file_path": "../../rgb/hdr_left_01484.png", + "transform_matrix": [ + [ + 0.9094259142875671, + -0.1439354568719864, + 0.3901628255844116, + 59.58152389526367 + ], + [ + -0.3915475010871887, + 0.01976645551621914, + 0.9199455380439758, + -5.041836261749268 + ], + [ + -0.14012490212917328, + -0.9893896579742432, + -0.038381434977054596, + -7.742495536804199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1484, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_238470315", + "mask_path": "../../mask/hdr_left_01484.png" + }, + { + "file_path": "../../rgb/hdr_left_01485.png", + "transform_matrix": [ + [ + 0.9126828908920288, + -0.15262389183044434, + 0.37909868359565735, + 59.662601470947266 + ], + [ + -0.37976521253585815, + 0.025912512093782425, + 0.9247199296951294, + -5.057287216186523 + ], + [ + -0.15095774829387665, + -0.9879446029663086, + -0.03431134670972824, + -7.750365257263184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1485, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_338470458", + "mask_path": "../../mask/hdr_left_01485.png" + }, + { + "file_path": "../../rgb/hdr_left_01486.png", + "transform_matrix": [ + [ + 0.9172675609588623, + -0.15036319196224213, + 0.3687967360019684, + 59.71806335449219 + ], + [ + -0.3686966001987457, + 0.029580729082226753, + 0.929078996181488, + -5.0661139488220215 + ], + [ + -0.15060852468013763, + -0.9881882071495056, + -0.028304947540163994, + -7.756261348724365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1486, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_438470125", + "mask_path": "../../mask/hdr_left_01486.png" + }, + { + "file_path": "../../rgb/hdr_left_01487.png", + "transform_matrix": [ + [ + 0.9212378859519958, + -0.14235199987888336, + 0.3620174527168274, + 59.795047760009766 + ], + [ + -0.3614039719104767, + 0.031064126640558243, + 0.9318917393684387, + -5.075555801391602 + ], + [ + -0.14390240609645844, + -0.9893285632133484, + -0.022829126566648483, + -7.772256851196289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1487, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_538470745", + "mask_path": "../../mask/hdr_left_01487.png" + }, + { + "file_path": "../../rgb/hdr_left_01488.png", + "transform_matrix": [ + [ + 0.9229539036750793, + -0.1412426382303238, + 0.3580593764781952, + 59.89890670776367 + ], + [ + -0.35813236236572266, + 0.025787830352783203, + 0.9333146214485168, + -5.095613956451416 + ], + [ + -0.14105738699436188, + -0.9896391034126282, + -0.026782579720020294, + -7.795962810516357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1488, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_638469934", + "mask_path": "../../mask/hdr_left_01488.png" + }, + { + "file_path": "../../rgb/hdr_left_01489.png", + "transform_matrix": [ + [ + 0.9232491254806519, + -0.14108158648014069, + 0.35736116766929626, + 59.98472213745117 + ], + [ + -0.3564102351665497, + 0.03282874822616577, + 0.933752715587616, + -5.1073784828186035 + ], + [ + -0.1434670239686966, + -0.9894536137580872, + -0.019973808899521828, + -7.807581424713135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1489, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_738469600", + "mask_path": "../../mask/hdr_left_01489.png" + }, + { + "file_path": "../../rgb/hdr_left_01490.png", + "transform_matrix": [ + [ + 0.9245296120643616, + -0.1350199431180954, + 0.35639113187789917, + 60.06020736694336 + ], + [ + -0.354342520236969, + 0.03974010422825813, + 0.9342708587646484, + -5.1071271896362305 + ], + [ + -0.14030821621418, + -0.9900456666946411, + -0.011102396063506603, + -7.826104640960693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_838469982", + "mask_path": "../../mask/hdr_left_01490.png" + }, + { + "file_path": "../../rgb/hdr_left_01491.png", + "transform_matrix": [ + [ + 0.9235876202583313, + -0.13649040460586548, + 0.3582684397697449, + 60.14720916748047 + ], + [ + -0.3554639518260956, + 0.045243218541145325, + 0.9335943460464478, + -5.119033336639404 + ], + [ + -0.14363586902618408, + -0.9896077513694763, + -0.0067313374020159245, + -7.843250751495361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1491, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_938470125", + "mask_path": "../../mask/hdr_left_01491.png" + }, + { + "file_path": "../../rgb/hdr_left_01492.png", + "transform_matrix": [ + [ + 0.9180199503898621, + -0.14767085015773773, + 0.36801162362098694, + 60.2255859375 + ], + [ + -0.3652055263519287, + 0.04669027030467987, + 0.9297553896903992, + -5.139768123626709 + ], + [ + -0.15448032319545746, + -0.9879339337348938, + -0.011067606508731842, + -7.844561576843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1492, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_38470983", + "mask_path": "../../mask/hdr_left_01492.png" + }, + { + "file_path": "../../rgb/hdr_left_01493.png", + "transform_matrix": [ + [ + 0.9148200750350952, + -0.14080879092216492, + 0.3785194158554077, + 60.2902946472168 + ], + [ + -0.37528514862060547, + 0.049897778779268265, + 0.9255654215812683, + -5.155357360839844 + ], + [ + -0.1492149978876114, + -0.9887787103652954, + -0.007195945829153061, + -7.849822521209717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1493, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_138469696", + "mask_path": "../../mask/hdr_left_01493.png" + }, + { + "file_path": "../../rgb/hdr_left_01494.png", + "transform_matrix": [ + [ + 0.912121593952179, + -0.13142900168895721, + 0.3882788419723511, + 60.36835861206055 + ], + [ + -0.38514697551727295, + 0.04951775074005127, + 0.9215258359909058, + -5.170365333557129 + ], + [ + -0.1403418928384781, + -0.990088164806366, + -0.005453264806419611, + -7.862146377563477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1494, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_238470077", + "mask_path": "../../mask/hdr_left_01494.png" + }, + { + "file_path": "../../rgb/hdr_left_01495.png", + "transform_matrix": [ + [ + 0.9106666445732117, + -0.1289815455675125, + 0.39249205589294434, + 60.473751068115234 + ], + [ + -0.3903532028198242, + 0.04253504052758217, + 0.9196820855140686, + -5.182941913604736 + ], + [ + -0.13531668484210968, + -0.9907343983650208, + -0.011613119393587112, + -7.8801679611206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1495, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_338469028", + "mask_path": "../../mask/hdr_left_01495.png" + }, + { + "file_path": "../../rgb/hdr_left_01496.png", + "transform_matrix": [ + [ + 0.9118580222129822, + -0.12935850024223328, + 0.38959112763404846, + 60.55498123168945 + ], + [ + -0.3870786130428314, + 0.04507593438029289, + 0.9209442138671875, + -5.191584587097168 + ], + [ + -0.13669316470623016, + -0.9905728697776794, + -0.008969046175479889, + -7.891031265258789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1496, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_438470363", + "mask_path": "../../mask/hdr_left_01496.png" + }, + { + "file_path": "../../rgb/hdr_left_01497.png", + "transform_matrix": [ + [ + 0.9138123393058777, + -0.12199782580137253, + 0.38738036155700684, + 60.62286376953125 + ], + [ + -0.38390281796455383, + 0.051791962236166, + 0.9219198822975159, + -5.195975303649902 + ], + [ + -0.1325353980064392, + -0.9911782145500183, + 0.0004928370472043753, + -7.9092116355896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1497, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_538470268", + "mask_path": "../../mask/hdr_left_01497.png" + }, + { + "file_path": "../../rgb/hdr_left_01498.png", + "transform_matrix": [ + [ + 0.9140809178352356, + -0.1209864616394043, + 0.3870636522769928, + 60.70376968383789 + ], + [ + -0.3832976520061493, + 0.0539422333240509, + 0.9220483303070068, + -5.214593887329102 + ], + [ + -0.1324344277381897, + -0.9911874532699585, + 0.0029337469022721052, + -7.92107629776001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_638468742", + "mask_path": "../../mask/hdr_left_01498.png" + }, + { + "file_path": "../../rgb/hdr_left_01499.png", + "transform_matrix": [ + [ + 0.9118760228157043, + -0.12879864871501923, + 0.3897344470024109, + 60.77734375 + ], + [ + -0.3866928517818451, + 0.048877421766519547, + 0.9209124445915222, + -5.233076095581055 + ], + [ + -0.13766148686408997, + -0.990465521812439, + -0.005235370248556137, + -7.9199371337890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1499, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_738470554", + "mask_path": "../../mask/hdr_left_01499.png" + }, + { + "file_path": "../../rgb/hdr_left_01500.png", + "transform_matrix": [ + [ + 0.9138111472129822, + -0.12441468238830566, + 0.38661348819732666, + 60.84678649902344 + ], + [ + -0.38319799304008484, + 0.051283303648233414, + 0.9222415089607239, + -5.2459492683410645 + ], + [ + -0.13456718623638153, + -0.9909042119979858, + -0.0008121936698444188, + -7.925668716430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1500, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_838469743", + "mask_path": "../../mask/hdr_left_01500.png" + }, + { + "file_path": "../../rgb/hdr_left_01501.png", + "transform_matrix": [ + [ + 0.9154756665229797, + -0.1155066043138504, + 0.38543787598609924, + 60.92790603637695 + ], + [ + -0.38225677609443665, + 0.049429889768362045, + 0.9227332472801208, + -5.257530212402344 + ], + [ + -0.12563391029834747, + -0.9920760989189148, + 0.0010986874112859368, + -7.93630838394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_938470602", + "mask_path": "../../mask/hdr_left_01501.png" + }, + { + "file_path": "../../rgb/hdr_left_01502.png", + "transform_matrix": [ + [ + 0.9174493551254272, + -0.11462004482746124, + 0.3809841573238373, + 61.026893615722656 + ], + [ + -0.3791818618774414, + 0.03799976035952568, + 0.9245415329933167, + -5.275550365447998 + ], + [ + -0.1204482913017273, + -0.9926823973655701, + -0.00859898142516613, + -7.953732013702393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1502, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_38469791", + "mask_path": "../../mask/hdr_left_01502.png" + }, + { + "file_path": "../../rgb/hdr_left_01503.png", + "transform_matrix": [ + [ + 0.919786810874939, + -0.11669234931468964, + 0.3746667504310608, + 61.11258316040039 + ], + [ + -0.37298282980918884, + 0.036782070994377136, + 0.9271089434623718, + -5.2904205322265625 + ], + [ + -0.12196752429008484, + -0.992486834526062, + -0.00969257764518261, + -7.96626091003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1503, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_138470411", + "mask_path": "../../mask/hdr_left_01503.png" + }, + { + "file_path": "../../rgb/hdr_left_01504.png", + "transform_matrix": [ + [ + 0.9236384034156799, + -0.11190058290958405, + 0.3665655255317688, + 61.18632888793945 + ], + [ + -0.36452555656433105, + 0.038921404629945755, + 0.9303796887397766, + -5.293169021606445 + ], + [ + -0.11837726086378098, + -0.9929568767547607, + -0.00484131183475256, + -7.9801225662231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1504, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_238469839", + "mask_path": "../../mask/hdr_left_01504.png" + }, + { + "file_path": "../../rgb/hdr_left_01505.png", + "transform_matrix": [ + [ + 0.9250860214233398, + -0.11462737619876862, + 0.36204472184181213, + 61.2723503112793 + ], + [ + -0.35919520258903503, + 0.04534066841006279, + 0.9321603775024414, + -5.3031768798828125 + ], + [ + -0.12326643615961075, + -0.9923733472824097, + 0.0007704170420765877, + -7.992539405822754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1505, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_338470458", + "mask_path": "../../mask/hdr_left_01505.png" + }, + { + "file_path": "../../rgb/hdr_left_01506.png", + "transform_matrix": [ + [ + 0.921654224395752, + -0.129067063331604, + 0.3659168779850006, + 61.34637451171875 + ], + [ + -0.36253902316093445, + 0.04961610957980156, + 0.9306469559669495, + -5.320718288421631 + ], + [ + -0.13827121257781982, + -0.990393877029419, + -0.0010629447642713785, + -7.995156288146973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1506, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_438470125", + "mask_path": "../../mask/hdr_left_01506.png" + }, + { + "file_path": "../../rgb/hdr_left_01507.png", + "transform_matrix": [ + [ + 0.9208870530128479, + -0.12669305503368378, + 0.3686676621437073, + 61.403411865234375 + ], + [ + -0.36515453457832336, + 0.05077617987990379, + 0.9295611381530762, + -5.334141254425049 + ], + [ + -0.13648846745491028, + -0.9906415343284607, + 0.000496585969813168, + -8.001117706298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1507, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_538470506", + "mask_path": "../../mask/hdr_left_01507.png" + }, + { + "file_path": "../../rgb/hdr_left_01508.png", + "transform_matrix": [ + [ + 0.9209614396095276, + -0.11923399567604065, + 0.3709624409675598, + 61.47018814086914 + ], + [ + -0.36738619208335876, + 0.05151449888944626, + 0.9286407232284546, + -5.344496726989746 + ], + [ + -0.12983547151088715, + -0.9915289282798767, + 0.0036379501689225435, + -8.014939308166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1508, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_638469934", + "mask_path": "../../mask/hdr_left_01508.png" + }, + { + "file_path": "../../rgb/hdr_left_01509.png", + "transform_matrix": [ + [ + 0.9209970831871033, + -0.12201407551765442, + 0.3699686527252197, + 61.566001892089844 + ], + [ + -0.3671547770500183, + 0.04562774673104286, + 0.9290401339530945, + -5.355655670166016 + ], + [ + -0.13023680448532104, + -0.9914790391921997, + -0.0027750239241868258, + -8.033883094787598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1509, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_738470315", + "mask_path": "../../mask/hdr_left_01509.png" + }, + { + "file_path": "../../rgb/hdr_left_01510.png", + "transform_matrix": [ + [ + 0.9222709536552429, + -0.1351706087589264, + 0.3621397614479065, + 61.64962387084961 + ], + [ + -0.3599780797958374, + 0.040976617485284805, + 0.9320604205131531, + -5.3618693351745605 + ], + [ + -0.14082643389701843, + -0.9899746775627136, + -0.010866910219192505, + -8.048700332641602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1510, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_838470935", + "mask_path": "../../mask/hdr_left_01510.png" + }, + { + "file_path": "../../rgb/hdr_left_01511.png", + "transform_matrix": [ + [ + 0.9261641502380371, + -0.13287095725536346, + 0.35293781757354736, + 61.712982177734375 + ], + [ + -0.35036805272102356, + 0.043036364018917084, + 0.9356228113174438, + -5.361422061920166 + ], + [ + -0.1395062357187271, + -0.99019855260849, + -0.006695003714412451, + -8.06393814086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1511, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_938469409", + "mask_path": "../../mask/hdr_left_01511.png" + }, + { + "file_path": "../../rgb/hdr_left_01512.png", + "transform_matrix": [ + [ + 0.929263710975647, + -0.1326330006122589, + 0.34478598833084106, + 61.78799819946289 + ], + [ + -0.34133270382881165, + 0.048676006495952606, + 0.9386812448501587, + -5.3656487464904785 + ], + [ + -0.14128293097019196, + -0.9899693131446838, + -3.913004184141755e-05, + -8.081092834472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1512, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_38469314", + "mask_path": "../../mask/hdr_left_01512.png" + }, + { + "file_path": "../../rgb/hdr_left_01513.png", + "transform_matrix": [ + [ + 0.9294171929359436, + -0.14062516391277313, + 0.34118643403053284, + 61.87085723876953 + ], + [ + -0.33746814727783203, + 0.05023953691124916, + 0.9399954080581665, + -5.378222465515137 + ], + [ + -0.14932802319526672, + -0.9887874126434326, + -0.0007630172185599804, + -8.094182968139648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1513, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_138468742", + "mask_path": "../../mask/hdr_left_01513.png" + }, + { + "file_path": "../../rgb/hdr_left_01514.png", + "transform_matrix": [ + [ + 0.9289566874504089, + -0.14397317171096802, + 0.34104442596435547, + 61.9415397644043 + ], + [ + -0.3379976451396942, + 0.045883744955062866, + 0.9400277137756348, + -5.38889217376709 + ], + [ + -0.1509871780872345, + -0.9885173439979553, + -0.006038580555468798, + -8.097823143005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1514, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_238469362", + "mask_path": "../../mask/hdr_left_01514.png" + }, + { + "file_path": "../../rgb/hdr_left_01515.png", + "transform_matrix": [ + [ + 0.9291350245475769, + -0.13894237577915192, + 0.3426413834095001, + 62.006832122802734 + ], + [ + -0.33929958939552307, + 0.04781506955623627, + 0.9394623637199402, + -5.39851188659668 + ], + [ + -0.1469145566225052, + -0.9891454577445984, + -0.0027164362836629152, + -8.109870910644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1515, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_338469266", + "mask_path": "../../mask/hdr_left_01515.png" + }, + { + "file_path": "../../rgb/hdr_left_01516.png", + "transform_matrix": [ + [ + 0.9293097257614136, + -0.13137003779411316, + 0.345145046710968, + 62.09149932861328 + ], + [ + -0.3418535590171814, + 0.047557927668094635, + 0.9385490417480469, + -5.410399436950684 + ], + [ + -0.13971161842346191, + -0.9901920557022095, + -0.0007132629980333149, + -8.127681732177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1516, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_438468694", + "mask_path": "../../mask/hdr_left_01516.png" + }, + { + "file_path": "../../rgb/hdr_left_01517.png", + "transform_matrix": [ + [ + 0.9303725957870483, + -0.13331539928913116, + 0.3415170907974243, + 62.1929931640625 + ], + [ + -0.33927324414253235, + 0.039914485067129135, + 0.9398406744003296, + -5.417758941650391 + ], + [ + -0.138926699757576, + -0.9902696013450623, + -0.008094998076558113, + -8.142658233642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1517, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_538470029", + "mask_path": "../../mask/hdr_left_01517.png" + }, + { + "file_path": "../../rgb/hdr_left_01518.png", + "transform_matrix": [ + [ + 0.9330296516418457, + -0.1346573531627655, + 0.3336508274078369, + 62.26776123046875 + ], + [ + -0.33191052079200745, + 0.035844817757606506, + 0.9426295161247253, + -5.424271583557129 + ], + [ + -0.13889163732528687, + -0.9902437329292297, + -0.0112499063834548, + -8.15480899810791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1518, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_638470411", + "mask_path": "../../mask/hdr_left_01518.png" + }, + { + "file_path": "../../rgb/hdr_left_01519.png", + "transform_matrix": [ + [ + 0.9354870319366455, + -0.13190102577209473, + 0.32782018184661865, + 62.335853576660156 + ], + [ + -0.3259453773498535, + 0.036183882504701614, + 0.9446958899497986, + -5.433526515960693 + ], + [ + -0.13646814227104187, + -0.9906022548675537, + -0.009142972528934479, + -8.172041893005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1519, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_738470077", + "mask_path": "../../mask/hdr_left_01519.png" + }, + { + "file_path": "../../rgb/hdr_left_01520.png", + "transform_matrix": [ + [ + 0.9364535212516785, + -0.1343240886926651, + 0.32405540347099304, + 62.41789627075195 + ], + [ + -0.32183656096458435, + 0.03852634131908417, + 0.9460110664367676, + -5.445450305938721 + ], + [ + -0.13955675065517426, + -0.9901883006095886, + -0.007152276113629341, + -8.188603401184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1520, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_838469982", + "mask_path": "../../mask/hdr_left_01520.png" + }, + { + "file_path": "../../rgb/hdr_left_01521.png", + "transform_matrix": [ + [ + 0.934175968170166, + -0.14481545984745026, + 0.32610368728637695, + 62.491973876953125 + ], + [ + -0.3240492045879364, + 0.03822942078113556, + 0.9452674388885498, + -5.458252906799316 + ], + [ + -0.14935611188411713, + -0.9887198805809021, + -0.01121432613581419, + -8.198413848876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1521, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_938470602", + "mask_path": "../../mask/hdr_left_01521.png" + }, + { + "file_path": "../../rgb/hdr_left_01522.png", + "transform_matrix": [ + [ + 0.9324395656585693, + -0.14445310831069946, + 0.3311944603919983, + 62.54141616821289 + ], + [ + -0.32889601588249207, + 0.040216848254203796, + 0.9435093998908997, + -5.467627048492432 + ], + [ + -0.14961247146129608, + -0.9886940717697144, + -0.010010264813899994, + -8.201860427856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_38470745", + "mask_path": "../../mask/hdr_left_01522.png" + }, + { + "file_path": "../../rgb/hdr_left_01524.png", + "transform_matrix": [ + [ + 0.9298560619354248, + -0.13503529131412506, + 0.34224733710289, + 62.6718864440918 + ], + [ + -0.3398967385292053, + 0.04082254320383072, + 0.9395763874053955, + -5.485897541046143 + ], + [ + -0.1408473402261734, + -0.989999532699585, + -0.007938961498439312, + -8.224470138549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_238471746", + "mask_path": "../../mask/hdr_left_01524.png" + }, + { + "file_path": "../../rgb/hdr_left_01525.png", + "transform_matrix": [ + [ + 0.9296815991401672, + -0.14158013463020325, + 0.3400692939758301, + 62.74979019165039 + ], + [ + -0.3384164273738861, + 0.0363447405397892, + 0.9402943253517151, + -5.489824295043945 + ], + [ + -0.1454867124557495, + -0.9892594814300537, + -0.014124007895588875, + -8.235454559326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1525, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_338470458", + "mask_path": "../../mask/hdr_left_01525.png" + }, + { + "file_path": "../../rgb/hdr_left_01526.png", + "transform_matrix": [ + [ + 0.9311419129371643, + -0.14098572731018066, + 0.33629995584487915, + 62.80990982055664 + ], + [ + -0.33471864461898804, + 0.035506464540958405, + 0.9416489005088806, + -5.491096019744873 + ], + [ + -0.14469987154006958, + -0.9893746972084045, + -0.014128996059298515, + -8.248740196228027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_438472270", + "mask_path": "../../mask/hdr_left_01526.png" + }, + { + "file_path": "../../rgb/hdr_left_01527.png", + "transform_matrix": [ + [ + 0.9324740767478943, + -0.14127930998802185, + 0.3324635326862335, + 62.8780517578125 + ], + [ + -0.3300510048866272, + 0.04087582230567932, + 0.9430776834487915, + -5.495051383972168 + ], + [ + -0.1468270868062973, + -0.9891255497932434, + -0.008513733744621277, + -8.26244831085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1527, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_538469314", + "mask_path": "../../mask/hdr_left_01527.png" + }, + { + "file_path": "../../rgb/hdr_left_01528.png", + "transform_matrix": [ + [ + 0.9308660626411438, + -0.15033505856990814, + 0.33299803733825684, + 62.956871032714844 + ], + [ + -0.3301994502544403, + 0.04395560547709465, + 0.9428871273994446, + -5.5081353187561035 + ], + [ + -0.1563861221075058, + -0.9876574873924255, + -0.008723770268261433, + -8.280447006225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1528, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_638470649", + "mask_path": "../../mask/hdr_left_01528.png" + }, + { + "file_path": "../../rgb/hdr_left_01529.png", + "transform_matrix": [ + [ + 0.9284899234771729, + -0.1574210673570633, + 0.3363405168056488, + 63.02039337158203 + ], + [ + -0.33409950137138367, + 0.041297849267721176, + 0.9416325688362122, + -5.5213422775268555 + ], + [ + -0.1621229350566864, + -0.9866676926612854, + -0.014249656349420547, + -8.287429809570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1529, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_738470077", + "mask_path": "../../mask/hdr_left_01529.png" + }, + { + "file_path": "../../rgb/hdr_left_01530.png", + "transform_matrix": [ + [ + 0.9270804524421692, + -0.15453948080539703, + 0.34152495861053467, + 63.07881546020508 + ], + [ + -0.3390006422996521, + 0.043235450983047485, + 0.9397920370101929, + -5.531012535095215 + ], + [ + -0.16000095009803772, + -0.9870401620864868, + -0.012306236661970615, + -8.30086898803711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_838470220", + "mask_path": "../../mask/hdr_left_01530.png" + }, + { + "file_path": "../../rgb/hdr_left_01531.png", + "transform_matrix": [ + [ + 0.9251108169555664, + -0.1513519436120987, + 0.34822776913642883, + 63.16463088989258 + ], + [ + -0.34602394700050354, + 0.041529033333063126, + 0.9373061656951904, + -5.546059608459473 + ], + [ + -0.15632463991641998, + -0.9876071810722351, + -0.013952444307506084, + -8.319670677185059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1531, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_938469886", + "mask_path": "../../mask/hdr_left_01531.png" + }, + { + "file_path": "../../rgb/hdr_left_01532.png", + "transform_matrix": [ + [ + 0.9243428707122803, + -0.16004393994808197, + 0.34637582302093506, + 63.26763153076172 + ], + [ + -0.3464415371417999, + 0.028402164578437805, + 0.937641441822052, + -5.561505317687988 + ], + [ + -0.15990163385868073, + -0.986701250076294, + -0.029192524030804634, + -8.339909553527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_38469314", + "mask_path": "../../mask/hdr_left_01532.png" + }, + { + "file_path": "../../rgb/hdr_left_01533.png", + "transform_matrix": [ + [ + 0.9265119433403015, + -0.16214826703071594, + 0.3395342528820038, + 63.3424072265625 + ], + [ + -0.34023112058639526, + 0.024318793788552284, + 0.9400272965431213, + -5.565710544586182 + ], + [ + -0.1606808602809906, + -0.9864667057991028, + -0.03263622894883156, + -8.353285789489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1533, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_138469219", + "mask_path": "../../mask/hdr_left_01533.png" + }, + { + "file_path": "../../rgb/hdr_left_01534.png", + "transform_matrix": [ + [ + 0.9286770820617676, + -0.16009463369846344, + 0.3345571458339691, + 63.41047668457031 + ], + [ + -0.33472415804862976, + 0.02674017660319805, + 0.9419366717338562, + -5.572630882263184 + ], + [ + -0.15974511206150055, + -0.9867395162582397, + -0.028754549100995064, + -8.373909950256348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1534, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_238469600", + "mask_path": "../../mask/hdr_left_01534.png" + }, + { + "file_path": "../../rgb/hdr_left_01535.png", + "transform_matrix": [ + [ + 0.9284608960151672, + -0.16462083160877228, + 0.33295661211013794, + 63.491783142089844 + ], + [ + -0.3324064314365387, + 0.0317063108086586, + 0.9426031708717346, + -5.5855889320373535 + ], + [ + -0.16572892665863037, + -0.9858472943305969, + -0.025282949209213257, + -8.395401954650879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1535, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_338469982", + "mask_path": "../../mask/hdr_left_01535.png" + }, + { + "file_path": "../../rgb/hdr_left_01536.png", + "transform_matrix": [ + [ + 0.924569845199585, + -0.17599040269851685, + 0.33793193101882935, + 63.56441116333008 + ], + [ + -0.3374728858470917, + 0.03346174582839012, + 0.9407403469085693, + -5.600479602813721 + ], + [ + -0.17686904966831207, + -0.9838230609893799, + -0.02845427393913269, + -8.398125648498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1536, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_438467025", + "mask_path": "../../mask/hdr_left_01536.png" + }, + { + "file_path": "../../rgb/hdr_left_01537.png", + "transform_matrix": [ + [ + 0.923506498336792, + -0.1711522787809372, + 0.3432822823524475, + 63.61925506591797 + ], + [ + -0.3427346646785736, + 0.03368561342358589, + 0.9388281106948853, + -5.610597133636475 + ], + [ + -0.17224623262882233, + -0.9846685528755188, + -0.02755093201994896, + -8.401630401611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1537, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_538469791", + "mask_path": "../../mask/hdr_left_01537.png" + }, + { + "file_path": "../../rgb/hdr_left_01538.png", + "transform_matrix": [ + [ + 0.9224796295166016, + -0.16228848695755005, + 0.35027679800987244, + 63.68772888183594 + ], + [ + -0.34955108165740967, + 0.03395802155137062, + 0.9363017082214355, + -5.622830867767334 + ], + [ + -0.16384565830230713, + -0.9861589074134827, + -0.025402523577213287, + -8.414863586425781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1538, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_638470172", + "mask_path": "../../mask/hdr_left_01538.png" + }, + { + "file_path": "../../rgb/hdr_left_01539.png", + "transform_matrix": [ + [ + 0.9226758480072021, + -0.15692907571792603, + 0.35219648480415344, + 63.7840576171875 + ], + [ + -0.352105051279068, + 0.02932134084403515, + 0.9355010390281677, + -5.635937690734863 + ], + [ + -0.15713420510292053, + -0.9871745705604553, + -0.028201425448060036, + -8.431838035583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1539, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_738468408", + "mask_path": "../../mask/hdr_left_01539.png" + }, + { + "file_path": "../../rgb/hdr_left_01540.png", + "transform_matrix": [ + [ + 0.9250951409339905, + -0.15669354796409607, + 0.34589922428131104, + 63.8669319152832 + ], + [ + -0.34613892436027527, + 0.026641463860869408, + 0.9378049373626709, + -5.639854907989502 + ], + [ + -0.15616323053836823, + -0.9872879385948181, + -0.029591845348477364, + -8.438465118408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1540, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_838469982", + "mask_path": "../../mask/hdr_left_01540.png" + }, + { + "file_path": "../../rgb/hdr_left_01541.png", + "transform_matrix": [ + [ + 0.9283484220504761, + -0.1508282721042633, + 0.339735209941864, + 63.92716598510742 + ], + [ + -0.33925673365592957, + 0.029696527868509293, + 0.9402249455451965, + -5.645432472229004 + ], + [ + -0.1519014686346054, + -0.9881139397621155, + -0.023600779473781586, + -8.455536842346191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_938469171", + "mask_path": "../../mask/hdr_left_01541.png" + }, + { + "file_path": "../../rgb/hdr_left_01542.png", + "transform_matrix": [ + [ + 0.9306281208992004, + -0.14930550754070282, + 0.334124356508255, + 64.007568359375 + ], + [ + -0.3329329192638397, + 0.03365751728415489, + 0.9423496127128601, + -5.653232097625732 + ], + [ + -0.15194377303123474, + -0.9882181286811829, + -0.018386077135801315, + -8.468606948852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1542, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_38470983", + "mask_path": "../../mask/hdr_left_01542.png" + }, + { + "file_path": "../../rgb/hdr_left_01543.png", + "transform_matrix": [ + [ + 0.929166316986084, + -0.155601367354393, + 0.335317999124527, + 64.09424591064453 + ], + [ + -0.3342999219894409, + 0.03346104547381401, + 0.9418725967407227, + -5.668910503387451 + ], + [ + -0.15777674317359924, + -0.9872531294822693, + -0.020926643162965775, + -8.477251052856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1543, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_138470411", + "mask_path": "../../mask/hdr_left_01543.png" + }, + { + "file_path": "../../rgb/hdr_left_01544.png", + "transform_matrix": [ + [ + 0.927063524723053, + -0.15539495646953583, + 0.3411823511123657, + 64.15507507324219 + ], + [ + -0.34028926491737366, + 0.03315218538045883, + 0.9397362470626831, + -5.681772232055664 + ], + [ + -0.15734121203422546, + -0.9872959852218628, + -0.022145038470625877, + -8.484972953796387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1544, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_238469839", + "mask_path": "../../mask/hdr_left_01544.png" + }, + { + "file_path": "../../rgb/hdr_left_01546.png", + "transform_matrix": [ + [ + 0.9259335994720459, + -0.14060455560684204, + 0.35053861141204834, + 64.30632019042969 + ], + [ + -0.35047826170921326, + 0.02601601928472519, + 0.936209499835968, + -5.7051897048950195 + ], + [ + -0.14075493812561035, + -0.9897240400314331, + -0.025189725682139397, + -8.516802787780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1546, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_438469648", + "mask_path": "../../mask/hdr_left_01546.png" + }, + { + "file_path": "../../rgb/hdr_left_01547.png", + "transform_matrix": [ + [ + 0.9285376667976379, + -0.13638971745967865, + 0.34527578949928284, + 64.4052734375 + ], + [ + -0.3461502492427826, + 0.018016308546066284, + 0.9380060434341431, + -5.7153825759887695 + ], + [ + -0.13415496051311493, + -0.9904914498329163, + -0.030482502654194832, + -8.521231651306152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1547, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_538470745", + "mask_path": "../../mask/hdr_left_01547.png" + }, + { + "file_path": "../../rgb/hdr_left_01548.png", + "transform_matrix": [ + [ + 0.9320245981216431, + -0.13557666540145874, + 0.33607903122901917, + 64.47357940673828 + ], + [ + -0.33772605657577515, + 0.011362588964402676, + 0.9411758184432983, + -5.717066764831543 + ], + [ + -0.13142021000385284, + -0.9907017350196838, + -0.03519755229353905, + -8.52956485748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1548, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_638470649", + "mask_path": "../../mask/hdr_left_01548.png" + }, + { + "file_path": "../../rgb/hdr_left_01549.png", + "transform_matrix": [ + [ + 0.9343476891517639, + -0.13336987793445587, + 0.33046460151672363, + 64.54840850830078 + ], + [ + -0.33152055740356445, + 0.01486106775701046, + 0.9433310031890869, + -5.723361968994141 + ], + [ + -0.1307229995727539, + -0.9909549951553345, + -0.030329449102282524, + -8.54452896118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1549, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_738469123", + "mask_path": "../../mask/hdr_left_01549.png" + }, + { + "file_path": "../../rgb/hdr_left_01550.png", + "transform_matrix": [ + [ + 0.9340177178382874, + -0.13831493258476257, + 0.3293629288673401, + 64.6375503540039 + ], + [ + -0.3292797803878784, + 0.024149924516677856, + 0.9439235329627991, + -5.735924243927002 + ], + [ + -0.13851280510425568, + -0.9900938868522644, + -0.0229878481477499, + -8.55910587310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1550, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_838469743", + "mask_path": "../../mask/hdr_left_01550.png" + }, + { + "file_path": "../../rgb/hdr_left_01551.png", + "transform_matrix": [ + [ + 0.9312195181846619, + -0.14797045290470123, + 0.33306884765625, + 64.70057678222656 + ], + [ + -0.333297461271286, + 0.023989543318748474, + 0.9425164461135864, + -5.748891830444336 + ], + [ + -0.14745476841926575, + -0.988700807094574, + -0.026978643611073494, + -8.567747116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1551, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_938468933", + "mask_path": "../../mask/hdr_left_01551.png" + }, + { + "file_path": "../../rgb/hdr_left_01552.png", + "transform_matrix": [ + [ + 0.9292847514152527, + -0.14853037893772125, + 0.3381841480731964, + 64.75240325927734 + ], + [ + -0.3383188545703888, + 0.02513837069272995, + 0.9406957030296326, + -5.759132385253906 + ], + [ + -0.14822325110435486, + -0.9885883331298828, + -0.02688991278409958, + -8.578963279724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1552, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_38469552", + "mask_path": "../../mask/hdr_left_01552.png" + }, + { + "file_path": "../../rgb/hdr_left_01553.png", + "transform_matrix": [ + [ + 0.9272833466529846, + -0.1461416631937027, + 0.34465664625167847, + 64.82323455810547 + ], + [ + -0.34492936730384827, + 0.024285059422254562, + 0.9383144378662109, + -5.769403457641602 + ], + [ + -0.14549684524536133, + -0.9889655709266663, + -0.027889417484402657, + -8.594205856323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1553, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_138469457", + "mask_path": "../../mask/hdr_left_01553.png" + }, + { + "file_path": "../../rgb/hdr_left_01554.png", + "transform_matrix": [ + [ + 0.9271324276924133, + -0.1500905305147171, + 0.3433631360530853, + 64.91180419921875 + ], + [ + -0.3451157212257385, + 0.015041493810713291, + 0.9384396076202393, + -5.779118061065674 + ], + [ + -0.14601558446884155, + -0.9885578751564026, + -0.037853140383958817, + -8.612082481384277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1554, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_238466024", + "mask_path": "../../mask/hdr_left_01554.png" + }, + { + "file_path": "../../rgb/hdr_left_01555.png", + "transform_matrix": [ + [ + 0.9288827180862427, + -0.15522803366184235, + 0.3362753391265869, + 64.99008178710938 + ], + [ + -0.3391949236392975, + 0.00808908324688673, + 0.9406812787055969, + -5.785355567932129 + ], + [ + -0.1487402617931366, + -0.9878455996513367, + -0.04513874650001526, + -8.626266479492188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1555, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_338467121", + "mask_path": "../../mask/hdr_left_01555.png" + }, + { + "file_path": "../../rgb/hdr_left_01556.png", + "transform_matrix": [ + [ + 0.9315425753593445, + -0.1541113704442978, + 0.32936033606529236, + 65.05823516845703 + ], + [ + -0.33258527517318726, + 0.00511964550241828, + 0.9430593252182007, + -5.797257423400879 + ], + [ + -0.14702235162258148, + -0.9880402684211731, + -0.04648599401116371, + -8.643293380737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1556, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_438469409", + "mask_path": "../../mask/hdr_left_01556.png" + }, + { + "file_path": "../../rgb/hdr_left_01557.png", + "transform_matrix": [ + [ + 0.9317641258239746, + -0.16107261180877686, + 0.32537853717803955, + 65.14627838134766 + ], + [ + -0.327694833278656, + 0.012727822177112103, + 0.9446978569030762, + -5.812270641326904 + ], + [ + -0.15630628168582916, + -0.9868605136871338, + -0.040923330932855606, + -8.660089492797852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1557, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_538469552", + "mask_path": "../../mask/hdr_left_01557.png" + }, + { + "file_path": "../../rgb/hdr_right_01413.png", + "transform_matrix": [ + [ + -0.9907464981079102, + -0.12232677638530731, + 0.05880090966820717, + 55.258934020996094 + ], + [ + -0.059137701988220215, + -0.0008790041320025921, + -0.9982494711875916, + -3.9842350482940674 + ], + [ + 0.12216431647539139, + -0.9924895167350769, + -0.0063632517121732235, + -7.0147552490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1413, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_438468217", + "mask_path": "../../mask/hdr_right_01413.png" + }, + { + "file_path": "../../rgb/hdr_right_01414.png", + "transform_matrix": [ + [ + -0.9913241863250732, + -0.12328901141881943, + 0.04556402191519737, + 55.33077621459961 + ], + [ + -0.046027496457099915, + 0.000911865325178951, + -0.9989398121833801, + -3.9937987327575684 + ], + [ + 0.12311674654483795, + -0.9923703670501709, + -0.006578637287020683, + -7.018377304077148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1414, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_538469791", + "mask_path": "../../mask/hdr_right_01414.png" + }, + { + "file_path": "../../rgb/hdr_right_01415.png", + "transform_matrix": [ + [ + -0.9924313426017761, + -0.11867046356201172, + 0.03158228471875191, + 55.394012451171875 + ], + [ + -0.03198283538222313, + 0.0014716851292178035, + -0.9994874000549316, + -4.004863739013672 + ], + [ + 0.11856314539909363, + -0.9929326176643372, + -0.005255960393697023, + -7.0337958335876465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1415, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_638470411", + "mask_path": "../../mask/hdr_right_01415.png" + }, + { + "file_path": "../../rgb/hdr_right_01416.png", + "transform_matrix": [ + [ + -0.9927167892456055, + -0.11855419725179672, + 0.021408595144748688, + 55.487640380859375 + ], + [ + -0.020972106605768204, + -0.004928485956043005, + -0.9997679591178894, + -4.0200066566467285 + ], + [ + 0.11863219738006592, + -0.992935299873352, + 0.0024062604643404484, + -7.054080486297607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1416, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_738469362", + "mask_path": "../../mask/hdr_right_01416.png" + }, + { + "file_path": "../../rgb/hdr_right_01417.png", + "transform_matrix": [ + [ + -0.9915333986282349, + -0.12756705284118652, + 0.024253306910395622, + 55.58637237548828 + ], + [ + -0.022992879152297974, + -0.011344279162585735, + -0.9996713399887085, + -4.025399684906006 + ], + [ + 0.12780025601387024, + -0.991765022277832, + 0.008315096609294415, + -7.068953990936279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1417, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_838470220", + "mask_path": "../../mask/hdr_right_01417.png" + }, + { + "file_path": "../../rgb/hdr_right_01418.png", + "transform_matrix": [ + [ + -0.991492748260498, + -0.12750975787639618, + 0.026138627901673317, + 55.651039123535156 + ], + [ + -0.02484648860991001, + -0.011714108288288116, + -0.999622642993927, + -4.029407501220703 + ], + [ + 0.12776783108711243, + -0.9917681217193604, + 0.008446287363767624, + -7.084723472595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1418, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594308_938470840", + "mask_path": "../../mask/hdr_right_01418.png" + }, + { + "file_path": "../../rgb/hdr_right_01419.png", + "transform_matrix": [ + [ + -0.9914208650588989, + -0.1280171275138855, + 0.02638721652328968, + 55.73008728027344 + ], + [ + -0.025707686319947243, + -0.006957780569791794, + -0.9996452927589417, + -4.037484645843506 + ], + [ + 0.12815533578395844, + -0.9917475581169128, + 0.0036070586647838354, + -7.100653648376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1419, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_38469791", + "mask_path": "../../mask/hdr_right_01419.png" + }, + { + "file_path": "../../rgb/hdr_right_01420.png", + "transform_matrix": [ + [ + -0.9906893968582153, + -0.1346883773803711, + 0.019838187843561172, + 55.82640838623047 + ], + [ + -0.019941266626119614, + -0.0005840943194925785, + -0.9998010396957397, + -4.061983108520508 + ], + [ + 0.13467316329479218, + -0.9908878803253174, + -0.002107198117300868, + -7.111823558807373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1420, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_138469934", + "mask_path": "../../mask/hdr_right_01420.png" + }, + { + "file_path": "../../rgb/hdr_right_01421.png", + "transform_matrix": [ + [ + -0.9903147220611572, + -0.1386207640171051, + 0.00781444925814867, + 55.89496612548828 + ], + [ + -0.007865741848945618, + -0.00017776762251742184, + -0.9999691843986511, + -4.082366943359375 + ], + [ + 0.1386178582906723, + -0.9903455376625061, + -0.0009143021306954324, + -7.117931365966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1421, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_238470315", + "mask_path": "../../mask/hdr_right_01421.png" + }, + { + "file_path": "../../rgb/hdr_right_01422.png", + "transform_matrix": [ + [ + -0.9907030463218689, + -0.13591931760311127, + -0.005783041939139366, + 55.953277587890625 + ], + [ + 0.005886944010853767, + -0.00036243803333491087, + -0.9999825358390808, + -4.0990777015686035 + ], + [ + 0.1359148621559143, + -0.9907198548316956, + 0.0011592203518375754, + -7.130733489990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1422, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_338469505", + "mask_path": "../../mask/hdr_right_01422.png" + }, + { + "file_path": "../../rgb/hdr_right_01423.png", + "transform_matrix": [ + [ + -0.9908075332641602, + -0.13401682674884796, + -0.018439292907714844, + 56.04069900512695 + ], + [ + 0.019276173785328865, + -0.004949626978486776, + -0.9998019337654114, + -4.1209282875061035 + ], + [ + 0.1338990181684494, + -0.9909666776657104, + 0.00748745771124959, + -7.147571086883545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1423, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_438469409", + "mask_path": "../../mask/hdr_right_01423.png" + }, + { + "file_path": "../../rgb/hdr_right_01424.png", + "transform_matrix": [ + [ + -0.9900240302085876, + -0.13937152922153473, + -0.020688733085989952, + 56.13996887207031 + ], + [ + 0.02189628593623638, + -0.007136317901313305, + -0.9997348189353943, + -4.134368419647217 + ], + [ + 0.13918694853782654, + -0.990214467048645, + 0.01011684350669384, + -7.164931774139404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1424, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_538470029", + "mask_path": "../../mask/hdr_right_01424.png" + }, + { + "file_path": "../../rgb/hdr_right_01425.png", + "transform_matrix": [ + [ + -0.9897366166114807, + -0.14145275950431824, + -0.020313870161771774, + 56.20379638671875 + ], + [ + 0.02171800471842289, + -0.008389816619455814, + -0.9997289180755615, + -4.143636703491211 + ], + [ + 0.14124400913715363, + -0.9899094700813293, + 0.011375783011317253, + -7.177188396453857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1425, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_638470411", + "mask_path": "../../mask/hdr_right_01425.png" + }, + { + "file_path": "../../rgb/hdr_right_01426.png", + "transform_matrix": [ + [ + -0.9900060892105103, + -0.139468714594841, + -0.020895941182971, + 56.27661895751953 + ], + [ + 0.021562425419688225, + -0.0032695226836949587, + -0.999762237071991, + -4.161463737487793 + ], + [ + 0.1393672376871109, + -0.9902210831642151, + 0.006244134157896042, + -7.194197177886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1426, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_738470554", + "mask_path": "../../mask/hdr_right_01426.png" + }, + { + "file_path": "../../rgb/hdr_right_01427.png", + "transform_matrix": [ + [ + -0.9897698163986206, + -0.14047782123088837, + -0.024933526292443275, + 56.36857223510742 + ], + [ + 0.024812493473291397, + 0.00261308834888041, + -0.9996888041496277, + -4.185266971588135 + ], + [ + 0.14049923419952393, + -0.9900803565979004, + 0.0008992509683594108, + -7.21274471282959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1427, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_838469505", + "mask_path": "../../mask/hdr_right_01427.png" + }, + { + "file_path": "../../rgb/hdr_right_01428.png", + "transform_matrix": [ + [ + -0.9886204600334167, + -0.1465555876493454, + -0.033927444368600845, + 56.442447662353516 + ], + [ + 0.03347650170326233, + 0.005542815662920475, + -0.999424159526825, + -4.208133697509766 + ], + [ + 0.1466592401266098, + -0.9891868829727173, + -0.000573574157897383, + -7.215227127075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1428, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594309_938470125", + "mask_path": "../../mask/hdr_right_01428.png" + }, + { + "file_path": "../../rgb/hdr_right_01429.png", + "transform_matrix": [ + [ + -0.9883770942687988, + -0.14515379071235657, + -0.04517977312207222, + 56.49628448486328 + ], + [ + 0.044133953750133514, + 0.010418607853353024, + -0.9989714026451111, + -4.224984169006348 + ], + [ + 0.14547516405582428, + -0.9893542528152466, + -0.0038913004100322723, + -7.224155426025391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1429, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_38470745", + "mask_path": "../../mask/hdr_right_01429.png" + }, + { + "file_path": "../../rgb/hdr_right_01430.png", + "transform_matrix": [ + [ + -0.9885305762290955, + -0.14004835486412048, + -0.05651336908340454, + 56.570594787597656 + ], + [ + 0.055643562227487564, + 0.010121877305209637, + -0.9983994364738464, + -4.240299701690674 + ], + [ + 0.14039619266986847, + -0.990092933177948, + -0.0022129963617771864, + -7.239598751068115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1430, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_138470888", + "mask_path": "../../mask/hdr_right_01430.png" + }, + { + "file_path": "../../rgb/hdr_right_01431.png", + "transform_matrix": [ + [ + -0.9880169630050659, + -0.14200767874717712, + -0.06046831235289574, + 56.661739349365234 + ], + [ + 0.06073594093322754, + 0.0024528480134904385, + -0.9981509447097778, + -4.2575178146362305 + ], + [ + 0.1418934017419815, + -0.9898624420166016, + 0.00620151637122035, + -7.255259990692139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1431, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_238470792", + "mask_path": "../../mask/hdr_right_01431.png" + }, + { + "file_path": "../../rgb/hdr_right_01432.png", + "transform_matrix": [ + [ + -0.9879631996154785, + -0.14354853332042694, + -0.05764142796397209, + 56.73179244995117 + ], + [ + 0.057968076318502426, + 0.0019091572612524033, + -0.9983166456222534, + -4.26657247543335 + ], + [ + 0.14341694116592407, + -0.9896414875984192, + 0.00643505435436964, + -7.267251968383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1432, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_338469982", + "mask_path": "../../mask/hdr_right_01432.png" + }, + { + "file_path": "../../rgb/hdr_right_01433.png", + "transform_matrix": [ + [ + -0.9885259866714478, + -0.14063283801078796, + -0.055125392973423004, + 56.7913932800293 + ], + [ + 0.054607752710580826, + 0.007540048100054264, + -0.9984794855117798, + -4.272832870483398 + ], + [ + 0.14083464443683624, + -0.9900330901145935, + 0.000226114978431724, + -7.2828779220581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1433, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_438469886", + "mask_path": "../../mask/hdr_right_01433.png" + }, + { + "file_path": "../../rgb/hdr_right_01434.png", + "transform_matrix": [ + [ + -0.9880380630493164, + -0.14397355914115906, + -0.05525019392371178, + 56.866310119628906 + ], + [ + 0.05399487540125847, + 0.01261487603187561, + -0.9984615445137024, + -4.28317403793335 + ], + [ + 0.14444902539253235, + -0.9895011186599731, + -0.004690136760473251, + -7.297978401184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1434, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_538469791", + "mask_path": "../../mask/hdr_right_01434.png" + }, + { + "file_path": "../../rgb/hdr_right_01435.png", + "transform_matrix": [ + [ + -0.9855186939239502, + -0.15764416754245758, + -0.06245981901884079, + 56.93914031982422 + ], + [ + 0.06150401756167412, + 0.010938848368823528, + -0.9980469346046448, + -4.301126956939697 + ], + [ + 0.1580195128917694, + -0.9874354004859924, + -0.0010846887016668916, + -7.309051513671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1435, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_638470411", + "mask_path": "../../mask/hdr_right_01435.png" + }, + { + "file_path": "../../rgb/hdr_right_01436.png", + "transform_matrix": [ + [ + -0.9850084781646729, + -0.1565391719341278, + -0.07248366624116898, + 56.99646759033203 + ], + [ + 0.0717838779091835, + 0.0101265087723732, + -0.9973688721656799, + -4.320581436157227 + ], + [ + 0.1568613052368164, + -0.9876198768615723, + 0.0012622937792912126, + -7.318747043609619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_738469600", + "mask_path": "../../mask/hdr_right_01436.png" + }, + { + "file_path": "../../rgb/hdr_right_01437.png", + "transform_matrix": [ + [ + -0.9853621125221252, + -0.1482047736644745, + -0.0842435285449028, + 57.06239700317383 + ], + [ + 0.08368890732526779, + 0.009985443204641342, + -0.9964419007301331, + -4.336722373962402 + ], + [ + 0.14851868152618408, + -0.9889063239097595, + 0.0025638211518526077, + -7.331749439239502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1437, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_838469982", + "mask_path": "../../mask/hdr_right_01437.png" + }, + { + "file_path": "../../rgb/hdr_right_01438.png", + "transform_matrix": [ + [ + -0.9850699305534363, + -0.14586152136325836, + -0.09144184738397598, + 57.15055465698242 + ], + [ + 0.09164466708898544, + 0.005342814140021801, + -0.995777428150177, + -4.355844974517822 + ], + [ + 0.14573416113853455, + -0.9892905950546265, + 0.008104384876787663, + -7.351409912109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1438, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594310_938470602", + "mask_path": "../../mask/hdr_right_01438.png" + }, + { + "file_path": "../../rgb/hdr_right_01439.png", + "transform_matrix": [ + [ + -0.9842925071716309, + -0.15261372923851013, + -0.08875440806150436, + 57.232093811035156 + ], + [ + 0.0901569351553917, + -0.002280967775732279, + -0.9959250092506409, + -4.371011734008789 + ], + [ + 0.15178938210010529, + -0.9882832765579224, + 0.016004333272576332, + -7.35870885848999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_38470268", + "mask_path": "../../mask/hdr_right_01439.png" + }, + { + "file_path": "../../rgb/hdr_right_01440.png", + "transform_matrix": [ + [ + -0.9852018356323242, + -0.14781120419502258, + -0.08677086979150772, + 57.290618896484375 + ], + [ + 0.08845303952693939, + -0.004832947626709938, + -0.9960685968399048, + -4.381321907043457 + ], + [ + 0.14681074023246765, + -0.9890037775039673, + 0.017835786566138268, + -7.3691020011901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1440, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_138470172", + "mask_path": "../../mask/hdr_right_01440.png" + }, + { + "file_path": "../../rgb/hdr_right_01441.png", + "transform_matrix": [ + [ + -0.9863503575325012, + -0.1406990885734558, + -0.08553890138864517, + 57.36064910888672 + ], + [ + 0.08679807931184769, + -0.002825904404744506, + -0.9962218999862671, + -4.397529125213623 + ], + [ + 0.1399257928133011, + -0.9900484085083008, + 0.014999746344983578, + -7.382940292358398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1441, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_238469362", + "mask_path": "../../mask/hdr_right_01441.png" + }, + { + "file_path": "../../rgb/hdr_right_01442.png", + "transform_matrix": [ + [ + -0.9862630367279053, + -0.13935334980487823, + -0.0886898785829544, + 57.44499206542969 + ], + [ + 0.08973558247089386, + -0.0012264973483979702, + -0.9959648847579956, + -4.424004554748535 + ], + [ + 0.1386822611093521, + -0.9902419447898865, + 0.013714609667658806, + -7.3991570472717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1442, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_338469743", + "mask_path": "../../mask/hdr_right_01442.png" + }, + { + "file_path": "../../rgb/hdr_right_01443.png", + "transform_matrix": [ + [ + -0.9844449162483215, + -0.14531302452087402, + -0.09875433892011642, + 57.52203369140625 + ], + [ + 0.10021417587995529, + -0.0027424257714301348, + -0.9949621558189392, + -4.4507904052734375 + ], + [ + 0.1443101316690445, + -0.9893819093704224, + 0.017262188717722893, + -7.40372371673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1443, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_438468456", + "mask_path": "../../mask/hdr_right_01443.png" + }, + { + "file_path": "../../rgb/hdr_right_01444.png", + "transform_matrix": [ + [ + -0.9838541746139526, + -0.14209121465682983, + -0.10881665349006653, + 57.57225036621094 + ], + [ + 0.11014622449874878, + -0.0015021840808913112, + -0.9939143061637878, + -4.469943046569824 + ], + [ + 0.14106300473213196, + -0.9898524880409241, + 0.017128746956586838, + -7.410838603973389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1444, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_538471460", + "mask_path": "../../mask/hdr_right_01444.png" + }, + { + "file_path": "../../rgb/hdr_right_01445.png", + "transform_matrix": [ + [ + -0.9841340184211731, + -0.13384215533733368, + -0.1164754182100296, + 57.64362335205078 + ], + [ + 0.11792812496423721, + -0.0029511083848774433, + -0.9930177927017212, + -4.4915571212768555 + ], + [ + 0.13256390392780304, + -0.9909983277320862, + 0.018688049167394638, + -7.42331075668335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1445, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_638470172", + "mask_path": "../../mask/hdr_right_01445.png" + }, + { + "file_path": "../../rgb/hdr_right_01446.png", + "transform_matrix": [ + [ + -0.9849251508712769, + -0.12745177745819092, + -0.11695555597543716, + 57.74098205566406 + ], + [ + 0.11911765486001968, + -0.009450001642107964, + -0.9928352236747742, + -4.513020038604736 + ], + [ + 0.12543338537216187, + -0.9917997717857361, + 0.024489304050803185, + -7.433172702789307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1446, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_738470792", + "mask_path": "../../mask/hdr_right_01446.png" + }, + { + "file_path": "../../rgb/hdr_right_01447.png", + "transform_matrix": [ + [ + -0.9857070446014404, + -0.12705349922180176, + -0.110630102455616, + 57.81396484375 + ], + [ + 0.11307039856910706, + -0.012135740369558334, + -0.9935128688812256, + -4.527512073516846 + ], + [ + 0.12488671392202377, + -0.9918215870857239, + 0.026328276842832565, + -7.439504146575928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1447, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_838469743", + "mask_path": "../../mask/hdr_right_01447.png" + }, + { + "file_path": "../../rgb/hdr_right_01448.png", + "transform_matrix": [ + [ + -0.9870705604553223, + -0.1217138022184372, + -0.10429489612579346, + 57.871337890625 + ], + [ + 0.1060660108923912, + -0.008146671578288078, + -0.9943257570266724, + -4.538726329803467 + ], + [ + 0.12017351388931274, + -0.9925318360328674, + 0.02095104567706585, + -7.455443859100342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1448, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594311_938470602", + "mask_path": "../../mask/hdr_right_01448.png" + }, + { + "file_path": "../../rgb/hdr_right_01449.png", + "transform_matrix": [ + [ + -0.9884193539619446, + -0.1198231428861618, + -0.09311048686504364, + 57.953277587890625 + ], + [ + 0.09387184679508209, + -0.0007130397716537118, + -0.9955841302871704, + -4.559024810791016 + ], + [ + 0.11922761797904968, + -0.9927949905395508, + 0.011952805332839489, + -7.465997695922852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1449, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_38470506", + "mask_path": "../../mask/hdr_right_01449.png" + }, + { + "file_path": "../../rgb/hdr_right_01450.png", + "transform_matrix": [ + [ + -0.9885086417198181, + -0.12792949378490448, + -0.08052743226289749, + 58.02707290649414 + ], + [ + 0.08031195402145386, + 0.006850132253021002, + -0.996746301651001, + -4.578608989715576 + ], + [ + 0.1280648559331894, + -0.9917595982551575, + 0.003502852749079466, + -7.468456745147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1450, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_138473749", + "mask_path": "../../mask/hdr_right_01450.png" + }, + { + "file_path": "../../rgb/hdr_right_01451.png", + "transform_matrix": [ + [ + -0.9897066354751587, + -0.12803985178470612, + -0.06392652541399002, + 58.07419204711914 + ], + [ + 0.06289061903953552, + 0.0121209267526865, + -0.9979469180107117, + -4.586421489715576 + ], + [ + 0.12855181097984314, + -0.991694986820221, + -0.003943648189306259, + -7.47874641418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1451, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_238470077", + "mask_path": "../../mask/hdr_right_01451.png" + }, + { + "file_path": "../../rgb/hdr_right_01452.png", + "transform_matrix": [ + [ + -0.9914743304252625, + -0.12163445353507996, + -0.04672907292842865, + 58.135353088378906 + ], + [ + 0.04481647163629532, + 0.018413901329040527, + -0.9988256096839905, + -4.58988094329834 + ], + [ + 0.12235204875469208, + -0.9924042224884033, + -0.012805684469640255, + -7.492481708526611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1452, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_338469982", + "mask_path": "../../mask/hdr_right_01452.png" + }, + { + "file_path": "../../rgb/hdr_right_01453.png", + "transform_matrix": [ + [ + -0.9923600554466248, + -0.12028834223747253, + -0.02742852456867695, + 58.21881866455078 + ], + [ + 0.025562942028045654, + 0.017025187611579895, + -0.9995282888412476, + -4.595071315765381 + ], + [ + 0.12069855630397797, + -0.992592990398407, + -0.013820188120007515, + -7.50696325302124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1453, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_438468933", + "mask_path": "../../mask/hdr_right_01453.png" + }, + { + "file_path": "../../rgb/hdr_right_01454.png", + "transform_matrix": [ + [ + -0.9917241930961609, + -0.12785452604293823, + -0.011679045855998993, + 58.29746627807617 + ], + [ + 0.010211353190243244, + 0.012128772214055061, + -0.9998743534088135, + -4.599775314331055 + ], + [ + 0.1279800832271576, + -0.9917187690734863, + -0.01072282437235117, + -7.518694877624512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1454, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_538469314", + "mask_path": "../../mask/hdr_right_01454.png" + }, + { + "file_path": "../../rgb/hdr_right_01455.png", + "transform_matrix": [ + [ + -0.9920697212219238, + -0.12541775405406952, + -0.008244326338171959, + 58.357826232910156 + ], + [ + 0.006679253187030554, + 0.012893891893327236, + -0.9998946189880371, + -4.602079391479492 + ], + [ + 0.1255108118057251, + -0.9920201897621155, + -0.011953942477703094, + -7.526313781738281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1455, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_638468980", + "mask_path": "../../mask/hdr_right_01455.png" + }, + { + "file_path": "../../rgb/hdr_right_01456.png", + "transform_matrix": [ + [ + -0.9924210906028748, + -0.12261833250522614, + -0.008071275427937508, + 58.428958892822266 + ], + [ + 0.005368195008486509, + 0.022358624264597893, + -0.9997356534004211, + -4.61169958114624 + ], + [ + 0.1227663904428482, + -0.9922020435333252, + -0.02153092995285988, + -7.533309459686279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1456, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_738469123", + "mask_path": "../../mask/hdr_right_01456.png" + }, + { + "file_path": "../../rgb/hdr_right_01457.png", + "transform_matrix": [ + [ + -0.9919376373291016, + -0.12623853981494904, + -0.011112247593700886, + 58.51020431518555 + ], + [ + 0.007613121531903744, + 0.028166860342025757, + -0.9995742440223694, + -4.621456623077393 + ], + [ + 0.1264978051185608, + -0.9915999174118042, + -0.02697869762778282, + -7.547470569610596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1457, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_838468790", + "mask_path": "../../mask/hdr_right_01457.png" + }, + { + "file_path": "../../rgb/hdr_right_01458.png", + "transform_matrix": [ + [ + -0.9910492897033691, + -0.1318555772304535, + -0.02086709812283516, + 58.58821105957031 + ], + [ + 0.017556946724653244, + 0.026217225939035416, + -0.9995021224021912, + -4.631548881530762 + ], + [ + 0.13233700394630432, + -0.990922212600708, + -0.023667583242058754, + -7.555793762207031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1458, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594312_938469409", + "mask_path": "../../mask/hdr_right_01458.png" + }, + { + "file_path": "../../rgb/hdr_right_01459.png", + "transform_matrix": [ + [ + -0.9912259578704834, + -0.12807375192642212, + -0.03268338367342949, + 58.65890884399414 + ], + [ + 0.02933620847761631, + 0.027934852987527847, + -0.9991792440414429, + -4.640500545501709 + ], + [ + 0.12888163328170776, + -0.9913711547851562, + -0.023932553827762604, + -7.566927909851074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1459, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_38469314", + "mask_path": "../../mask/hdr_right_01459.png" + }, + { + "file_path": "../../rgb/hdr_right_01460.png", + "transform_matrix": [ + [ + -0.9914869666099548, + -0.1221059262752533, + -0.04520847275853157, + 58.7568473815918 + ], + [ + 0.04231780394911766, + 0.026165051385760307, + -0.9987615346908569, + -4.653857231140137 + ], + [ + 0.12313758581876755, + -0.992172122001648, + -0.020775048062205315, + -7.582118988037109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1460, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_138469934", + "mask_path": "../../mask/hdr_right_01460.png" + }, + { + "file_path": "../../rgb/hdr_right_01461.png", + "transform_matrix": [ + [ + -0.9909719228744507, + -0.12467621266841888, + -0.04929979518055916, + 58.86197280883789 + ], + [ + 0.04715689644217491, + 0.020082373172044754, + -0.9986856579780579, + -4.669519901275635 + ], + [ + 0.12550239264965057, + -0.9919942021369934, + -0.01402172539383173, + -7.599020481109619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1461, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_238469839", + "mask_path": "../../mask/hdr_right_01461.png" + }, + { + "file_path": "../../rgb/hdr_right_01462.png", + "transform_matrix": [ + [ + -0.9908626675605774, + -0.12607912719249725, + -0.04790760576725006, + 58.92934799194336 + ], + [ + 0.04644796997308731, + 0.01449305284768343, + -0.998815655708313, + -4.673357009887695 + ], + [ + 0.12662413716316223, + -0.9919143319129944, + -0.008504505269229412, + -7.613863945007324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1462, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_338471174", + "mask_path": "../../mask/hdr_right_01462.png" + }, + { + "file_path": "../../rgb/hdr_right_01463.png", + "transform_matrix": [ + [ + -0.9910963177680969, + -0.12434957921504974, + -0.04759599640965462, + 58.99968338012695 + ], + [ + 0.04600409418344498, + 0.015643499791622162, + -0.9988187551498413, + -4.684181213378906 + ], + [ + 0.12494724988937378, + -0.9921151995658875, + -0.009783623740077019, + -7.628916263580322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1463, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_438470125", + "mask_path": "../../mask/hdr_right_01463.png" + }, + { + "file_path": "../../rgb/hdr_right_01464.png", + "transform_matrix": [ + [ + -0.9902034401893616, + -0.13002468645572662, + -0.05089884623885155, + 59.08147048950195 + ], + [ + 0.049142058938741684, + 0.016686011105775833, + -0.9986525177955627, + -4.707182884216309 + ], + [ + 0.1306987702846527, + -0.9913703799247742, + -0.010132864117622375, + -7.645402908325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1464, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_538470506", + "mask_path": "../../mask/hdr_right_01464.png" + }, + { + "file_path": "../../rgb/hdr_right_01465.png", + "transform_matrix": [ + [ + -0.9885046482086182, + -0.13853082060813904, + -0.06056297942996025, + 59.15423583984375 + ], + [ + 0.05929705500602722, + 0.013250919058918953, + -0.9981525540351868, + -4.732461929321289 + ], + [ + 0.13907738029956818, + -0.9902694821357727, + -0.004884121008217335, + -7.652569770812988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1465, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_638469696", + "mask_path": "../../mask/hdr_right_01465.png" + }, + { + "file_path": "../../rgb/hdr_right_01466.png", + "transform_matrix": [ + [ + -0.9880383014678955, + -0.136166051030159, + -0.07238280773162842, + 59.21307373046875 + ], + [ + 0.07112488150596619, + 0.014087026938796043, + -0.9973679780960083, + -4.750366687774658 + ], + [ + 0.13682730495929718, + -0.9905858039855957, + -0.004233726300299168, + -7.664229393005371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1466, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_738470554", + "mask_path": "../../mask/hdr_right_01466.png" + }, + { + "file_path": "../../rgb/hdr_right_01467.png", + "transform_matrix": [ + [ + -0.9874882102012634, + -0.13311046361923218, + -0.08455011993646622, + 59.28864288330078 + ], + [ + 0.08367549628019333, + 0.012161290273070335, + -0.996418833732605, + -4.7724609375 + ], + [ + 0.13366201519966125, + -0.9910265803337097, + -0.0008710514521226287, + -7.679551124572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1467, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_838470220", + "mask_path": "../../mask/hdr_right_01467.png" + }, + { + "file_path": "../../rgb/hdr_right_01468.png", + "transform_matrix": [ + [ + -0.986120343208313, + -0.14115005731582642, + -0.08742650598287582, + 59.385711669921875 + ], + [ + 0.08784562349319458, + 0.0032708756625652313, + -0.9961287975311279, + -4.796207904815674 + ], + [ + 0.14088958501815796, + -0.9899827837944031, + 0.009173938073217869, + -7.700341701507568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1468, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594313_938470363", + "mask_path": "../../mask/hdr_right_01468.png" + }, + { + "file_path": "../../rgb/hdr_right_01469.png", + "transform_matrix": [ + [ + -0.9859131574630737, + -0.14588679373264313, + -0.08180712908506393, + 59.46400833129883 + ], + [ + 0.08267444372177124, + 0.00011798508057836443, + -0.996576726436615, + -4.815909385681152 + ], + [ + 0.14539702236652374, + -0.9893012642860413, + 0.01194478664547205, + -7.710932731628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1469, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_38469791", + "mask_path": "../../mask/hdr_right_01469.png" + }, + { + "file_path": "../../rgb/hdr_right_01470.png", + "transform_matrix": [ + [ + -0.9873871803283691, + -0.141900897026062, + -0.07021980732679367, + 59.537906646728516 + ], + [ + 0.07067947834730148, + 0.001804532133974135, + -0.9974974393844604, + -4.8275465965271 + ], + [ + 0.1416725069284439, + -0.9898791909217834, + 0.008247708901762962, + -7.7264251708984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1470, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_138470172", + "mask_path": "../../mask/hdr_right_01470.png" + }, + { + "file_path": "../../rgb/hdr_right_01471.png", + "transform_matrix": [ + [ + -0.9884182214736938, + -0.14142785966396332, + -0.0550229474902153, + 59.62922286987305 + ], + [ + 0.05424576252698898, + 0.009347462095320225, + -0.9984838962554932, + -4.840311527252197 + ], + [ + 0.1417277455329895, + -0.9899044036865234, + -0.0015673318412154913, + -7.746457576751709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1471, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_238470315", + "mask_path": "../../mask/hdr_right_01471.png" + }, + { + "file_path": "../../rgb/hdr_right_01472.png", + "transform_matrix": [ + [ + -0.9877320528030396, + -0.14999984204769135, + -0.0434228852391243, + 59.70792007446289 + ], + [ + 0.04156075790524483, + 0.015527952462434769, + -0.9990153908729553, + -4.855193138122559 + ], + [ + 0.15052641928195953, + -0.9885640740394592, + -0.009103341028094292, + -7.753115653991699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1472, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_338470458", + "mask_path": "../../mask/hdr_right_01472.png" + }, + { + "file_path": "../../rgb/hdr_right_01473.png", + "transform_matrix": [ + [ + -0.9885197281837463, + -0.14762131869792938, + -0.03219867870211601, + 59.7611198425293 + ], + [ + 0.02968057058751583, + 0.019229721277952194, + -0.9993744492530823, + -4.863513469696045 + ], + [ + 0.14814813435077667, + -0.9888569712638855, + -0.014627475291490555, + -7.757798194885254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1473, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_438470125", + "mask_path": "../../mask/hdr_right_01473.png" + }, + { + "file_path": "../../rgb/hdr_right_01474.png", + "transform_matrix": [ + [ + -0.989913821220398, + -0.1395268440246582, + -0.024554239585995674, + 59.83658981323242 + ], + [ + 0.02187046781182289, + 0.020735789090394974, + -0.9995457530021667, + -4.872634410858154 + ], + [ + 0.13997262716293335, + -0.9900011420249939, + -0.017475124448537827, + -7.772911548614502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1474, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_538470745", + "mask_path": "../../mask/hdr_right_01474.png" + }, + { + "file_path": "../../rgb/hdr_right_01475.png", + "transform_matrix": [ + [ + -0.9901731014251709, + -0.1383725106716156, + -0.020259827375411987, + 59.93958282470703 + ], + [ + 0.018293319270014763, + 0.01546862255781889, + -0.9997130632400513, + -4.89252233505249 + ], + [ + 0.138646200299263, + -0.9902594089508057, + -0.012785318307578564, + -7.797524452209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1475, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_638469934", + "mask_path": "../../mask/hdr_right_01475.png" + }, + { + "file_path": "../../rgb/hdr_right_01476.png", + "transform_matrix": [ + [ + -0.9902117848396301, + -0.13820359110832214, + -0.01950451359152794, + 60.025245666503906 + ], + [ + 0.016546979546546936, + 0.02251644805073738, + -0.999609649181366, + -4.904250144958496 + ], + [ + 0.1385888010263443, + -0.9901478886604309, + -0.020009195432066917, + -7.807668209075928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1476, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_738469600", + "mask_path": "../../mask/hdr_right_01476.png" + }, + { + "file_path": "../../rgb/hdr_right_01477.png", + "transform_matrix": [ + [ + -0.9910655617713928, + -0.13212572038173676, + -0.018218088895082474, + 60.10049057006836 + ], + [ + 0.014448083937168121, + 0.02943626046180725, + -0.9994622468948364, + -4.903957843780518 + ], + [ + 0.13259094953536987, + -0.9907957911491394, + -0.027264300733804703, + -7.824491500854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_838469982", + "mask_path": "../../mask/hdr_right_01477.png" + }, + { + "file_path": "../../rgb/hdr_right_01478.png", + "transform_matrix": [ + [ + -0.9908251762390137, + -0.1336182802915573, + -0.02028893306851387, + 60.18791198730469 + ], + [ + 0.015750210732221603, + 0.03493765369057655, + -0.9992654323577881, + -4.915957450866699 + ], + [ + 0.13422897458076477, + -0.9904168248176575, + -0.032512590289115906, + -7.840628623962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1478, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594314_938470125", + "mask_path": "../../mask/hdr_right_01478.png" + }, + { + "file_path": "../../rgb/hdr_right_01479.png", + "transform_matrix": [ + [ + -0.9889506101608276, + -0.1449175626039505, + -0.031231673434376717, + 60.268455505371094 + ], + [ + 0.026221510022878647, + 0.036354925483465195, + -0.9989949464797974, + -4.9371337890625 + ], + [ + 0.14590732753276825, + -0.9887756109237671, + -0.03215327113866806, + -7.842443943023682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1479, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_38470983", + "mask_path": "../../mask/hdr_right_01479.png" + }, + { + "file_path": "../../rgb/hdr_right_01480.png", + "transform_matrix": [ + [ + -0.9895064830780029, + -0.13816669583320618, + -0.042270589619874954, + 60.33543014526367 + ], + [ + 0.03713580593466759, + 0.03953339532017708, + -0.998528003692627, + -4.953222274780273 + ], + [ + 0.1396344006061554, + -0.9896197319030762, + -0.0339876189827919, + -7.8470988273620605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1480, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_138469696", + "mask_path": "../../mask/hdr_right_01480.png" + }, + { + "file_path": "../../rgb/hdr_right_01481.png", + "transform_matrix": [ + [ + -0.9902704358100891, + -0.12888860702514648, + -0.052460867911577225, + 60.415592193603516 + ], + [ + 0.04778287559747696, + 0.03912464156746864, + -0.9980912804603577, + -4.968710899353027 + ], + [ + 0.13069508969783783, + -0.9908869862556458, + -0.032585304230451584, + -7.859378814697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1481, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_238470077", + "mask_path": "../../mask/hdr_right_01481.png" + }, + { + "file_path": "../../rgb/hdr_right_01482.png", + "transform_matrix": [ + [ + -0.9903326034545898, + -0.12648683786392212, + -0.05694260448217392, + 60.52189636230469 + ], + [ + 0.05328402668237686, + 0.032124679535627365, + -0.9980625510215759, + -4.9814887046813965 + ], + [ + 0.12807103991508484, + -0.9914479851722717, + -0.025074388831853867, + -7.8788347244262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1482, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_338469028", + "mask_path": "../../mask/hdr_right_01482.png" + }, + { + "file_path": "../../rgb/hdr_right_01483.png", + "transform_matrix": [ + [ + -0.99046391248703, + -0.12683118879795074, + -0.053805552423000336, + 60.60249328613281 + ], + [ + 0.049783188849687576, + 0.03467565402388573, + -0.9981579184532166, + -4.989985942840576 + ], + [ + 0.12846331298351288, + -0.9913180470466614, + -0.02803092822432518, + -7.8891096115112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1483, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_438470363", + "mask_path": "../../mask/hdr_right_01483.png" + }, + { + "file_path": "../../rgb/hdr_right_01484.png", + "transform_matrix": [ + [ + -0.9915237426757812, + -0.11943938583135605, + -0.05113640055060387, + 60.669864654541016 + ], + [ + 0.04648604243993759, + 0.04140334203839302, + -0.9980605840682983, + -4.994281768798828 + ], + [ + 0.12132495641708374, + -0.9919778108596802, + -0.03550013527274132, + -7.9055047035217285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1484, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_538470268", + "mask_path": "../../mask/hdr_right_01484.png" + }, + { + "file_path": "../../rgb/hdr_right_01485.png", + "transform_matrix": [ + [ + -0.9916650652885437, + -0.11842363327741623, + -0.05075746402144432, + 60.750694274902344 + ], + [ + 0.04588005691766739, + 0.043556276708841324, + -0.997996985912323, + -5.012892723083496 + ], + [ + 0.12039722502231598, + -0.9920074343681335, + -0.03775995597243309, + -7.916874408721924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_638468742", + "mask_path": "../../mask/hdr_right_01485.png" + }, + { + "file_path": "../../rgb/hdr_right_01486.png", + "transform_matrix": [ + [ + -0.9905280470848083, + -0.12627249956130981, + -0.05393989011645317, + 60.824886322021484 + ], + [ + 0.049443282186985016, + 0.038479674607515335, + -0.9980354905128479, + -5.031493663787842 + ], + [ + 0.12810002267360687, + -0.9912490248680115, + -0.031871866434812546, + -7.917219638824463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1486, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_738470554", + "mask_path": "../../mask/hdr_right_01486.png" + }, + { + "file_path": "../../rgb/hdr_right_01487.png", + "transform_matrix": [ + [ + -0.9912685751914978, + -0.12184952944517136, + -0.05039118602871895, + 60.89362716674805 + ], + [ + 0.0457121841609478, + 0.04089648276567459, + -0.998117208480835, + -5.044215202331543 + ], + [ + 0.12368092685937881, + -0.9917057156562805, + -0.03496939316391945, + -7.922156810760498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1487, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_838469743", + "mask_path": "../../mask/hdr_right_01487.png" + }, + { + "file_path": "../../rgb/hdr_right_01488.png", + "transform_matrix": [ + [ + -0.9924044013023376, + -0.11292116343975067, + -0.048809755593538284, + 60.974456787109375 + ], + [ + 0.04465391859412193, + 0.03904500976204872, + -0.9982393383979797, + -5.05573034286499 + ], + [ + 0.11462811380624771, + -0.9928365349769592, + -0.03370606526732445, + -7.932719707489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594315_938470602", + "mask_path": "../../mask/hdr_right_01488.png" + }, + { + "file_path": "../../rgb/hdr_right_01489.png", + "transform_matrix": [ + [ + -0.9927372932434082, + -0.11198371648788452, + -0.04395928233861923, + 61.07246780395508 + ], + [ + 0.04111093655228615, + 0.02761978842318058, + -0.9987728595733643, + -5.073501110076904 + ], + [ + 0.11306042969226837, + -0.9933261275291443, + -0.022815441712737083, + -7.952305316925049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1489, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_38469791", + "mask_path": "../../mask/hdr_right_01489.png" + }, + { + "file_path": "../../rgb/hdr_right_01490.png", + "transform_matrix": [ + [ + -0.9927855730056763, + -0.11398662626743317, + -0.037202510982751846, + 61.15678405761719 + ], + [ + 0.03440415859222412, + 0.026419999077916145, + -0.9990588426589966, + -5.088064670562744 + ], + [ + 0.11486221849918365, + -0.9931309223175049, + -0.022307774052023888, + -7.9650044441223145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1490, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_138470411", + "mask_path": "../../mask/hdr_right_01490.png" + }, + { + "file_path": "../../rgb/hdr_right_01491.png", + "transform_matrix": [ + [ + -0.9936270713806152, + -0.10910079628229141, + -0.028323013335466385, + 61.22874450683594 + ], + [ + 0.02534511871635914, + 0.02858552150428295, + -0.9992700815200806, + -5.090439319610596 + ], + [ + 0.10983077436685562, + -0.9936195611953735, + -0.025638176128268242, + -7.978001594543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1491, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_238469839", + "mask_path": "../../mask/hdr_right_01491.png" + }, + { + "file_path": "../../rgb/hdr_right_01492.png", + "transform_matrix": [ + [ + -0.9934539198875427, + -0.11177929490804672, + -0.023551784455776215, + 61.31378936767578 + ], + [ + 0.019747085869312286, + 0.03502340987324715, + -0.999191403388977, + -5.100263595581055 + ], + [ + 0.11251377314329147, + -0.9931156635284424, + -0.032586824148893356, + -7.989100933074951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1492, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_338470458", + "mask_path": "../../mask/hdr_right_01492.png" + }, + { + "file_path": "../../rgb/hdr_right_01493.png", + "transform_matrix": [ + [ + -0.9915941953659058, + -0.12627346813678741, + -0.02821393311023712, + 61.388710021972656 + ], + [ + 0.023419944569468498, + 0.039290089160203934, + -0.9989534020423889, + -5.117992401123047 + ], + [ + 0.1272498369216919, + -0.9912170767784119, + -0.0360025092959404, + -7.991565227508545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1493, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_438470125", + "mask_path": "../../mask/hdr_right_01493.png" + }, + { + "file_path": "../../rgb/hdr_right_01494.png", + "transform_matrix": [ + [ + -0.9918041229248047, + -0.12392815202474594, + -0.031085636466741562, + 61.44633865356445 + ], + [ + 0.02625260129570961, + 0.04044259712100029, + -0.9988369941711426, + -5.13154411315918 + ], + [ + 0.125041201710701, + -0.9914666414260864, + -0.03685770183801651, + -7.997270584106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1494, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_538470506", + "mask_path": "../../mask/hdr_right_01494.png" + }, + { + "file_path": "../../rgb/hdr_right_01495.png", + "transform_matrix": [ + [ + -0.9926338195800781, + -0.1164887547492981, + -0.03329379856586456, + 61.513587951660156 + ], + [ + 0.028666650876402855, + 0.041174422949552536, + -0.9987407326698303, + -5.1420087814331055 + ], + [ + 0.11771289259195328, + -0.9923381805419922, + -0.037531778216362, + -8.010684967041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1495, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_638469934", + "mask_path": "../../mask/hdr_right_01495.png" + }, + { + "file_path": "../../rgb/hdr_right_01496.png", + "transform_matrix": [ + [ + -0.9923369288444519, + -0.11925991624593735, + -0.032318998128175735, + 61.609195709228516 + ], + [ + 0.028294509276747704, + 0.0352860651910305, + -0.9989767074584961, + -5.153100490570068 + ], + [ + 0.1202782690525055, + -0.9922357797622681, + -0.031641263514757156, + -8.030923843383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1496, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_738470315", + "mask_path": "../../mask/hdr_right_01496.png" + }, + { + "file_path": "../../rgb/hdr_right_01497.png", + "transform_matrix": [ + [ + -0.9909042716026306, + -0.13234026730060577, + -0.02439054287970066, + 61.691162109375 + ], + [ + 0.020503491163253784, + 0.030655432492494583, + -0.9993196725845337, + -5.1589531898498535 + ], + [ + 0.13299795985221863, + -0.9907301664352417, + -0.027663161978125572, + -8.047021865844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1497, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_838470935", + "mask_path": "../../mask/hdr_right_01497.png" + }, + { + "file_path": "../../rgb/hdr_right_01498.png", + "transform_matrix": [ + [ + -0.9914172291755676, + -0.12993669509887695, + -0.014436558820307255, + 61.752506256103516 + ], + [ + 0.0102611742913723, + 0.03274628147482872, + -0.9994110465049744, + -5.1581130027771 + ], + [ + 0.13033291697502136, + -0.9909813404083252, + -0.031131921336054802, + -8.061453819274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1498, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594316_938469409", + "mask_path": "../../mask/hdr_right_01498.png" + }, + { + "file_path": "../../rgb/hdr_right_01499.png", + "transform_matrix": [ + [ + -0.9915487170219421, + -0.12960880994796753, + -0.0057192896492779255, + 61.82575225830078 + ], + [ + 0.0007420920883305371, + 0.038417454808950424, + -0.9992614984512329, + -5.162024974822998 + ], + [ + 0.12973283231258392, + -0.9908207058906555, + -0.03799660503864288, + -8.077186584472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1499, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_38469314", + "mask_path": "../../mask/hdr_right_01499.png" + }, + { + "file_path": "../../rgb/hdr_right_01500.png", + "transform_matrix": [ + [ + -0.9904898405075073, + -0.1375686228275299, + -0.00220143748447299, + 61.90786361694336 + ], + [ + -0.0033340754453092813, + 0.03999446704983711, + -0.9991944432258606, + -5.174464225769043 + ], + [ + 0.13754582405090332, + -0.9896844029426575, + -0.04007276892662048, + -8.090142250061035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1500, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_138468742", + "mask_path": "../../mask/hdr_right_01500.png" + }, + { + "file_path": "../../rgb/hdr_right_01501.png", + "transform_matrix": [ + [ + -0.9900188446044922, + -0.14091818034648895, + -0.0021906946785748005, + 61.9785270690918 + ], + [ + -0.0028609333094209433, + 0.03563524782657623, + -0.9993606805801392, + -5.185112953186035 + ], + [ + 0.1409061700105667, + -0.9893797636032104, + -0.03568272665143013, + -8.09480094909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1501, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_238469362", + "mask_path": "../../mask/hdr_right_01501.png" + }, + { + "file_path": "../../rgb/hdr_right_01502.png", + "transform_matrix": [ + [ + -0.990715742111206, + -0.13590024411678314, + -0.0036825821734964848, + 62.04414367675781 + ], + [ + -0.0014382119989022613, + 0.03756294026970863, + -0.9992932677268982, + -5.194800853729248 + ], + [ + 0.13594253361225128, + -0.990010142326355, + -0.037409644573926926, + -8.106313705444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1502, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_338469266", + "mask_path": "../../mask/hdr_right_01502.png" + }, + { + "file_path": "../../rgb/hdr_right_01503.png", + "transform_matrix": [ + [ + -0.9917105436325073, + -0.1283487230539322, + -0.006054036784917116, + 62.12932205200195 + ], + [ + 0.001273305038921535, + 0.03729722648859024, + -0.99930340051651, + -5.206785678863525 + ], + [ + 0.12848511338233948, + -0.9910275340080261, + -0.036824628710746765, + -8.123968124389648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1503, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_438468694", + "mask_path": "../../mask/hdr_right_01503.png" + }, + { + "file_path": "../../rgb/hdr_right_01504.png", + "transform_matrix": [ + [ + -0.9914778470993042, + -0.13025598227977753, + -0.002261422574520111, + 62.230037689208984 + ], + [ + -0.001616704510524869, + 0.029659729450941086, + -0.9995588064193726, + -5.213979721069336 + ], + [ + 0.13026556372642517, + -0.9910366535186768, + -0.0296175517141819, + -8.140480041503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1504, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_538470029", + "mask_path": "../../mask/hdr_right_01504.png" + }, + { + "file_path": "../../rgb/hdr_right_01505.png", + "transform_matrix": [ + [ + -0.9912959337234497, + -0.13151320815086365, + 0.006052781827747822, + 62.30310821533203 + ], + [ + -0.009501799009740353, + 0.025613708421587944, + -0.9996267557144165, + -5.220184803009033 + ], + [ + 0.13130909204483032, + -0.9909834861755371, + -0.026640374213457108, + -8.153276443481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1505, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_638470411", + "mask_path": "../../mask/hdr_right_01505.png" + }, + { + "file_path": "../../rgb/hdr_right_01506.png", + "transform_matrix": [ + [ + -0.9916079044342041, + -0.128691166639328, + 0.01234335545450449, + 62.36992645263672 + ], + [ + -0.015812896192073822, + 0.025973377749323845, + -0.9995376467704773, + -5.229226112365723 + ], + [ + 0.12831105291843414, + -0.9913444519042969, + -0.027790388092398643, + -8.170164108276367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1506, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_738470077", + "mask_path": "../../mask/hdr_right_01506.png" + }, + { + "file_path": "../../rgb/hdr_right_01507.png", + "transform_matrix": [ + [ + -0.9912394881248474, + -0.13107556104660034, + 0.01623663306236267, + 62.45116424560547 + ], + [ + -0.020116575062274933, + 0.028330836445093155, + -0.9993961453437805, + -5.24102258682251 + ], + [ + 0.13053642213344574, + -0.9909674525260925, + -0.030719436705112457, + -8.186209678649902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1507, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_838469982", + "mask_path": "../../mask/hdr_right_01507.png" + }, + { + "file_path": "../../rgb/hdr_right_01508.png", + "transform_matrix": [ + [ + -0.9898301959037781, + -0.14159855246543884, + 0.013642086647450924, + 62.52573013305664 + ], + [ + -0.01778392679989338, + 0.02802608534693718, + -0.9994490146636963, + -5.253899574279785 + ], + [ + 0.1411381959915161, + -0.9895272850990295, + -0.03025924600660801, + -8.196505546569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1508, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594317_938470602", + "mask_path": "../../mask/hdr_right_01508.png" + }, + { + "file_path": "../../rgb/hdr_right_01509.png", + "transform_matrix": [ + [ + -0.9899336099624634, + -0.14129111170768738, + 0.008260930888354778, + 62.576271057128906 + ], + [ + -0.012621966190636158, + 0.029997320845723152, + -0.9994703531265259, + -5.263461112976074 + ], + [ + 0.1409684717655182, + -0.9895135164260864, + -0.03147872909903526, + -8.199697494506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_38470745", + "mask_path": "../../mask/hdr_right_01509.png" + }, + { + "file_path": "../../rgb/hdr_right_01511.png", + "transform_matrix": [ + [ + -0.9912468791007996, + -0.1319853514432907, + -0.0031063612550497055, + 62.70909881591797 + ], + [ + -0.0009375594672746956, + 0.03056599386036396, + -0.9995323419570923, + -5.282149314880371 + ], + [ + 0.1320185661315918, + -0.9907802939414978, + -0.030422188341617584, + -8.222192764282227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_238471746", + "mask_path": "../../mask/hdr_right_01511.png" + }, + { + "file_path": "../../rgb/hdr_right_01512.png", + "transform_matrix": [ + [ + -0.9903602004051208, + -0.1385122537612915, + -0.0010514153400436044, + 62.78656005859375 + ], + [ + -0.0025879652239382267, + 0.0260918065905571, + -0.9996562600135803, + -5.285985946655273 + ], + [ + 0.13849204778671265, + -0.9900169968605042, + -0.026198748499155045, + -8.23427677154541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1512, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_338470458", + "mask_path": "../../mask/hdr_right_01512.png" + }, + { + "file_path": "../../rgb/hdr_right_01513.png", + "transform_matrix": [ + [ + -0.9904450178146362, + -0.13787612318992615, + 0.0029836909379810095, + 62.845855712890625 + ], + [ + -0.00652859965339303, + 0.025265734642744064, + -0.9996594190597534, + -5.287111759185791 + ], + [ + 0.13775376975536346, + -0.9901271462440491, + -0.025924457237124443, + -8.247591018676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_438472270", + "mask_path": "../../mask/hdr_right_01513.png" + }, + { + "file_path": "../../rgb/hdr_right_01514.png", + "transform_matrix": [ + [ + -0.9903892874717712, + -0.13812817633152008, + 0.007047233637422323, + 62.91316604614258 + ], + [ + -0.011386915110051632, + 0.03065253421664238, + -0.99946528673172, + -5.290932655334473 + ], + [ + 0.13783830404281616, + -0.9899399280548096, + -0.031930793076753616, + -8.260078430175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1514, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_538469314", + "mask_path": "../../mask/hdr_right_01514.png" + }, + { + "file_path": "../../rgb/hdr_right_01515.png", + "transform_matrix": [ + [ + -0.989088237285614, + -0.14719833433628082, + 0.006089255213737488, + 62.99214172363281 + ], + [ + -0.011172766797244549, + 0.0337328240275383, + -0.9993683695793152, + -5.304047584533691 + ], + [ + 0.14689995348453522, + -0.9885315895080566, + -0.03500935062766075, + -8.277783393859863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1515, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_638470649", + "mask_path": "../../mask/hdr_right_01515.png" + }, + { + "file_path": "../../rgb/hdr_right_01516.png", + "transform_matrix": [ + [ + -0.9880171418190002, + -0.15432791411876678, + 0.0022096012253314257, + 63.05642318725586 + ], + [ + -0.007087008096277714, + 0.03106090798974037, + -0.9994924068450928, + -5.317377090454102 + ], + [ + 0.15418094396591187, + -0.987531304359436, + -0.03178243339061737, + -8.28569221496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1516, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_738470077", + "mask_path": "../../mask/hdr_right_01516.png" + }, + { + "file_path": "../../rgb/hdr_right_01517.png", + "transform_matrix": [ + [ + -0.9884521961212158, + -0.15150007605552673, + -0.0031739540863782167, + 63.1159553527832 + ], + [ + -0.0018459864659234881, + 0.03298267722129822, + -0.9994542002677917, + -5.327249050140381 + ], + [ + 0.15152207016944885, + -0.987906813621521, + -0.032881464809179306, + -8.298810005187988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_838470220", + "mask_path": "../../mask/hdr_right_01517.png" + }, + { + "file_path": "../../rgb/hdr_right_01518.png", + "transform_matrix": [ + [ + -0.9888775944709778, + -0.14838294684886932, + -0.010178978554904461, + 63.20321273803711 + ], + [ + 0.005598719697445631, + 0.03125252574682236, + -0.9994959235191345, + -5.342559814453125 + ], + [ + 0.14862625300884247, + -0.9884359836578369, + -0.030074162408709526, + -8.318077087402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1518, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594318_938469886", + "mask_path": "../../mask/hdr_right_01518.png" + }, + { + "file_path": "../../rgb/hdr_right_01519.png", + "transform_matrix": [ + [ + -0.9875510334968567, + -0.15706346929073334, + -0.008610944263637066, + 63.305850982666016 + ], + [ + 0.00583591079339385, + 0.01812084950506687, + -0.9998188614845276, + -5.357935905456543 + ], + [ + 0.15719105303287506, + -0.9874222874641418, + -0.01697865128517151, + -8.341300964355469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_38469314", + "mask_path": "../../mask/hdr_right_01519.png" + }, + { + "file_path": "../../rgb/hdr_right_01520.png", + "transform_matrix": [ + [ + -0.9872623085975647, + -0.15909497439861298, + -0.0014185995096340775, + 63.379154205322266 + ], + [ + -0.0008285550284199417, + 0.014057174324989319, + -0.9999008774757385, + -5.361876010894775 + ], + [ + 0.15909916162490845, + -0.9871631860733032, + -0.014009932987391949, + -8.355353355407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1520, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_138469219", + "mask_path": "../../mask/hdr_right_01520.png" + }, + { + "file_path": "../../rgb/hdr_right_01521.png", + "transform_matrix": [ + [ + -0.9875929951667786, + -0.15698480606079102, + 0.003977183252573013, + 63.44613265991211 + ], + [ + -0.0066489363089203835, + 0.016497444361448288, + -0.9998418092727661, + -5.368596076965332 + ], + [ + 0.15689435601234436, + -0.9874632954597473, + -0.017336541786789894, + -8.37521743774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1521, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_238469600", + "mask_path": "../../mask/hdr_right_01521.png" + }, + { + "file_path": "../../rgb/hdr_right_01522.png", + "transform_matrix": [ + [ + -0.9868578314781189, + -0.16149839758872986, + 0.005454361438751221, + 63.52711486816406 + ], + [ + -0.009039494208991528, + 0.021472474560141563, + -0.9997286200523376, + -5.381494522094727 + ], + [ + 0.16133743524551392, + -0.9866393804550171, + -0.022650141268968582, + -8.395790100097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1522, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_338469982", + "mask_path": "../../mask/hdr_right_01522.png" + }, + { + "file_path": "../../rgb/hdr_right_01523.png", + "transform_matrix": [ + [ + -0.9849331974983215, + -0.17293506860733032, + -0.0004329035000409931, + 63.60088348388672 + ], + [ + -0.0036360546946525574, + 0.023211216554045677, + -0.9997240304946899, + -5.3965864181518555 + ], + [ + 0.17289738357067108, + -0.984659731388092, + -0.023490291088819504, + -8.398770332336426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1523, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_438467025", + "mask_path": "../../mask/hdr_right_01523.png" + }, + { + "file_path": "../../rgb/hdr_right_01524.png", + "transform_matrix": [ + [ + -0.9857439994812012, + -0.16814999282360077, + -0.005874421913176775, + 63.6568603515625 + ], + [ + 0.0019630934111773968, + 0.023417647927999496, + -0.9997238516807556, + -5.406909942626953 + ], + [ + 0.16824112832546234, + -0.9854831695556641, + -0.02275371178984642, + -8.402253150939941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_538469791", + "mask_path": "../../mask/hdr_right_01524.png" + }, + { + "file_path": "../../rgb/hdr_right_01525.png", + "transform_matrix": [ + [ + -0.9871375560760498, + -0.1593533754348755, + -0.012890241108834743, + 63.726806640625 + ], + [ + 0.009233292192220688, + 0.023667890578508377, + -0.999677300453186, + -5.419421195983887 + ], + [ + 0.15960702300071716, + -0.9869378209114075, + -0.021892104297876358, + -8.415343284606934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1525, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_638470172", + "mask_path": "../../mask/hdr_right_01525.png" + }, + { + "file_path": "../../rgb/hdr_right_01526.png", + "transform_matrix": [ + [ + -0.9879602193832397, + -0.15400950610637665, + -0.014682783745229244, + 63.82352828979492 + ], + [ + 0.01189269870519638, + 0.01902192272245884, + -0.9997483491897583, + -5.4326066970825195 + ], + [ + 0.15425005555152893, + -0.9878862500190735, + -0.016961317509412766, + -8.433124542236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1526, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_738468408", + "mask_path": "../../mask/hdr_right_01526.png" + }, + { + "file_path": "../../rgb/hdr_right_01527.png", + "transform_matrix": [ + [ + -0.9880850315093994, + -0.15370436012744904, + -0.007940725423395634, + 63.905033111572266 + ], + [ + 0.0054902308620512486, + 0.016360793262720108, + -0.9998511075973511, + -5.436264991760254 + ], + [ + 0.15381136536598206, + -0.9879814386367798, + -0.015321980230510235, + -8.440069198608398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1527, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_838469982", + "mask_path": "../../mask/hdr_right_01527.png" + }, + { + "file_path": "../../rgb/hdr_right_01528.png", + "transform_matrix": [ + [ + -0.9890218377113342, + -0.14776556193828583, + -0.0010972039308398962, + 63.96390151977539 + ], + [ + -0.0017951506888493896, + 0.01943916827440262, + -0.9998094439506531, + -5.441585540771484 + ], + [ + 0.14775873720645905, + -0.9888314008712769, + -0.01949102059006691, + -8.45606803894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594319_938469171", + "mask_path": "../../mask/hdr_right_01528.png" + }, + { + "file_path": "../../rgb/hdr_right_01529.png", + "transform_matrix": [ + [ + -0.9892456531524658, + -0.14618003368377686, + 0.004938797559589148, + 64.04308319091797 + ], + [ + -0.008452044799923897, + 0.0234223622828722, + -0.9996899366378784, + -5.449168682098389 + ], + [ + 0.14601902663707733, + -0.9889806509017944, + -0.024405989795923233, + -8.468071937561035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1529, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_38470983", + "mask_path": "../../mask/hdr_right_01529.png" + }, + { + "file_path": "../../rgb/hdr_right_01530.png", + "transform_matrix": [ + [ + -0.9882984757423401, + -0.15249519050121307, + 0.0033828052692115307, + 64.13004302978516 + ], + [ + -0.007004923187196255, + 0.023221204057335854, + -0.9997059106826782, + -5.464897155761719 + ], + [ + 0.15237177908420563, + -0.9880313873291016, + -0.02401769533753395, + -8.477029800415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1530, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_138470411", + "mask_path": "../../mask/hdr_right_01530.png" + }, + { + "file_path": "../../rgb/hdr_right_01531.png", + "transform_matrix": [ + [ + -0.9883220791816711, + -0.15235267579555511, + -0.0028489104006439447, + 64.19214630126953 + ], + [ + -0.0006470924708992243, + 0.02289218083024025, + -0.9997377991676331, + -5.477985858917236 + ], + [ + 0.1523779183626175, + -0.9880610108375549, + -0.02272343635559082, + -8.485015869140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1531, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_238469839", + "mask_path": "../../mask/hdr_right_01531.png" + }, + { + "file_path": "../../rgb/hdr_right_01533.png", + "transform_matrix": [ + [ + -0.9904059767723083, + -0.137650728225708, + -0.012180686928331852, + 64.3453598022461 + ], + [ + 0.010111520998179913, + 0.015721172094345093, + -0.9998253583908081, + -5.501774311065674 + ], + [ + 0.13781818747520447, + -0.9903560876846313, + -0.014178484678268433, + -8.518049240112305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1533, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_438469648", + "mask_path": "../../mask/hdr_right_01533.png" + }, + { + "file_path": "../../rgb/hdr_right_01534.png", + "transform_matrix": [ + [ + -0.9910450577735901, + -0.1333741843700409, + -0.006388802547007799, + 64.44314575195312 + ], + [ + 0.005405344534665346, + 0.007734335493296385, + -0.9999554753303528, + -5.511760234832764 + ], + [ + 0.13341766595840454, + -0.991035521030426, + -0.006944140885025263, + -8.52379035949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1534, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_538470745", + "mask_path": "../../mask/hdr_right_01534.png" + }, + { + "file_path": "../../rgb/hdr_right_01535.png", + "transform_matrix": [ + [ + -0.9911824464797974, + -0.13245978951454163, + 0.00343691254965961, + 64.50946044921875 + ], + [ + -0.003615547437220812, + 0.0011079659452661872, + -0.999992847442627, + -5.51309871673584 + ], + [ + 0.1324550360441208, + -0.9911877512931824, + -0.001577112008817494, + -8.533183097839355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1535, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_638470649", + "mask_path": "../../mask/hdr_right_01535.png" + }, + { + "file_path": "../../rgb/hdr_right_01536.png", + "transform_matrix": [ + [ + -0.9914437532424927, + -0.13018998503684998, + 0.00948411040008068, + 64.58306121826172 + ], + [ + -0.01017304789274931, + 0.004627651069313288, + -0.9999376535415649, + -5.519166946411133 + ], + [ + 0.13013796508312225, + -0.9914783239364624, + -0.005912484135478735, + -8.5471773147583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1536, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_738469123", + "mask_path": "../../mask/hdr_right_01536.png" + }, + { + "file_path": "../../rgb/hdr_right_01537.png", + "transform_matrix": [ + [ + -0.99077308177948, + -0.13512741029262543, + 0.01045781560242176, + 64.67198944091797 + ], + [ + -0.012452586553990841, + 0.013925299048423767, + -0.9998255372047424, + -5.53167724609375 + ], + [ + 0.13495822250843048, + -0.9907304048538208, + -0.015479500405490398, + -8.559982299804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1537, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_838469743", + "mask_path": "../../mask/hdr_right_01537.png" + }, + { + "file_path": "../../rgb/hdr_right_01538.png", + "transform_matrix": [ + [ + -0.9894372820854187, + -0.14483219385147095, + 0.006118974648416042, + 64.73584747314453 + ], + [ + -0.00819641537964344, + 0.013751167804002762, + -0.9998718500137329, + -5.5447916984558105 + ], + [ + 0.14472950994968414, + -0.9893606901168823, + -0.01479302253574133, + -8.569124221801758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1538, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594320_938468933", + "mask_path": "../../mask/hdr_right_01538.png" + }, + { + "file_path": "../../rgb/hdr_right_01539.png", + "transform_matrix": [ + [ + -0.9893656373023987, + -0.1454484611749649, + 0.0006565547082573175, + 64.78878784179688 + ], + [ + -0.0028515581507235765, + 0.01488326396793127, + -0.9998852014541626, + -5.555227279663086 + ], + [ + 0.14542195200920105, + -0.9892538785934448, + -0.015139740891754627, + -8.58029556274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1539, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_38469552", + "mask_path": "../../mask/hdr_right_01539.png" + }, + { + "file_path": "../../rgb/hdr_right_01540.png", + "transform_matrix": [ + [ + -0.9896851778030396, + -0.14312833547592163, + -0.006134606432169676, + 64.86101531982422 + ], + [ + 0.004172024317085743, + 0.01400792971253395, + -0.9998932480812073, + -5.565753936767578 + ], + [ + 0.14319898188114166, + -0.9896050095558167, + -0.013266299851238728, + -8.595837593078613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1540, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_138469457", + "mask_path": "../../mask/hdr_right_01540.png" + }, + { + "file_path": "../../rgb/hdr_right_01541.png", + "transform_matrix": [ + [ + -0.9891142845153809, + -0.14706683158874512, + -0.004929704591631889, + 64.9493179321289 + ], + [ + 0.004275709390640259, + 0.004762622993439436, + -0.9999794960021973, + -5.575446605682373 + ], + [ + 0.14708729088306427, + -0.9891150593757629, + -0.004081961698830128, + -8.615729331970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1541, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_238466024", + "mask_path": "../../mask/hdr_right_01541.png" + }, + { + "file_path": "../../rgb/hdr_right_01542.png", + "transform_matrix": [ + [ + -0.988357424736023, + -0.15213192999362946, + 0.0023823282681405544, + 65.02609252929688 + ], + [ + -0.002076293108984828, + -0.002170552033931017, + -0.9999954700469971, + -5.581440448760986 + ], + [ + 0.1521364152431488, + -0.9883577823638916, + 0.001829407992772758, + -8.631305694580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1542, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_338467121", + "mask_path": "../../mask/hdr_right_01542.png" + }, + { + "file_path": "../../rgb/hdr_right_01543.png", + "transform_matrix": [ + [ + -0.9884948134422302, + -0.15093883872032166, + 0.009778044186532497, + 65.09273529052734 + ], + [ + -0.009109899401664734, + -0.00511772558093071, + -0.9999455213546753, + -5.593091011047363 + ], + [ + 0.1509806364774704, + -0.9885298609733582, + 0.003683809656649828, + -8.648667335510254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1543, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_438469409", + "mask_path": "../../mask/hdr_right_01543.png" + }, + { + "file_path": "../../rgb/hdr_right_01544.png", + "transform_matrix": [ + [ + -0.9873661994934082, + -0.1578640639781952, + 0.013667837716639042, + 65.1799545288086 + ], + [ + -0.014242186211049557, + 0.00250740023329854, + -0.999895453453064, + -5.607933044433594 + ], + [ + 0.15781326591968536, + -0.9874576926231384, + -0.004724047612398863, + -8.664002418518066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1544, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_538469552", + "mask_path": "../../mask/hdr_right_01544.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/73430d09/mesh.ply b/2024-11-14-15-22-43/splats/73430d09/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..9119ffb26ac7accf0fc654ce0f9aa0ba94eb11a7 --- /dev/null +++ b/2024-11-14-15-22-43/splats/73430d09/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:238b6b21df7799f657d4ecb4b6e78f5df782a88d786978d2a1ef3fe5c5581ca4 +size 110582375 diff --git a/2024-11-14-15-22-43/splats/73430d09/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/73430d09/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..96d5a1d7cbaaa052753f63c9dbb69075c82943da --- /dev/null +++ b/2024-11-14-15-22-43/splats/73430d09/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b0f327373f23c89a6128a40734b339da55dd1d930ef6d5d18633199b992ce90 +size 1518075 diff --git a/2024-11-14-15-22-43/splats/73430d09/splatfacto/config.yml b/2024-11-14-15-22-43/splats/73430d09/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..904a79091e68f8aef58ac1d6b76cfd52d35e5e44 --- /dev/null +++ b/2024-11-14-15-22-43/splats/73430d09/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_73430d09 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_73430d09 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/73430d09/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/73430d09/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8d6eb70b3f5ab6906cba876a3e56aa72d0421b28 --- /dev/null +++ b/2024-11-14-15-22-43/splats/73430d09/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9415185451507568, + -0.3227769136428833, + 0.09673493355512619, + 65.64640045166016 + ], + [ + -0.3227769136428833, + 0.946338415145874, + 0.0160821545869112, + 24.55678367614746 + ], + [ + -0.09673493355512619, + -0.0160821545869112, + -0.9951801300048828, + -2.887502670288086 + ] + ], + "scale": 0.1444885174058495 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/73430d09/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/73430d09/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b5cde30afa28559b812c6019e10d42c956283eb --- /dev/null +++ b/2024-11-14-15-22-43/splats/73430d09/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44528ea341d57ef207be91ae0afaa567cab13cb2ec6fac0fdaa53a9f88e5ff32 +size 310449234 diff --git a/2024-11-14-15-22-43/splats/73430d09/transforms.json b/2024-11-14-15-22-43/splats/73430d09/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ebd5070ed51604a3499651cb6c0e473d06d80668 --- /dev/null +++ b/2024-11-14-15-22-43/splats/73430d09/transforms.json @@ -0,0 +1,24198 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01532.png", + "transform_matrix": [ + [ + 0.15548431873321533, + -0.18451130390167236, + -0.9704536199569702, + 65.30989074707031 + ], + [ + 0.9877544641494751, + 0.016232021152973175, + 0.15517005324363708, + -5.733047008514404 + ], + [ + -0.012878202833235264, + -0.9826963543891907, + 0.18477566540241241, + -8.691575050354004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1532, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_638469457", + "mask_path": "../../mask/hdr_front_01532.png" + }, + { + "file_path": "../../rgb/hdr_front_01534.png", + "transform_matrix": [ + [ + 0.16041433811187744, + -0.18256311118602753, + -0.9700195789337158, + 65.42504119873047 + ], + [ + 0.9868085384368896, + 0.00794126931577921, + 0.161696195602417, + -5.755875110626221 + ], + [ + -0.021816572174429893, + -0.9831621050834656, + 0.1814287304878235, + -8.719181060791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1534, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_838466644", + "mask_path": "../../mask/hdr_front_01534.png" + }, + { + "file_path": "../../rgb/hdr_front_01535.png", + "transform_matrix": [ + [ + 0.15382416546344757, + -0.18432646989822388, + -0.9707532525062561, + 65.51675415039062 + ], + [ + 0.9876308441162109, + -0.0015301102539524436, + 0.1567891240119934, + -5.765383720397949 + ], + [ + -0.03038574568927288, + -0.9828639030456543, + 0.1818111687898636, + -8.743613243103027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1535, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_938469409", + "mask_path": "../../mask/hdr_front_01535.png" + }, + { + "file_path": "../../rgb/hdr_front_01536.png", + "transform_matrix": [ + [ + 0.13643592596054077, + -0.1896083950996399, + -0.9723343253135681, + 65.60555267333984 + ], + [ + 0.9900681376457214, + -0.007501931861042976, + 0.14038720726966858, + -5.766215801239014 + ], + [ + -0.03391297906637192, + -0.9818311333656311, + 0.18670174479484558, + -8.756336212158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1536, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_38469076", + "mask_path": "../../mask/hdr_front_01536.png" + }, + { + "file_path": "../../rgb/hdr_front_01537.png", + "transform_matrix": [ + [ + 0.11806149780750275, + -0.18514123558998108, + -0.9755942821502686, + 65.67520904541016 + ], + [ + 0.9922661781311035, + -0.01593001000583172, + 0.12310212105512619, + -5.76744270324707 + ], + [ + -0.0383325070142746, + -0.9825828671455383, + 0.18182864785194397, + -8.770837783813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1537, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_138468980", + "mask_path": "../../mask/hdr_front_01537.png" + }, + { + "file_path": "../../rgb/hdr_front_01538.png", + "transform_matrix": [ + [ + 0.10080154985189438, + -0.18182142078876495, + -0.9781513214111328, + 65.75509643554688 + ], + [ + 0.9942724704742432, + -0.01668604649603367, + 0.10556453466415405, + -5.77577543258667 + ], + [ + -0.03551537171006203, + -0.9831900000572205, + 0.17909803986549377, + -8.78471565246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1538, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_238469362", + "mask_path": "../../mask/hdr_front_01538.png" + }, + { + "file_path": "../../rgb/hdr_front_01539.png", + "transform_matrix": [ + [ + 0.08549948781728745, + -0.19044695794582367, + -0.9779671430587769, + 65.84496307373047 + ], + [ + 0.9960464835166931, + -0.007411046419292688, + 0.08852330595254898, + -5.788816452026367 + ], + [ + -0.024106750264763832, + -0.9816696047782898, + 0.18906040489673615, + -8.807886123657227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1539, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_338469266", + "mask_path": "../../mask/hdr_front_01539.png" + }, + { + "file_path": "../../rgb/hdr_front_01540.png", + "transform_matrix": [ + [ + 0.07164086401462555, + -0.19238609075546265, + -0.9787008166313171, + 65.9098892211914 + ], + [ + 0.9970366954803467, + -0.013755427673459053, + 0.07568700611591339, + -5.793092250823975 + ], + [ + -0.028023574501276016, + -0.981222927570343, + 0.19083057343959808, + -8.820640563964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1540, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_438470125", + "mask_path": "../../mask/hdr_front_01540.png" + }, + { + "file_path": "../../rgb/hdr_front_01541.png", + "transform_matrix": [ + [ + 0.05744628608226776, + -0.18720391392707825, + -0.9806399345397949, + 65.96302795410156 + ], + [ + 0.9979992508888245, + -0.015217618085443974, + 0.061368249356746674, + -5.796464443206787 + ], + [ + -0.026411375030875206, + -0.9822032451629639, + 0.18595516681671143, + -8.833685874938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1541, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_538470506", + "mask_path": "../../mask/hdr_front_01541.png" + }, + { + "file_path": "../../rgb/hdr_front_01542.png", + "transform_matrix": [ + [ + 0.04376458004117012, + -0.1785999834537506, + -0.9829479455947876, + 66.03559112548828 + ], + [ + 0.9987762570381165, + -0.014864187687635422, + 0.04717011749744415, + -5.7985944747924805 + ], + [ + -0.023035306483507156, + -0.9838095307350159, + 0.17773091793060303, + -8.851118087768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1542, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_638471126", + "mask_path": "../../mask/hdr_front_01542.png" + }, + { + "file_path": "../../rgb/hdr_front_01543.png", + "transform_matrix": [ + [ + 0.0218511875718832, + -0.1722995638847351, + -0.98480224609375, + 66.14012908935547 + ], + [ + 0.999424934387207, + -0.02177961729466915, + 0.02598617598414421, + -5.789736747741699 + ], + [ + -0.025926019996404648, + -0.9848037958145142, + 0.1717246025800705, + -8.85905933380127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1543, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_738470792", + "mask_path": "../../mask/hdr_front_01543.png" + }, + { + "file_path": "../../rgb/hdr_front_01544.png", + "transform_matrix": [ + [ + -0.003931155428290367, + -0.16806119680404663, + -0.985768735408783, + 66.20758056640625 + ], + [ + 0.9997156262397766, + -0.023844042792916298, + 7.833557174308226e-05, + -5.77409553527832 + ], + [ + -0.023517875000834465, + -0.9854882955551147, + 0.16810715198516846, + -8.866962432861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1544, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_838469982", + "mask_path": "../../mask/hdr_front_01544.png" + }, + { + "file_path": "../../rgb/hdr_front_01545.png", + "transform_matrix": [ + [ + -0.026297401636838913, + -0.16371294856071472, + -0.9861574769020081, + 66.26984405517578 + ], + [ + 0.9995890259742737, + -0.015563827008008957, + -0.024071812629699707, + -5.763040065765381 + ], + [ + -0.011407515034079552, + -0.9863852858543396, + 0.1640549749135971, + -8.888033866882324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1545, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_938470602", + "mask_path": "../../mask/hdr_front_01545.png" + }, + { + "file_path": "../../rgb/hdr_front_01546.png", + "transform_matrix": [ + [ + -0.045483361929655075, + -0.1675841212272644, + -0.9848080277442932, + 66.35965728759766 + ], + [ + 0.9989617466926575, + -0.005107563454657793, + -0.04526790603995323, + -5.75092077255249 + ], + [ + 0.002556213177740574, + -0.985844612121582, + 0.16764245927333832, + -8.902630805969238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1546, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_38470268", + "mask_path": "../../mask/hdr_front_01546.png" + }, + { + "file_path": "../../rgb/hdr_front_01547.png", + "transform_matrix": [ + [ + -0.04674915596842766, + -0.18390251696109772, + -0.9818322062492371, + 66.43299865722656 + ], + [ + 0.9988631010055542, + 0.0005761949578300118, + -0.04766799509525299, + -5.749143600463867 + ], + [ + 0.009331989102065563, + -0.9829444289207458, + 0.18366648256778717, + -8.909235000610352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1547, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_138469934", + "mask_path": "../../mask/hdr_front_01547.png" + }, + { + "file_path": "../../rgb/hdr_front_01548.png", + "transform_matrix": [ + [ + -0.03593011572957039, + -0.18035033345222473, + -0.9829460382461548, + 66.48812103271484 + ], + [ + 0.9993240237236023, + 0.0011747860116884112, + -0.03674434870481491, + -5.753692626953125 + ], + [ + 0.007781606167554855, + -0.9836017489433289, + 0.1801861971616745, + -8.916492462158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1548, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_238470077", + "mask_path": "../../mask/hdr_front_01548.png" + }, + { + "file_path": "../../rgb/hdr_front_01549.png", + "transform_matrix": [ + [ + -0.022481126710772514, + -0.17271775007247925, + -0.9847148060798645, + 66.55795288085938 + ], + [ + 0.9997395873069763, + -2.309190676896833e-05, + -0.022820094600319862, + -5.750146389007568 + ], + [ + 0.003918697591871023, + -0.9849713444709778, + 0.172673299908638, + -8.930649757385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1549, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_338470697", + "mask_path": "../../mask/hdr_front_01549.png" + }, + { + "file_path": "../../rgb/hdr_front_01550.png", + "transform_matrix": [ + [ + -0.014599870890378952, + -0.17052052915096283, + -0.9852460622787476, + 66.65611267089844 + ], + [ + 0.9998391270637512, + -0.01276481430977583, + -0.012606862932443619, + -5.747795104980469 + ], + [ + -0.010426751337945461, + -0.9852714538574219, + 0.17067943513393402, + -8.952217102050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1550, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_438469886", + "mask_path": "../../mask/hdr_front_01550.png" + }, + { + "file_path": "../../rgb/hdr_front_01551.png", + "transform_matrix": [ + [ + -0.0169001966714859, + -0.17702433466911316, + -0.9840614199638367, + 66.7486572265625 + ], + [ + 0.9996472001075745, + -0.02315865084528923, + -0.013001822866499424, + -5.739627838134766 + ], + [ + -0.020487889647483826, + -0.9839340448379517, + 0.17735327780246735, + -8.966370582580566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1551, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_538470029", + "mask_path": "../../mask/hdr_front_01551.png" + }, + { + "file_path": "../../rgb/hdr_front_01552.png", + "transform_matrix": [ + [ + -0.018208278343081474, + -0.17857979238033295, + -0.9837568998336792, + 66.8108901977539 + ], + [ + 0.999600350856781, + -0.02453041449189186, + -0.014048556797206402, + -5.727378845214844 + ], + [ + -0.02162317745387554, + -0.9836196303367615, + 0.178955078125, + -8.99270248413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1552, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_638470649", + "mask_path": "../../mask/hdr_front_01552.png" + }, + { + "file_path": "../../rgb/hdr_front_01553.png", + "transform_matrix": [ + [ + -0.014722374267876148, + -0.1864689141511917, + -0.9823505878448486, + 66.88617706298828 + ], + [ + 0.9997321367263794, + -0.020291754975914955, + -0.011131109669804573, + -5.725854873657227 + ], + [ + -0.017858009785413742, + -0.9822512865066528, + 0.186717689037323, + -9.009730339050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1553, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_738470554", + "mask_path": "../../mask/hdr_front_01553.png" + }, + { + "file_path": "../../rgb/hdr_front_01554.png", + "transform_matrix": [ + [ + 0.0008993496303446591, + -0.2181289941072464, + -0.9759195446968079, + 66.95367431640625 + ], + [ + 0.9999964237213135, + -0.0022848022636026144, + 0.0014322156785055995, + -5.717381000518799 + ], + [ + -0.0025421909522265196, + -0.9759172797203064, + 0.21812613308429718, + -9.030922889709473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1554, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_838470220", + "mask_path": "../../mask/hdr_front_01554.png" + }, + { + "file_path": "../../rgb/hdr_front_01555.png", + "transform_matrix": [ + [ + 0.012958886101841927, + -0.22851884365081787, + -0.9734532237052917, + 67.0053939819336 + ], + [ + 0.999884307384491, + -0.004790339153259993, + 0.014435278251767159, + -5.710017681121826 + ], + [ + -0.007961902767419815, + -0.973527729511261, + 0.22843031585216522, + -9.04507064819336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1555, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_938469886", + "mask_path": "../../mask/hdr_front_01555.png" + }, + { + "file_path": "../../rgb/hdr_front_01556.png", + "transform_matrix": [ + [ + 0.016777310520410538, + -0.2271251678466797, + -0.9737210869789124, + 67.07593536376953 + ], + [ + 0.999664306640625, + -0.015416445210576057, + 0.02082027867436409, + -5.714382171630859 + ], + [ + -0.01974012516438961, + -0.9737435579299927, + 0.22679027915000916, + -9.075387954711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1556, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_38469791", + "mask_path": "../../mask/hdr_front_01556.png" + }, + { + "file_path": "../../rgb/hdr_front_01557.png", + "transform_matrix": [ + [ + 0.016424331814050674, + -0.2282535880804062, + -0.9734631776809692, + 67.17613220214844 + ], + [ + 0.999561607837677, + -0.020238390192389488, + 0.02161007933318615, + -5.700892925262451 + ], + [ + -0.024633904919028282, + -0.9733914136886597, + 0.22782112658023834, + -9.10469913482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1557, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_138472318", + "mask_path": "../../mask/hdr_front_01557.png" + }, + { + "file_path": "../../rgb/hdr_front_01558.png", + "transform_matrix": [ + [ + 0.00981434341520071, + -0.20933660864830017, + -0.9777944087982178, + 67.26692199707031 + ], + [ + 0.9997401237487793, + -0.01806524209678173, + 0.013902219012379646, + -5.681545257568359 + ], + [ + -0.020574333146214485, + -0.9776768088340759, + 0.20910491049289703, + -9.091696739196777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1558, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_238470315", + "mask_path": "../../mask/hdr_front_01558.png" + }, + { + "file_path": "../../rgb/hdr_front_01559.png", + "transform_matrix": [ + [ + 0.0028805271722376347, + -0.19997499883174896, + -0.979796826839447, + 67.3202896118164 + ], + [ + 0.9996227622032166, + -0.026185808703303337, + 0.008283299393951893, + -5.6713032722473145 + ], + [ + -0.027313221246004105, + -0.9794510006904602, + 0.19982412457466125, + -9.111323356628418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1559, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_338470458", + "mask_path": "../../mask/hdr_front_01559.png" + }, + { + "file_path": "../../rgb/hdr_front_01560.png", + "transform_matrix": [ + [ + -0.002364038722589612, + -0.19669683277606964, + -0.980461597442627, + 67.39130401611328 + ], + [ + 0.9994600415229797, + -0.03259791061282158, + 0.0041298340074718, + -5.669819355010986 + ], + [ + -0.03277331963181496, + -0.979922354221344, + 0.19666770100593567, + -9.133031845092773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1560, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_438470363", + "mask_path": "../../mask/hdr_front_01560.png" + }, + { + "file_path": "../../rgb/hdr_front_01561.png", + "transform_matrix": [ + [ + 0.0019642512779682875, + -0.22316044569015503, + -0.9747797250747681, + 67.46402740478516 + ], + [ + 0.9996253252029419, + -0.02617538720369339, + 0.008006757125258446, + -5.670840263366699 + ], + [ + -0.027302028611302376, + -0.97443026304245, + 0.2230253964662552, + -9.166305541992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1561, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_538470745", + "mask_path": "../../mask/hdr_front_01561.png" + }, + { + "file_path": "../../rgb/hdr_front_01562.png", + "transform_matrix": [ + [ + 0.014316399581730366, + -0.2518448829650879, + -0.9676616787910461, + 67.51127624511719 + ], + [ + 0.9995079636573792, + -0.023405909538269043, + 0.020879212766885757, + -5.670691967010498 + ], + [ + -0.027907321229577065, + -0.9674845337867737, + 0.251385897397995, + -9.170827865600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1562, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_638468027", + "mask_path": "../../mask/hdr_front_01562.png" + }, + { + "file_path": "../../rgb/hdr_front_01563.png", + "transform_matrix": [ + [ + 0.0193847194314003, + -0.24068209528923035, + -0.9704104065895081, + 67.5816879272461 + ], + [ + 0.9988228678703308, + -0.03850249946117401, + 0.02950170449912548, + -5.680058479309082 + ], + [ + -0.04446375370025635, + -0.9698401093482971, + 0.23965243995189667, + -9.19640827178955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1563, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_738469600", + "mask_path": "../../mask/hdr_front_01563.png" + }, + { + "file_path": "../../rgb/hdr_front_01564.png", + "transform_matrix": [ + [ + 0.026493670418858528, + -0.23601099848747253, + -0.9713892340660095, + 67.66531372070312 + ], + [ + 0.9983115792274475, + -0.04400217533111572, + 0.0379188247025013, + -5.682250499725342 + ], + [ + -0.05169249698519707, + -0.9707536697387695, + 0.23444673418998718, + -9.228625297546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1564, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_838469743", + "mask_path": "../../mask/hdr_front_01564.png" + }, + { + "file_path": "../../rgb/hdr_front_01565.png", + "transform_matrix": [ + [ + 0.02619246393442154, + -0.21880139410495758, + -0.9754177927970886, + 67.77452850341797 + ], + [ + 0.998311460018158, + -0.04488198831677437, + 0.03687494620680809, + -5.66276741027832 + ], + [ + -0.051846981048583984, + -0.9747366905212402, + 0.21725638210773468, + -9.224032402038574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1565, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_938470363", + "mask_path": "../../mask/hdr_front_01565.png" + }, + { + "file_path": "../../rgb/hdr_front_01566.png", + "transform_matrix": [ + [ + 0.01986652985215187, + -0.18801411986351013, + -0.9819653630256653, + 67.87493133544922 + ], + [ + 0.99863600730896, + -0.043701205402612686, + 0.028571143746376038, + -5.644630432128906 + ], + [ + -0.04828484728932381, + -0.9811936616897583, + 0.18688948452472687, + -9.204610824584961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1566, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_38469791", + "mask_path": "../../mask/hdr_front_01566.png" + }, + { + "file_path": "../../rgb/hdr_front_01567.png", + "transform_matrix": [ + [ + 0.015401966869831085, + -0.17704036831855774, + -0.9840830564498901, + 67.9388198852539 + ], + [ + 0.9984346032142639, + -0.0502019003033638, + 0.02465810254216194, + -5.667067050933838 + ], + [ + -0.05376831814646721, + -0.9829224348068237, + 0.175990030169487, + -9.238055229187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1567, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_138468503", + "mask_path": "../../mask/hdr_front_01567.png" + }, + { + "file_path": "../../rgb/hdr_front_01568.png", + "transform_matrix": [ + [ + 0.016142258420586586, + -0.17654845118522644, + -0.9841595888137817, + 68.03772735595703 + ], + [ + 0.9984875917434692, + -0.048888422548770905, + 0.025147363543510437, + -5.686731338500977 + ], + [ + -0.05255373194813728, + -0.9830771684646606, + 0.17549225687980652, + -9.249947547912598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1568, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_238467693", + "mask_path": "../../mask/hdr_front_01568.png" + }, + { + "file_path": "../../rgb/hdr_front_01569.png", + "transform_matrix": [ + [ + 0.030532946810126305, + -0.21685267984867096, + -0.9757267832756042, + 68.09928894042969 + ], + [ + 0.9988040924072266, + -0.030671540647745132, + 0.03807177394628525, + -5.689411163330078 + ], + [ + -0.038183003664016724, + -0.9757224321365356, + 0.21565686166286469, + -9.262779235839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1569, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_338469266", + "mask_path": "../../mask/hdr_front_01569.png" + }, + { + "file_path": "../../rgb/hdr_front_01571.png", + "transform_matrix": [ + [ + 0.041653357446193695, + -0.21294285356998444, + -0.9761764407157898, + 68.21721649169922 + ], + [ + 0.9972195625305176, + -0.051563914865255356, + 0.053799401968717575, + -5.703884601593018 + ], + [ + -0.06179167702794075, + -0.9757030606269836, + 0.21020297706127167, + -9.311217308044434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1571, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_538470268", + "mask_path": "../../mask/hdr_front_01571.png" + }, + { + "file_path": "../../rgb/hdr_front_01572.png", + "transform_matrix": [ + [ + 0.041880037635564804, + -0.2024102807044983, + -0.9784049987792969, + 68.31883239746094 + ], + [ + 0.9967150688171387, + -0.05947718769311905, + 0.054968297481536865, + -5.703535079956055 + ], + [ + -0.06931890547275543, + -0.9774930477142334, + 0.19925446808338165, + -9.321840286254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1572, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_638469457", + "mask_path": "../../mask/hdr_front_01572.png" + }, + { + "file_path": "../../rgb/hdr_front_01573.png", + "transform_matrix": [ + [ + 0.03442791476845741, + -0.17385877668857574, + -0.9841685891151428, + 68.4139404296875 + ], + [ + 0.9970999956130981, + -0.060899630188941956, + 0.04563853144645691, + -5.6893205642700195 + ], + [ + -0.06787016242742538, + -0.9828857779502869, + 0.17125792801380157, + -9.302618026733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1573, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_738471508", + "mask_path": "../../mask/hdr_front_01573.png" + }, + { + "file_path": "../../rgb/hdr_front_01574.png", + "transform_matrix": [ + [ + 0.029312314465641975, + -0.15852876007556915, + -0.9869191646575928, + 68.47211456298828 + ], + [ + 0.9971614480018616, + -0.0638677105307579, + 0.039875589311122894, + -5.690210819244385 + ], + [ + -0.06935369968414307, + -0.9852865934371948, + 0.1562066525220871, + -9.320269584655762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1574, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_838470458", + "mask_path": "../../mask/hdr_front_01574.png" + }, + { + "file_path": "../../rgb/hdr_front_01575.png", + "transform_matrix": [ + [ + 0.026252949610352516, + -0.14721374213695526, + -0.9887562394142151, + 68.56339263916016 + ], + [ + 0.9973085522651672, + -0.06387703865766525, + 0.03599053621292114, + -5.696671009063721 + ], + [ + -0.06845712661743164, + -0.9870399236679077, + 0.14514055848121643, + -9.331098556518555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1575, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_938470602", + "mask_path": "../../mask/hdr_front_01575.png" + }, + { + "file_path": "../../rgb/hdr_front_01576.png", + "transform_matrix": [ + [ + 0.03769052401185036, + -0.16800075769424438, + -0.9850660562515259, + 68.6449966430664 + ], + [ + 0.9983202815055847, + -0.03707364946603775, + 0.044520482420921326, + -5.705386161804199 + ], + [ + -0.04399946331977844, + -0.9850895404815674, + 0.16632124781608582, + -9.353278160095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1576, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_38469076", + "mask_path": "../../mask/hdr_front_01576.png" + }, + { + "file_path": "../../rgb/hdr_front_01577.png", + "transform_matrix": [ + [ + 0.057171836495399475, + -0.1981833130121231, + -0.9784961342811584, + 68.68473052978516 + ], + [ + 0.9979960322380066, + -0.015274771489202976, + 0.06140492111444473, + -5.700957298278809 + ], + [ + -0.027115732431411743, + -0.9800459742546082, + 0.19691288471221924, + -9.343674659729004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1577, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_138469457", + "mask_path": "../../mask/hdr_front_01577.png" + }, + { + "file_path": "../../rgb/hdr_front_01578.png", + "transform_matrix": [ + [ + 0.06650090217590332, + -0.18765288591384888, + -0.9799816012382507, + 68.7452392578125 + ], + [ + 0.9969448447227478, + -0.02783059887588024, + 0.07298118621110916, + -5.710474014282227 + ], + [ + -0.040968600660562515, + -0.9818410873413086, + 0.18522882461547852, + -9.3629150390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1578, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_238468885", + "mask_path": "../../mask/hdr_front_01578.png" + }, + { + "file_path": "../../rgb/hdr_front_01579.png", + "transform_matrix": [ + [ + 0.07382096350193024, + -0.17781904339790344, + -0.9812904596328735, + 68.82803344726562 + ], + [ + 0.9961554408073425, + -0.033391255885362625, + 0.0809900313615799, + -5.715734004974365 + ], + [ + -0.04716809093952179, + -0.9834966063499451, + 0.17467042803764343, + -9.382732391357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1579, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_338468790", + "mask_path": "../../mask/hdr_front_01579.png" + }, + { + "file_path": "../../rgb/hdr_front_01580.png", + "transform_matrix": [ + [ + 0.07337680459022522, + -0.1691320240497589, + -0.9828581809997559, + 68.92106628417969 + ], + [ + 0.9958775639533997, + -0.040269456803798676, + 0.08127842843532562, + -5.719081878662109 + ], + [ + -0.05332595482468605, + -0.9847704768180847, + 0.16547992825508118, + -9.38025188446045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1580, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_438469171", + "mask_path": "../../mask/hdr_front_01580.png" + }, + { + "file_path": "../../rgb/hdr_front_01581.png", + "transform_matrix": [ + [ + 0.06700493395328522, + -0.15650682151317596, + -0.985401451587677, + 68.98910522460938 + ], + [ + 0.9962651133537292, + -0.043414559215307236, + 0.0746389776468277, + -5.71036434173584 + ], + [ + -0.05446227267384529, + -0.9867222905158997, + 0.15301330387592316, + -9.387978553771973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1581, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_538469076", + "mask_path": "../../mask/hdr_front_01581.png" + }, + { + "file_path": "../../rgb/hdr_front_01582.png", + "transform_matrix": [ + [ + 0.06268047541379929, + -0.14361971616744995, + -0.9876459836959839, + 69.07145690917969 + ], + [ + 0.9965503811836243, + -0.04492659866809845, + 0.06977862864732742, + -5.708923816680908 + ], + [ + -0.05439315363764763, + -0.988612711429596, + 0.14030824601650238, + -9.403791427612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1582, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_638468742", + "mask_path": "../../mask/hdr_front_01582.png" + }, + { + "file_path": "../../rgb/hdr_front_01583.png", + "transform_matrix": [ + [ + 0.06702929735183716, + -0.1485663503408432, + -0.9866281747817993, + 69.16836547851562 + ], + [ + 0.996701717376709, + -0.0353688970208168, + 0.07303952425718307, + -5.712224006652832 + ], + [ + -0.045747168362140656, + -0.9882697463035583, + 0.14570558071136475, + -9.416383743286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1583, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_738469123", + "mask_path": "../../mask/hdr_front_01583.png" + }, + { + "file_path": "../../rgb/hdr_front_01584.png", + "transform_matrix": [ + [ + 0.08499102294445038, + -0.16761471331119537, + -0.9821822643280029, + 69.23379516601562 + ], + [ + 0.9959012269973755, + -0.01631971262395382, + 0.08896321058273315, + -5.713606357574463 + ], + [ + -0.030940469354391098, + -0.9857175350189209, + 0.1655406504869461, + -9.412178039550781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1584, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_838469266", + "mask_path": "../../mask/hdr_front_01584.png" + }, + { + "file_path": "../../rgb/hdr_front_01586.png", + "transform_matrix": [ + [ + 0.08578800410032272, + -0.15169627964496613, + -0.9846972227096558, + 69.36811828613281 + ], + [ + 0.9951594471931458, + -0.034509651362895966, + 0.0920158103108406, + -5.718276023864746 + ], + [ + -0.047940000891685486, + -0.987824559211731, + 0.14800144731998444, + -9.441291809082031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1586, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_38469314", + "mask_path": "../../mask/hdr_front_01586.png" + }, + { + "file_path": "../../rgb/hdr_front_01587.png", + "transform_matrix": [ + [ + 0.06862149387598038, + -0.15071174502372742, + -0.9861932396888733, + 69.449462890625 + ], + [ + 0.9959428906440735, + -0.04733309894800186, + 0.07653342932462692, + -5.71077823638916 + ], + [ + -0.058214057236909866, + -0.9874439835548401, + 0.14685221016407013, + -9.452742576599121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1587, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_138469934", + "mask_path": "../../mask/hdr_front_01587.png" + }, + { + "file_path": "../../rgb/hdr_front_01588.png", + "transform_matrix": [ + [ + 0.04612582176923752, + -0.1482143998146057, + -0.9878789782524109, + 69.50981903076172 + ], + [ + 0.9968437552452087, + -0.05713675171136856, + 0.05511680245399475, + -5.701467037200928 + ], + [ + -0.06461329758167267, + -0.9873033761978149, + 0.1451111137866974, + -9.460959434509277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1588, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_238469600", + "mask_path": "../../mask/hdr_front_01588.png" + }, + { + "file_path": "../../rgb/hdr_front_01590.png", + "transform_matrix": [ + [ + -0.010563858784735203, + -0.14303523302078247, + -0.9896613359451294, + 69.62893676757812 + ], + [ + 0.9983183741569519, + -0.05792389065027237, + -0.0022845580242574215, + -5.680097579956055 + ], + [ + -0.056998252868652344, + -0.9880211353302002, + 0.14340658485889435, + -9.481367111206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1590, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_438469409", + "mask_path": "../../mask/hdr_front_01590.png" + }, + { + "file_path": "../../rgb/hdr_front_01591.png", + "transform_matrix": [ + [ + -0.0358613058924675, + -0.15245625376701355, + -0.9876593351364136, + 69.69242095947266 + ], + [ + 0.9984503388404846, + -0.04754996299743652, + -0.028913253918290138, + -5.668285846710205 + ], + [ + -0.04255515709519386, + -0.9871656894683838, + 0.15392519533634186, + -9.490730285644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1591, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_538469076", + "mask_path": "../../mask/hdr_front_01591.png" + }, + { + "file_path": "../../rgb/hdr_front_01593.png", + "transform_matrix": [ + [ + -0.078123077750206, + -0.15484070777893066, + -0.9848456382751465, + 69.78304290771484 + ], + [ + 0.9963436722755432, + -0.04639427736401558, + -0.07174088805913925, + -5.653773307800293 + ], + [ + -0.03458279371261597, + -0.9868495464324951, + 0.15789905190467834, + -9.514573097229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1593, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_738469839", + "mask_path": "../../mask/hdr_front_01593.png" + }, + { + "file_path": "../../rgb/hdr_front_01594.png", + "transform_matrix": [ + [ + -0.10348015278577805, + -0.1534031480550766, + -0.9827305674552917, + 69.85150146484375 + ], + [ + 0.9940569400787354, + -0.04953094571828842, + -0.09694108366966248, + -5.643246650695801 + ], + [ + -0.033804506063461304, + -0.9869215488433838, + 0.15761692821979523, + -9.527032852172852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1594, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_838470220", + "mask_path": "../../mask/hdr_front_01594.png" + }, + { + "file_path": "../../rgb/hdr_front_01595.png", + "transform_matrix": [ + [ + -0.13532176613807678, + -0.15454035997390747, + -0.9786753058433533, + 69.90860748291016 + ], + [ + 0.9900912046432495, + -0.058492451906204224, + -0.12766385078430176, + -5.623057842254639 + ], + [ + -0.03751589357852936, + -0.9862534999847412, + 0.16092436015605927, + -9.542326927185059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1595, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_938469648", + "mask_path": "../../mask/hdr_front_01595.png" + }, + { + "file_path": "../../rgb/hdr_front_01597.png", + "transform_matrix": [ + [ + -0.19651176035404205, + -0.15631259977817535, + -0.9679615497589111, + 70.02005004882812 + ], + [ + 0.9800622463226318, + -0.060859549790620804, + -0.18914039433002472, + -5.5776519775390625 + ], + [ + -0.029344670474529266, + -0.9858309030532837, + 0.16515569388866425, + -9.570276260375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1597, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_138469934", + "mask_path": "../../mask/hdr_front_01597.png" + }, + { + "file_path": "../../rgb/hdr_front_01598.png", + "transform_matrix": [ + [ + -0.22241610288619995, + -0.16472271084785461, + -0.9609357118606567, + 70.08889770507812 + ], + [ + 0.974790096282959, + -0.055523831397295, + -0.21610499918460846, + -5.557596683502197 + ], + [ + -0.017757439985871315, + -0.9847759008407593, + 0.17291942238807678, + -9.593345642089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1598, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_238470077", + "mask_path": "../../mask/hdr_front_01598.png" + }, + { + "file_path": "../../rgb/hdr_front_01599.png", + "transform_matrix": [ + [ + -0.24173271656036377, + -0.18069638311862946, + -0.9533699154853821, + 70.14141845703125 + ], + [ + 0.9702821969985962, + -0.05600830167531967, + -0.23540543019771576, + -5.540442943572998 + ], + [ + -0.010859716683626175, + -0.981942892074585, + 0.18886549770832062, + -9.608722686767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1599, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_338470458", + "mask_path": "../../mask/hdr_front_01599.png" + }, + { + "file_path": "../../rgb/hdr_front_01601.png", + "transform_matrix": [ + [ + -0.27350616455078125, + -0.19007998704910278, + -0.9429018497467041, + 70.23148345947266 + ], + [ + 0.9618700742721558, + -0.054515667259693146, + -0.2680184245109558, + -5.476918697357178 + ], + [ + -0.00045797601342201233, + -0.9802538752555847, + 0.19774262607097626, + -9.642462730407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1601, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_538470745", + "mask_path": "../../mask/hdr_front_01601.png" + }, + { + "file_path": "../../rgb/hdr_front_01602.png", + "transform_matrix": [ + [ + -0.29819628596305847, + -0.19036628305912018, + -0.9353287220001221, + 70.29969787597656 + ], + [ + 0.9544922709465027, + -0.06444765627384186, + -0.2911889851093292, + -5.441989421844482 + ], + [ + -0.004847176838666201, + -0.9795954823493958, + 0.2009212076663971, + -9.662495613098145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1602, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_638469696", + "mask_path": "../../mask/hdr_front_01602.png" + }, + { + "file_path": "../../rgb/hdr_front_01603.png", + "transform_matrix": [ + [ + -0.32955920696258545, + -0.19671407341957092, + -0.9234145283699036, + 70.34742736816406 + ], + [ + 0.9441130757331848, + -0.06201329082250595, + -0.3237357437610626, + -5.40190315246582 + ], + [ + 0.006419404875487089, + -0.9784978032112122, + 0.206157386302948, + -9.681833267211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1603, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_738469839", + "mask_path": "../../mask/hdr_front_01603.png" + }, + { + "file_path": "../../rgb/hdr_front_01604.png", + "transform_matrix": [ + [ + -0.36587539315223694, + -0.19738788902759552, + -0.9094906449317932, + 70.38105773925781 + ], + [ + 0.930513858795166, + -0.06004682183265686, + -0.3613007962703705, + -5.3566575050354 + ], + [ + 0.016704371199011803, + -0.9784847497940063, + 0.20564182102680206, + -9.698720932006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1604, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_838470458", + "mask_path": "../../mask/hdr_front_01604.png" + }, + { + "file_path": "../../rgb/hdr_front_01605.png", + "transform_matrix": [ + [ + -0.4044768810272217, + -0.20634137094020844, + -0.8909667730331421, + 70.416748046875 + ], + [ + 0.9138572216033936, + -0.053326644003391266, + -0.40251851081848145, + -5.305187225341797 + ], + [ + 0.035543959587812424, + -0.9770258069038391, + 0.21013596653938293, + -9.716370582580566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1605, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_938470125", + "mask_path": "../../mask/hdr_front_01605.png" + }, + { + "file_path": "../../rgb/hdr_front_01606.png", + "transform_matrix": [ + [ + -0.4391520917415619, + -0.22386771440505981, + -0.8700739145278931, + 70.45111083984375 + ], + [ + 0.8969519138336182, + -0.05404384806752205, + -0.43881285190582275, + -5.256875514984131 + ], + [ + 0.05121389031410217, + -0.9731200337409973, + 0.22453199326992035, + -9.729976654052734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1606, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_38470268", + "mask_path": "../../mask/hdr_front_01606.png" + }, + { + "file_path": "../../rgb/hdr_front_01609.png", + "transform_matrix": [ + [ + -0.5420284867286682, + -0.214560404419899, + -0.8125077486038208, + 70.56932830810547 + ], + [ + 0.8372340202331543, + -0.05455765128135681, + -0.5441164374351501, + -5.109546184539795 + ], + [ + 0.07241730391979218, + -0.975185751914978, + 0.20920906960964203, + -9.764117240905762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1609, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_338470458", + "mask_path": "../../mask/hdr_front_01609.png" + }, + { + "file_path": "../../rgb/hdr_front_01610.png", + "transform_matrix": [ + [ + -0.583425760269165, + -0.20811301469802856, + -0.7850499153137207, + 70.61994934082031 + ], + [ + 0.8092214465141296, + -0.06671594828367233, + -0.583703339099884, + -5.046074390411377 + ], + [ + 0.06910090893507004, + -0.9758268594741821, + 0.20733332633972168, + -9.783711433410645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1610, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_438470840", + "mask_path": "../../mask/hdr_front_01610.png" + }, + { + "file_path": "../../rgb/hdr_front_01612.png", + "transform_matrix": [ + [ + -0.6591643691062927, + -0.2073117196559906, + -0.7228584289550781, + 70.66158294677734 + ], + [ + 0.7459970712661743, + -0.05906470865011215, + -0.6633248329162598, + -4.933270454406738 + ], + [ + 0.0948195606470108, + -0.976490318775177, + 0.1935872882604599, + -9.809632301330566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1612, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_638470649", + "mask_path": "../../mask/hdr_front_01612.png" + }, + { + "file_path": "../../rgb/hdr_front_01613.png", + "transform_matrix": [ + [ + -0.6920719742774963, + -0.2091650515794754, + -0.6908590793609619, + 70.69412231445312 + ], + [ + 0.7140679955482483, + -0.05841927230358124, + -0.6976345777511597, + -4.86975622177124 + ], + [ + 0.1055612862110138, + -0.9761338233947754, + 0.18978841602802277, + -9.820012092590332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1613, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_738470077", + "mask_path": "../../mask/hdr_front_01613.png" + }, + { + "file_path": "../../rgb/hdr_front_01614.png", + "transform_matrix": [ + [ + -0.7218514084815979, + -0.20448391139507294, + -0.6611481308937073, + 70.71817016601562 + ], + [ + 0.6837338805198669, + -0.06308525800704956, + -0.7269995212554932, + -4.819125652313232 + ], + [ + 0.10695100575685501, + -0.9768350124359131, + 0.18535074591636658, + -9.814971923828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1614, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_838469743", + "mask_path": "../../mask/hdr_front_01614.png" + }, + { + "file_path": "../../rgb/hdr_front_01616.png", + "transform_matrix": [ + [ + -0.7759943008422852, + -0.18863853812217712, + -0.6018707752227783, + 70.75469970703125 + ], + [ + 0.6197157502174377, + -0.0503968708217144, + -0.783206582069397, + -4.691867828369141 + ], + [ + 0.11741054058074951, + -0.9807526469230652, + 0.1560099869966507, + -9.825697898864746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1616, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_38469552", + "mask_path": "../../mask/hdr_front_01616.png" + }, + { + "file_path": "../../rgb/hdr_front_01617.png", + "transform_matrix": [ + [ + -0.8064468502998352, + -0.1740594208240509, + -0.5651078224182129, + 70.79801177978516 + ], + [ + 0.5801857113838196, + -0.04844594746828079, + -0.813042163848877, + -4.6026291847229 + ], + [ + 0.11414046585559845, + -0.9835427403450012, + 0.14005586504936218, + -9.84083080291748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1617, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_138470411", + "mask_path": "../../mask/hdr_front_01617.png" + }, + { + "file_path": "../../rgb/hdr_front_01618.png", + "transform_matrix": [ + [ + -0.8348684906959534, + -0.16684922575950623, + -0.5245530605316162, + 70.80406188964844 + ], + [ + 0.5384940505027771, + -0.05003192648291588, + -0.8411426544189453, + -4.540640354156494 + ], + [ + 0.11409959942102432, + -0.9847122430801392, + 0.13161739706993103, + -9.847402572631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1618, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_238469600", + "mask_path": "../../mask/hdr_front_01618.png" + }, + { + "file_path": "../../rgb/hdr_front_01620.png", + "transform_matrix": [ + [ + -0.8748925924301147, + -0.16505859792232513, + -0.4553225338459015, + 70.79444122314453 + ], + [ + 0.4685741364955902, + -0.05072595179080963, + -0.8819667100906372, + -4.435370922088623 + ], + [ + 0.12247951328754425, + -0.984978437423706, + 0.12172194570302963, + -9.857037544250488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1620, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_438470602", + "mask_path": "../../mask/hdr_front_01620.png" + }, + { + "file_path": "../../rgb/hdr_front_01621.png", + "transform_matrix": [ + [ + -0.8915528059005737, + -0.15449418127536774, + -0.42575231194496155, + 70.80039978027344 + ], + [ + 0.4378737807273865, + -0.053760867565870285, + -0.8974276185035706, + -4.379703521728516 + ], + [ + 0.11575856059789658, + -0.9865299463272095, + 0.11557961255311966, + -9.84887981414795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1621, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_538470506", + "mask_path": "../../mask/hdr_front_01621.png" + }, + { + "file_path": "../../rgb/hdr_front_01623.png", + "transform_matrix": [ + [ + -0.9112531542778015, + -0.1452370136976242, + -0.38538801670074463, + 70.81841278076172 + ], + [ + 0.39457905292510986, + -0.03976057842373848, + -0.9180014133453369, + -4.260842800140381 + ], + [ + 0.11800451576709747, + -0.9885976910591125, + 0.09353943169116974, + -9.842693328857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1623, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_738470315", + "mask_path": "../../mask/hdr_front_01623.png" + }, + { + "file_path": "../../rgb/hdr_front_01624.png", + "transform_matrix": [ + [ + -0.9197839498519897, + -0.13659368455410004, + -0.3678852319717407, + 70.83612823486328 + ], + [ + 0.3756970167160034, + -0.03571505472064018, + -0.926054060459137, + -4.181483745574951 + ], + [ + 0.11335410922765732, + -0.9899831414222717, + 0.08416797965765, + -9.849845886230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1624, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_838469982", + "mask_path": "../../mask/hdr_front_01624.png" + }, + { + "file_path": "../../rgb/hdr_front_01625.png", + "transform_matrix": [ + [ + -0.9290842413902283, + -0.13095201551914215, + -0.3459104299545288, + 70.8437728881836 + ], + [ + 0.3533208966255188, + -0.03762214630842209, + -0.9347453713417053, + -4.122858047485352 + ], + [ + 0.10939289629459381, + -0.990674614906311, + 0.08122222870588303, + -9.859143257141113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1625, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_938469886", + "mask_path": "../../mask/hdr_front_01625.png" + }, + { + "file_path": "../../rgb/hdr_front_01627.png", + "transform_matrix": [ + [ + -0.9338531494140625, + -0.12691564857959747, + -0.3343808650970459, + 70.86738586425781 + ], + [ + 0.341646671295166, + -0.039958320558071136, + -0.9389787316322327, + -3.9994020462036133 + ], + [ + 0.105809785425663, + -0.9911083579063416, + 0.08067551255226135, + -9.881416320800781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1627, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_138470172", + "mask_path": "../../mask/hdr_front_01627.png" + }, + { + "file_path": "../../rgb/hdr_front_01628.png", + "transform_matrix": [ + [ + -0.9334163665771484, + -0.11903616040945053, + -0.33847323060035706, + 70.89498901367188 + ], + [ + 0.3454699218273163, + -0.04347357526421547, + -0.9374223947525024, + -3.9291882514953613 + ], + [ + 0.09687250107526779, + -0.9919377565383911, + 0.0817023441195488, + -9.879356384277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1628, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_238470554", + "mask_path": "../../mask/hdr_front_01628.png" + }, + { + "file_path": "../../rgb/hdr_front_01629.png", + "transform_matrix": [ + [ + -0.9314262866973877, + -0.11264771968126297, + -0.34605714678764343, + 70.91770935058594 + ], + [ + 0.3520534932613373, + -0.03795740753412247, + -0.9352098703384399, + -3.8655765056610107 + ], + [ + 0.09221383929252625, + -0.9929097294807434, + 0.07501254975795746, + -9.86939811706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1629, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_338468313", + "mask_path": "../../mask/hdr_front_01629.png" + }, + { + "file_path": "../../rgb/hdr_front_01630.png", + "transform_matrix": [ + [ + -0.9332982301712036, + -0.10189149528741837, + -0.34434372186660767, + 70.94219207763672 + ], + [ + 0.3490495979785919, + -0.03210034221410751, + -0.9365543723106384, + -3.7964446544647217 + ], + [ + 0.0843733623623848, + -0.9942774772644043, + 0.0655243769288063, + -9.870293617248535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1630, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_438471078", + "mask_path": "../../mask/hdr_front_01630.png" + }, + { + "file_path": "../../rgb/hdr_front_01631.png", + "transform_matrix": [ + [ + -0.9422110319137573, + -0.08845873177051544, + -0.32313066720962524, + 70.960693359375 + ], + [ + 0.3268197476863861, + -0.030599139630794525, + -0.9445913434028625, + -3.7057337760925293 + ], + [ + 0.07366982847452164, + -0.9956098198890686, + 0.05774091184139252, + -9.876564979553223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1631, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_538470029", + "mask_path": "../../mask/hdr_front_01631.png" + }, + { + "file_path": "../../rgb/hdr_front_01632.png", + "transform_matrix": [ + [ + -0.9553366303443909, + -0.08095446974039078, + -0.2842150628566742, + 70.95440673828125 + ], + [ + 0.28762269020080566, + -0.03386504575610161, + -0.9571449160575867, + -3.6415634155273438 + ], + [ + 0.0678602010011673, + -0.9961423873901367, + 0.05563686415553093, + -9.886839866638184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1632, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_638469934", + "mask_path": "../../mask/hdr_front_01632.png" + }, + { + "file_path": "../../rgb/hdr_front_01634.png", + "transform_matrix": [ + [ + -0.9761907458305359, + -0.0747404396533966, + -0.20363055169582367, + 70.96873474121094 + ], + [ + 0.20654670894145966, + -0.033535294234752655, + -0.9778618812561035, + -3.501596689224243 + ], + [ + 0.06625699996948242, + -0.9966390132904053, + 0.048174239695072174, + -9.895174026489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1634, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_838469505", + "mask_path": "../../mask/hdr_front_01634.png" + }, + { + "file_path": "../../rgb/hdr_front_01635.png", + "transform_matrix": [ + [ + -0.9824777841567993, + -0.07433430850505829, + -0.17091438174247742, + 70.97660064697266 + ], + [ + 0.17371344566345215, + -0.03293103352189064, + -0.9842455983161926, + -3.4369916915893555 + ], + [ + 0.06753482669591904, + -0.9966895580291748, + 0.045266881585121155, + -9.88855266571045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1635, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_938469171", + "mask_path": "../../mask/hdr_front_01635.png" + }, + { + "file_path": "../../rgb/hdr_front_01636.png", + "transform_matrix": [ + [ + -0.9873287677764893, + -0.07616458088159561, + -0.13921500742435455, + 70.97177124023438 + ], + [ + 0.1418231576681137, + -0.029953669756650925, + -0.9894387125968933, + -3.3839609622955322 + ], + [ + 0.07119017839431763, + -0.9966452717781067, + 0.040376026183366776, + -9.88928508758545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1636, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_38470029", + "mask_path": "../../mask/hdr_front_01636.png" + }, + { + "file_path": "../../rgb/hdr_front_01637.png", + "transform_matrix": [ + [ + -0.9912235736846924, + -0.07389798015356064, + -0.10961253941059113, + 70.97050476074219 + ], + [ + 0.11177001893520355, + -0.025708677247166634, + -0.9934014678001404, + -3.319920063018799 + ], + [ + 0.07059237360954285, + -0.9969344139099121, + 0.03374262526631355, + -9.888946533203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1637, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_138470172", + "mask_path": "../../mask/hdr_front_01637.png" + }, + { + "file_path": "../../rgb/hdr_front_01638.png", + "transform_matrix": [ + [ + -0.9945727586746216, + -0.0675111636519432, + -0.07916666567325592, + 70.96977233886719 + ], + [ + 0.08096014708280563, + -0.024252699688076973, + -0.996422290802002, + -3.243509531021118 + ], + [ + 0.06534961611032486, + -0.9974237680435181, + 0.029586784541606903, + -9.895485877990723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1638, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_238469600", + "mask_path": "../../mask/hdr_front_01638.png" + }, + { + "file_path": "../../rgb/hdr_front_01639.png", + "transform_matrix": [ + [ + -0.9969115853309631, + -0.06427980959415436, + -0.045114628970623016, + 70.95953369140625 + ], + [ + 0.04678978770971298, + -0.024797113612294197, + -0.9985969662666321, + -3.1742804050445557 + ], + [ + 0.06307089328765869, + -0.9976237416267395, + 0.027728170156478882, + -9.901714324951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1639, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_338469266", + "mask_path": "../../mask/hdr_front_01639.png" + }, + { + "file_path": "../../rgb/hdr_front_01640.png", + "transform_matrix": [ + [ + -0.9976243376731873, + -0.06805591285228729, + -0.010679250583052635, + 70.9430923461914 + ], + [ + 0.012312578037381172, + -0.023625710979104042, + -0.9996449947357178, + -3.107077121734619 + ], + [ + 0.06777945160865784, + -0.997401773929596, + 0.02440752647817135, + -9.904680252075195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1640, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_438471555", + "mask_path": "../../mask/hdr_front_01640.png" + }, + { + "file_path": "../../rgb/hdr_front_01641.png", + "transform_matrix": [ + [ + -0.9971033334732056, + -0.07283271104097366, + 0.021918077021837234, + 70.92776489257812 + ], + [ + -0.020141752436757088, + -0.025034762918949127, + -0.9994836449623108, + -3.033008575439453 + ], + [ + 0.07334380596876144, + -0.9970299005508423, + 0.0234952662140131, + -9.907654762268066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1641, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_538470268", + "mask_path": "../../mask/hdr_front_01641.png" + }, + { + "file_path": "../../rgb/hdr_front_01642.png", + "transform_matrix": [ + [ + -0.996440052986145, + -0.06916911900043488, + 0.04819665104150772, + 70.91738891601562 + ], + [ + -0.04657918959856033, + -0.024810392409563065, + -0.9986063838005066, + -2.961974620819092 + ], + [ + 0.07026849687099457, + -0.9972963929176331, + 0.021500224247574806, + -9.894508361816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1642, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_638470888", + "mask_path": "../../mask/hdr_front_01642.png" + }, + { + "file_path": "../../rgb/hdr_front_01643.png", + "transform_matrix": [ + [ + -0.9949696063995361, + -0.07153334468603134, + 0.07013129442930222, + 70.8967056274414 + ], + [ + -0.06897270679473877, + -0.018542908132076263, + -0.9974462389945984, + -2.9068617820739746 + ], + [ + 0.07265110313892365, + -0.9972658753395081, + 0.013515782542526722, + -9.885446548461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1643, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_738470554", + "mask_path": "../../mask/hdr_front_01643.png" + }, + { + "file_path": "../../rgb/hdr_front_01644.png", + "transform_matrix": [ + [ + -0.9934972524642944, + -0.0740174874663353, + 0.08651325106620789, + 70.87535858154297 + ], + [ + -0.08572161197662354, + -0.013812059536576271, + -0.9962233304977417, + -2.8388071060180664 + ], + [ + 0.07493287324905396, + -0.997161328792572, + 0.007377345580607653, + -9.886093139648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1644, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_838471174", + "mask_path": "../../mask/hdr_front_01644.png" + }, + { + "file_path": "../../rgb/hdr_front_01645.png", + "transform_matrix": [ + [ + -0.9925121665000916, + -0.06816834211349487, + 0.10135415941476822, + 70.85819244384766 + ], + [ + -0.10077418386936188, + -0.011902752332389355, + -0.9948381781578064, + -2.748476266860962 + ], + [ + 0.06902285665273666, + -0.9976028203964233, + 0.004944018088281155, + -9.890593528747559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1645, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_938469171", + "mask_path": "../../mask/hdr_front_01645.png" + }, + { + "file_path": "../../rgb/hdr_front_01646.png", + "transform_matrix": [ + [ + -0.991885244846344, + -0.060472119599580765, + 0.11183339357376099, + 70.8412857055664 + ], + [ + -0.11138974875211716, + -0.010669120587408543, + -0.9937195181846619, + -2.6818618774414062 + ], + [ + 0.06128549948334694, + -0.9981128573417664, + 0.0038465692196041346, + -9.894378662109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1646, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_38469552", + "mask_path": "../../mask/hdr_front_01646.png" + }, + { + "file_path": "../../rgb/hdr_front_01647.png", + "transform_matrix": [ + [ + -0.9904658198356628, + -0.05665462091565132, + 0.1255696713924408, + 70.82176971435547 + ], + [ + -0.12532714009284973, + -0.007827850058674812, + -0.9920846223831177, + -2.6281344890594482 + ], + [ + 0.05718911439180374, + -0.998363196849823, + 0.0006528560188598931, + -9.89315414428711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1647, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_138470172", + "mask_path": "../../mask/hdr_front_01647.png" + }, + { + "file_path": "../../rgb/hdr_front_01648.png", + "transform_matrix": [ + [ + -0.98906010389328, + -0.056926894932985306, + 0.1360863894224167, + 70.79744720458984 + ], + [ + -0.13569588959217072, + -0.010687661357223988, + -0.9906929135322571, + -2.5578773021698 + ], + [ + 0.05785152316093445, + -0.9983211159706116, + 0.002845992334187031, + -9.896871566772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1648, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_238471269", + "mask_path": "../../mask/hdr_front_01648.png" + }, + { + "file_path": "../../rgb/hdr_front_01649.png", + "transform_matrix": [ + [ + -0.9886549115180969, + -0.05294005572795868, + 0.14056576788425446, + 70.78302001953125 + ], + [ + -0.14002609252929688, + -0.01378704234957695, + -0.990051805973053, + -2.482900857925415 + ], + [ + 0.054351385682821274, + -0.9985025525093079, + 0.006217638961970806, + -9.890829086303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1649, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_338469743", + "mask_path": "../../mask/hdr_front_01649.png" + }, + { + "file_path": "../../rgb/hdr_front_01650.png", + "transform_matrix": [ + [ + -0.9882943630218506, + -0.055950827896595, + 0.1419292390346527, + 70.76907348632812 + ], + [ + -0.14163540303707123, + -0.009202779270708561, + -0.9898762106895447, + -2.4145989418029785 + ], + [ + 0.056690528988838196, + -0.9983911514282227, + 0.0011704365024343133, + -9.87816047668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1650, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_438470125", + "mask_path": "../../mask/hdr_front_01650.png" + }, + { + "file_path": "../../rgb/hdr_front_01651.png", + "transform_matrix": [ + [ + -0.9871649146080017, + -0.05637561157345772, + 0.14942298829555511, + 70.7470474243164 + ], + [ + -0.14945241808891296, + -0.0037174439057707787, + -0.9887619018554688, + -2.3400959968566895 + ], + [ + 0.05629752576351166, + -0.9984027147293091, + -0.004755740519613028, + -9.876189231872559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1651, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_538470029", + "mask_path": "../../mask/hdr_front_01651.png" + }, + { + "file_path": "../../rgb/hdr_front_01652.png", + "transform_matrix": [ + [ + -0.9835366010665894, + -0.05078359693288803, + 0.17342618107795715, + 70.71018981933594 + ], + [ + -0.17365950345993042, + 0.0001844014332164079, + -0.9848057627677917, + -2.2381536960601807 + ], + [ + 0.04997999593615532, + -0.9987096786499023, + -0.009000417776405811, + -9.875463485717773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1652, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_638469934", + "mask_path": "../../mask/hdr_front_01652.png" + }, + { + "file_path": "../../rgb/hdr_front_01653.png", + "transform_matrix": [ + [ + -0.9767793416976929, + -0.04368390887975693, + 0.20974686741828918, + 70.67096710205078 + ], + [ + -0.20989008247852325, + -0.0013335380936041474, + -0.9777240753173828, + -2.1567018032073975 + ], + [ + 0.04299052059650421, + -0.9990445971488953, + -0.00786624662578106, + -9.877983093261719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1653, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_738469600", + "mask_path": "../../mask/hdr_front_01653.png" + }, + { + "file_path": "../../rgb/hdr_front_01654.png", + "transform_matrix": [ + [ + -0.9701777100563049, + -0.04299827665090561, + 0.23855093121528625, + 70.64015197753906 + ], + [ + -0.238647922873497, + -0.0029379953630268574, + -0.9711018204689026, + -2.0868232250213623 + ], + [ + 0.04245655983686447, + -0.9990708827972412, + -0.00741107203066349, + -9.883188247680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1654, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_838469743", + "mask_path": "../../mask/hdr_front_01654.png" + }, + { + "file_path": "../../rgb/hdr_front_01655.png", + "transform_matrix": [ + [ + -0.9676653742790222, + -0.04287693649530411, + 0.24856631457805634, + 70.61857604980469 + ], + [ + -0.24856729805469513, + -0.005393257364630699, + -0.9685996174812317, + -1.9930121898651123 + ], + [ + 0.04287116602063179, + -0.9990658164024353, + -0.0054389359429478645, + -9.883834838867188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1655, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_938470125", + "mask_path": "../../mask/hdr_front_01655.png" + }, + { + "file_path": "../../rgb/hdr_front_01656.png", + "transform_matrix": [ + [ + -0.9700074195861816, + -0.04186456650495529, + 0.239442840218544, + 70.61052703857422 + ], + [ + -0.2394246906042099, + -0.005520690232515335, + -0.970899224281311, + -1.916203260421753 + ], + [ + 0.04196816682815552, + -0.999108076095581, + -0.004668300971388817, + -9.866923332214355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1656, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_38470029", + "mask_path": "../../mask/hdr_front_01656.png" + }, + { + "file_path": "../../rgb/hdr_front_01657.png", + "transform_matrix": [ + [ + -0.9723618626594543, + -0.04295342043042183, + 0.22949381172657013, + 70.59219360351562 + ], + [ + -0.22953036427497864, + -0.00414566695690155, + -0.9732926487922668, + -1.8547526597976685 + ], + [ + 0.04275765269994736, + -0.999068558216095, + -0.005828026216477156, + -9.864327430725098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1657, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_138469934", + "mask_path": "../../mask/hdr_front_01657.png" + }, + { + "file_path": "../../rgb/hdr_front_01658.png", + "transform_matrix": [ + [ + -0.9745073318481445, + -0.03839587792754173, + 0.22104546427726746, + 70.5737533569336 + ], + [ + -0.2212400734424591, + 0.0008430462912656367, + -0.9752190709114075, + -1.7728557586669922 + ], + [ + 0.03725804015994072, + -0.9992623329162598, + -0.009316262789070606, + -9.864518165588379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1658, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_238469839", + "mask_path": "../../mask/hdr_front_01658.png" + }, + { + "file_path": "../../rgb/hdr_front_01659.png", + "transform_matrix": [ + [ + -0.9746138453483582, + -0.0341058224439621, + 0.2212798148393631, + 70.54557037353516 + ], + [ + -0.2214469164609909, + 0.0011556805111467838, + -0.9751718044281006, + -1.6757900714874268 + ], + [ + 0.0330033041536808, + -0.9994176030158997, + -0.008678970858454704, + -9.868524551391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1659, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_338468313", + "mask_path": "../../mask/hdr_front_01659.png" + }, + { + "file_path": "../../rgb/hdr_front_01660.png", + "transform_matrix": [ + [ + -0.9743955135345459, + -0.031236859038472176, + 0.22266033291816711, + 70.52045440673828 + ], + [ + -0.22281278669834137, + 0.0014436213532462716, + -0.9748601913452148, + -1.6060199737548828 + ], + [ + 0.030130133032798767, + -0.9995109438896179, + -0.008366628549993038, + -9.873700141906738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1660, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_438470363", + "mask_path": "../../mask/hdr_front_01660.png" + }, + { + "file_path": "../../rgb/hdr_front_01661.png", + "transform_matrix": [ + [ + -0.9745511412620544, + -0.030652349814772606, + 0.22205959260463715, + 70.49807739257812 + ], + [ + -0.2221401333808899, + -0.00079518579877913, + -0.9750143885612488, + -1.5243284702301025 + ], + [ + 0.03006305918097496, + -0.9995298385620117, + -0.0060341679491102695, + -9.874796867370605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1661, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_538469552", + "mask_path": "../../mask/hdr_front_01661.png" + }, + { + "file_path": "../../rgb/hdr_front_01662.png", + "transform_matrix": [ + [ + -0.9760584235191345, + -0.02853977493941784, + 0.2156274914741516, + 70.483154296875 + ], + [ + -0.2155410200357437, + -0.006110236980021, + -0.976475715637207, + -1.4426062107086182 + ], + [ + 0.029185932129621506, + -0.9995740056037903, + -0.00018754330812953413, + -9.869874954223633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1662, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_638470411", + "mask_path": "../../mask/hdr_front_01662.png" + }, + { + "file_path": "../../rgb/hdr_front_01663.png", + "transform_matrix": [ + [ + -0.9780453443527222, + -0.030303018167614937, + 0.20617727935314178, + 70.47087097167969 + ], + [ + -0.20611818134784698, + -0.005095608066767454, + -0.9785138964653015, + -1.3641507625579834 + ], + [ + 0.030702518299221992, + -0.9995278120040894, + -0.001262267236597836, + -9.856075286865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1663, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_738470554", + "mask_path": "../../mask/hdr_front_01663.png" + }, + { + "file_path": "../../rgb/hdr_front_01664.png", + "transform_matrix": [ + [ + -0.9800643920898438, + -0.029411086812615395, + 0.1964912861585617, + 70.45570373535156 + ], + [ + -0.19651612639427185, + -0.0020718632731586695, + -0.9804983735084534, + -1.2853121757507324 + ], + [ + 0.029244625940918922, + -0.9995652437210083, + -0.0037491931580007076, + -9.856100082397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1664, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_838469982", + "mask_path": "../../mask/hdr_front_01664.png" + }, + { + "file_path": "../../rgb/hdr_front_01665.png", + "transform_matrix": [ + [ + -0.9815521240234375, + -0.024810610339045525, + 0.189578115940094, + 70.43125915527344 + ], + [ + -0.18962229788303375, + -0.0005809867288917303, + -0.9818569421768188, + -1.18208646774292 + ], + [ + 0.024470612406730652, + -0.9996920824050903, + -0.004134376533329487, + -9.857418060302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1665, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_938470125", + "mask_path": "../../mask/hdr_front_01665.png" + }, + { + "file_path": "../../rgb/hdr_front_01666.png", + "transform_matrix": [ + [ + -0.9815515279769897, + -0.013844626024365425, + 0.19069582223892212, + 70.41120147705078 + ], + [ + -0.19065096974372864, + -0.004503409843891859, + -0.9816475510597229, + -1.0941156148910522 + ], + [ + 0.014449325390160084, + -0.9998940229415894, + 0.001780838007107377, + -9.866533279418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1666, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_38469791", + "mask_path": "../../mask/hdr_front_01666.png" + }, + { + "file_path": "../../rgb/hdr_front_01667.png", + "transform_matrix": [ + [ + -0.9815810918807983, + -0.008790604770183563, + 0.1908436417579651, + 70.39777374267578 + ], + [ + -0.19083243608474731, + -0.0021027768962085247, + -0.9816204309463501, + -1.016939640045166 + ], + [ + 0.009030340239405632, + -0.9999591708183289, + 0.0003865135950036347, + -9.871074676513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1667, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_138469696", + "mask_path": "../../mask/hdr_front_01667.png" + }, + { + "file_path": "../../rgb/hdr_front_01668.png", + "transform_matrix": [ + [ + -0.9823180437088013, + -0.009208147414028645, + 0.18699288368225098, + 70.38118743896484 + ], + [ + -0.18697766959667206, + -0.0024959214497357607, + -0.9823610186576843, + -0.9135408997535706 + ], + [ + 0.009512445889413357, + -0.9999545216560364, + 0.0007300706929527223, + -9.867634773254395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1668, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_238470554", + "mask_path": "../../mask/hdr_front_01668.png" + }, + { + "file_path": "../../rgb/hdr_front_01669.png", + "transform_matrix": [ + [ + -0.9849368333816528, + -0.01201696041971445, + 0.17249634861946106, + 70.37714385986328 + ], + [ + -0.1724168211221695, + -0.007373146712779999, + -0.984996497631073, + -0.8157139420509338 + ], + [ + 0.013108504004776478, + -0.9999006390571594, + 0.005190157797187567, + -9.855148315429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1669, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_338470220", + "mask_path": "../../mask/hdr_front_01669.png" + }, + { + "file_path": "../../rgb/hdr_front_01670.png", + "transform_matrix": [ + [ + -0.9875074028968811, + -0.018493246287107468, + 0.1564837545156479, + 70.36741638183594 + ], + [ + -0.15643535554409027, + -0.0040443334728479385, + -0.9876799583435059, + -0.7421718835830688 + ], + [ + 0.01889828033745289, + -0.99982088804245, + 0.0011008121073246002, + -9.848832130432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1670, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_438470363", + "mask_path": "../../mask/hdr_front_01670.png" + }, + { + "file_path": "../../rgb/hdr_front_01671.png", + "transform_matrix": [ + [ + -0.9894384741783142, + -0.019145037978887558, + 0.14368346333503723, + 70.35078430175781 + ], + [ + -0.14375081658363342, + 0.0021810028702020645, + -0.9896115064620972, + -0.654295802116394 + ], + [ + 0.01863277330994606, + -0.9998143911361694, + -0.0049100820906460285, + -9.847771644592285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1671, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_538470268", + "mask_path": "../../mask/hdr_front_01671.png" + }, + { + "file_path": "../../rgb/hdr_front_01672.png", + "transform_matrix": [ + [ + -0.9898597598075867, + -0.016373731195926666, + 0.14110112190246582, + 70.32772827148438 + ], + [ + -0.14122524857521057, + 0.006683490704745054, + -0.9899550080299377, + -0.5564661026000977 + ], + [ + 0.015266206115484238, + -0.9998436570167542, + -0.008928102441132069, + -9.848275184631348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1672, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_638469696", + "mask_path": "../../mask/hdr_front_01672.png" + }, + { + "file_path": "../../rgb/hdr_front_01673.png", + "transform_matrix": [ + [ + -0.9890907406806946, + -0.0131218321621418, + 0.14672136306762695, + 70.31023406982422 + ], + [ + -0.1468133181333542, + 0.006340306717902422, + -0.9891438484191895, + -0.4761287271976471 + ], + [ + 0.012049121782183647, + -0.999893844127655, + -0.008197599090635777, + -9.853582382202148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1673, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_738469123", + "mask_path": "../../mask/hdr_front_01673.png" + }, + { + "file_path": "../../rgb/hdr_front_01674.png", + "transform_matrix": [ + [ + -0.9884858727455139, + -0.015443668700754642, + 0.15052306652069092, + 70.29592895507812 + ], + [ + -0.15060673654079437, + 0.004400474019348621, + -0.9885839819908142, + -0.39457353949546814 + ], + [ + 0.014604990370571613, + -0.9998710751533508, + -0.00667572719976306, + -9.858625411987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1674, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_838470935", + "mask_path": "../../mask/hdr_front_01674.png" + }, + { + "file_path": "../../rgb/hdr_front_01675.png", + "transform_matrix": [ + [ + -0.989174485206604, + -0.018556443974375725, + 0.14556583762168884, + 70.29312896728516 + ], + [ + -0.14551983773708344, + -0.0038119181990623474, + -0.9893479943275452, + -0.29977020621299744 + ], + [ + 0.018913665786385536, + -0.9998205900192261, + 0.0010703214211389422, + -9.854653358459473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1675, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_938469886", + "mask_path": "../../mask/hdr_front_01675.png" + }, + { + "file_path": "../../rgb/hdr_front_01676.png", + "transform_matrix": [ + [ + -0.991058349609375, + -0.018737707287073135, + 0.13210684061050415, + 70.28732299804688 + ], + [ + -0.13203805685043335, + -0.004867417272180319, + -0.9912327527999878, + -0.21864724159240723 + ], + [ + 0.019216448068618774, + -0.9998126029968262, + 0.002349803689867258, + -9.84285831451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1676, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_38469314", + "mask_path": "../../mask/hdr_front_01676.png" + }, + { + "file_path": "../../rgb/hdr_front_01677.png", + "transform_matrix": [ + [ + -0.9925365447998047, + -0.020919129252433777, + 0.12013998627662659, + 70.27650451660156 + ], + [ + -0.12012368440628052, + -0.0020382709335535765, + -0.9927569031715393, + -0.14477276802062988 + ], + [ + 0.02101248688995838, + -0.9997791647911072, + -0.0004898242768831551, + -9.839837074279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1677, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_138469696", + "mask_path": "../../mask/hdr_front_01677.png" + }, + { + "file_path": "../../rgb/hdr_front_01678.png", + "transform_matrix": [ + [ + -0.9935060143470764, + -0.018925826996564865, + 0.11219434440135956, + 70.26632690429688 + ], + [ + -0.11223546415567398, + 0.0011216135462746024, + -0.993681013584137, + -0.04622337222099304 + ], + [ + 0.018680395558476448, + -0.9998202919960022, + -0.0032384784426540136, + -9.840031623840332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1678, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_238470077", + "mask_path": "../../mask/hdr_front_01678.png" + }, + { + "file_path": "../../rgb/hdr_front_01679.png", + "transform_matrix": [ + [ + -0.9932636618614197, + -0.011769617907702923, + 0.11527583748102188, + 70.25196075439453 + ], + [ + -0.11527077853679657, + -0.001109809847548604, + -0.9933335185050964, + 0.05018022656440735 + ], + [ + 0.01181909441947937, + -0.999930202960968, + -0.0002543591836001724, + -9.84481430053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1679, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_338469266", + "mask_path": "../../mask/hdr_front_01679.png" + }, + { + "file_path": "../../rgb/hdr_front_01680.png", + "transform_matrix": [ + [ + -0.9930097460746765, + -0.009040024131536484, + 0.1176847517490387, + 70.23963165283203 + ], + [ + -0.1176815927028656, + -0.0008814872126094997, + -0.9930511116981506, + 0.13065709173679352 + ], + [ + 0.009080941788852215, + -0.9999587535858154, + -0.00018851894128601998, + -9.851727485656738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1680, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_438469886", + "mask_path": "../../mask/hdr_front_01680.png" + }, + { + "file_path": "../../rgb/hdr_front_01681.png", + "transform_matrix": [ + [ + -0.9931169748306274, + -0.012267062440514565, + 0.11648264527320862, + 70.22390747070312 + ], + [ + -0.11644116044044495, + -0.004046006128191948, + -0.9931893348693848, + 0.21824011206626892 + ], + [ + 0.01265480276197195, + -0.9999165534973145, + 0.0025897666346281767, + -9.852215766906738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1681, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_538467645", + "mask_path": "../../mask/hdr_front_01681.png" + }, + { + "file_path": "../../rgb/hdr_front_01682.png", + "transform_matrix": [ + [ + -0.9943460822105408, + -0.014380273409187794, + 0.10520962625741959, + 70.21743774414062 + ], + [ + -0.10504347085952759, + -0.011860455386340618, + -0.9943969249725342, + 0.3016394376754761 + ], + [ + 0.015547534450888634, + -0.9998262524604797, + 0.010282843373715878, + -9.848650932312012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1682, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_638469696", + "mask_path": "../../mask/hdr_front_01682.png" + }, + { + "file_path": "../../rgb/hdr_front_01683.png", + "transform_matrix": [ + [ + -0.9957929849624634, + -0.019396433606743813, + 0.08955514430999756, + 70.2182846069336 + ], + [ + -0.08940182626247406, + -0.008634597063064575, + -0.9959582686424255, + 0.383444219827652 + ], + [ + 0.020091310143470764, + -0.999774694442749, + 0.006864194758236408, + -9.842840194702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1683, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_738470554", + "mask_path": "../../mask/hdr_front_01683.png" + }, + { + "file_path": "../../rgb/hdr_front_01684.png", + "transform_matrix": [ + [ + -0.9969006776809692, + -0.018763434141874313, + 0.0763997808098793, + 70.21141052246094 + ], + [ + -0.07631970942020416, + -0.004948240704834461, + -0.9970710873603821, + 0.47717899084091187 + ], + [ + 0.019086524844169617, + -0.9998117089271545, + 0.003500885097309947, + -9.842434883117676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1684, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_838469982", + "mask_path": "../../mask/hdr_front_01684.png" + }, + { + "file_path": "../../rgb/hdr_front_01685.png", + "transform_matrix": [ + [ + -0.9973978400230408, + -0.010960780084133148, + 0.07125646620988846, + 70.19381713867188 + ], + [ + -0.07118166238069534, + -0.00706998398527503, + -0.997438371181488, + 0.5798147916793823 + ], + [ + 0.011436485685408115, + -0.9999149441719055, + 0.006271379999816418, + -9.842641830444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1685, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_938469886", + "mask_path": "../../mask/hdr_front_01685.png" + }, + { + "file_path": "../../rgb/hdr_front_01686.png", + "transform_matrix": [ + [ + -0.9972062706947327, + -0.003592755878344178, + 0.07460959255695343, + 70.17804718017578 + ], + [ + -0.07457264512777328, + -0.009506088681519032, + -0.9971703886985779, + 0.6664024591445923 + ], + [ + 0.004291834309697151, + -0.9999483823776245, + 0.00921161100268364, + -9.849953651428223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1686, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_38468122", + "mask_path": "../../mask/hdr_front_01686.png" + }, + { + "file_path": "../../rgb/hdr_front_01687.png", + "transform_matrix": [ + [ + -0.9972684383392334, + -0.003688756376504898, + 0.07376975566148758, + 70.17633056640625 + ], + [ + -0.07373504340648651, + -0.008798711933195591, + -0.9972390532493591, + 0.7496085166931152 + ], + [ + 0.004327652510255575, + -0.9999545216560364, + 0.008502688258886337, + -9.851991653442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1687, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_138468027", + "mask_path": "../../mask/hdr_front_01687.png" + }, + { + "file_path": "../../rgb/hdr_front_01688.png", + "transform_matrix": [ + [ + -0.9977326989173889, + -0.010537726804614067, + 0.06647050380706787, + 70.18222045898438 + ], + [ + -0.06634069979190826, + -0.01222248375415802, + -0.9977222084999084, + 0.8351233601570129 + ], + [ + 0.011326158419251442, + -0.9998697638511658, + 0.011495690792798996, + -9.852823257446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1688, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_238469362", + "mask_path": "../../mask/hdr_front_01688.png" + }, + { + "file_path": "../../rgb/hdr_front_01689.png", + "transform_matrix": [ + [ + -0.9985100626945496, + -0.01217290572822094, + 0.05319156125187874, + 70.19003295898438 + ], + [ + -0.05303396284580231, + -0.012922750785946846, + -0.9985091686248779, + 0.9127576351165771 + ], + [ + 0.012842138297855854, + -0.9998424053192139, + 0.012257920578122139, + -9.841732025146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1689, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_338469743", + "mask_path": "../../mask/hdr_front_01689.png" + }, + { + "file_path": "../../rgb/hdr_front_01690.png", + "transform_matrix": [ + [ + -0.9991075396537781, + -0.013121044263243675, + 0.040147408843040466, + 70.1890869140625 + ], + [ + -0.04004346579313278, + -0.008091307245194912, + -0.9991652369499207, + 0.9832590818405151 + ], + [ + 0.013434933498501778, + -0.9998812079429626, + 0.007558674551546574, + -9.836398124694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1690, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_438469409", + "mask_path": "../../mask/hdr_front_01690.png" + }, + { + "file_path": "../../rgb/hdr_front_01691.png", + "transform_matrix": [ + [ + -0.9994614124298096, + -0.009126871824264526, + 0.03151991218328476, + 70.18653869628906 + ], + [ + -0.031484801322221756, + -0.003965683747082949, + -0.9994964003562927, + 1.0777612924575806 + ], + [ + 0.009247273206710815, + -0.9999504685401917, + 0.003676190273836255, + -9.841532707214355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1691, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_538470029", + "mask_path": "../../mask/hdr_front_01691.png" + }, + { + "file_path": "../../rgb/hdr_front_01692.png", + "transform_matrix": [ + [ + -0.9993088245391846, + -0.00329695176333189, + 0.03702817112207413, + 70.18128967285156 + ], + [ + -0.037007641047239304, + -0.0060849604196846485, + -0.9992964863777161, + 1.172264814376831 + ], + [ + 0.003519947873428464, + -0.9999760389328003, + 0.0059587424620985985, + -9.846864700317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1692, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_638469219", + "mask_path": "../../mask/hdr_front_01692.png" + }, + { + "file_path": "../../rgb/hdr_front_01693.png", + "transform_matrix": [ + [ + -0.9987230896949768, + -0.0012004174059256911, + 0.05050482600927353, + 70.16847229003906 + ], + [ + -0.05050243064761162, + -0.0019509035628288984, + -0.9987219572067261, + 1.2561194896697998 + ], + [ + 0.0012974136043339968, + -0.9999973773956299, + 0.0018877885304391384, + -9.8500394821167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1693, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_738470315", + "mask_path": "../../mask/hdr_front_01693.png" + }, + { + "file_path": "../../rgb/hdr_front_01694.png", + "transform_matrix": [ + [ + -0.9978026747703552, + -0.004251919221132994, + 0.06611838191747665, + 70.15765380859375 + ], + [ + -0.06611733138561249, + -0.000386326719308272, + -0.9978117942810059, + 1.3473964929580688 + ], + [ + 0.004268158692866564, + -0.9999909400939941, + 0.00010435236617922783, + -9.848855972290039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1694, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_838469982", + "mask_path": "../../mask/hdr_front_01694.png" + }, + { + "file_path": "../../rgb/hdr_front_01695.png", + "transform_matrix": [ + [ + -0.9970871210098267, + -0.006068266928195953, + 0.07602851837873459, + 70.15373992919922 + ], + [ + -0.07599644362926483, + -0.005351686384528875, + -0.997093677520752, + 1.4335405826568604 + ], + [ + 0.006457512732595205, + -0.9999672770500183, + 0.004874930717051029, + -9.838432312011719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1695, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_938471317", + "mask_path": "../../mask/hdr_front_01695.png" + }, + { + "file_path": "../../rgb/hdr_front_01696.png", + "transform_matrix": [ + [ + -0.9958193898200989, + -0.013916666619479656, + 0.0902763307094574, + 70.13988494873047 + ], + [ + -0.09028375893831253, + -9.44656494539231e-05, + -0.9959161877632141, + 1.5036025047302246 + ], + [ + 0.0138683607801795, + -0.99990314245224, + -0.0011623782338574529, + -9.832852363586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1696, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_38470268", + "mask_path": "../../mask/hdr_front_01696.png" + }, + { + "file_path": "../../rgb/hdr_front_01697.png", + "transform_matrix": [ + [ + -0.9937710165977478, + -0.02077777311205864, + 0.10948716104030609, + 70.11758422851562 + ], + [ + -0.10960616171360016, + 0.004673834890127182, + -0.9939641356468201, + 1.5873174667358398 + ], + [ + 0.02014063484966755, + -0.9997732639312744, + -0.006922093220055103, + -9.834653854370117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1697, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_138470649", + "mask_path": "../../mask/hdr_front_01697.png" + }, + { + "file_path": "../../rgb/hdr_front_01698.png", + "transform_matrix": [ + [ + -0.9900457262992859, + -0.020077569410204887, + 0.13930626213550568, + 70.09126281738281 + ], + [ + -0.1394362896680832, + 0.0052205100655555725, + -0.9902172684669495, + 1.6863386631011963 + ], + [ + 0.019153906032443047, + -0.9997848272323608, + -0.007968084886670113, + -9.839020729064941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1698, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_238469839", + "mask_path": "../../mask/hdr_front_01698.png" + }, + { + "file_path": "../../rgb/hdr_front_01699.png", + "transform_matrix": [ + [ + -0.984178364276886, + -0.014294478110969067, + 0.1766027957201004, + 70.061767578125 + ], + [ + -0.17670978605747223, + 0.00659673847258091, + -0.9842408895492554, + 1.7614238262176514 + ], + [ + 0.012904209084808826, + -0.999876081943512, + -0.009018341079354286, + -9.841203689575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1699, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_338473558", + "mask_path": "../../mask/hdr_front_01699.png" + }, + { + "file_path": "../../rgb/hdr_front_01700.png", + "transform_matrix": [ + [ + -0.9772098660469055, + -0.018105996772646904, + 0.2115015685558319, + 70.02986907958984 + ], + [ + -0.21163451671600342, + 0.005751192569732666, + -0.9773319363594055, + 1.8382381200790405 + ], + [ + 0.016479184851050377, + -0.9998195171356201, + -0.009451976977288723, + -9.843379974365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1700, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_438469886", + "mask_path": "../../mask/hdr_front_01700.png" + }, + { + "file_path": "../../rgb/hdr_front_01701.png", + "transform_matrix": [ + [ + -0.972562849521637, + -0.024185216054320335, + 0.23137961328029633, + 70.008544921875 + ], + [ + -0.2314341962337494, + -0.0005558124976232648, + -0.9728504419326782, + 1.9271034002304077 + ], + [ + 0.02365720085799694, + -0.9997074007987976, + -0.005056724417954683, + -9.841377258300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1701, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_538470029", + "mask_path": "../../mask/hdr_front_01701.png" + }, + { + "file_path": "../../rgb/hdr_front_01702.png", + "transform_matrix": [ + [ + -0.9749687314033508, + -0.027448689565062523, + 0.22064122557640076, + 70.00504302978516 + ], + [ + -0.22071613371372223, + -0.00030801253160461783, + -0.9753380417823792, + 1.9983024597167969 + ], + [ + 0.026839710772037506, + -0.99962317943573, + -0.005758065264672041, + -9.832162857055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1702, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_638470172", + "mask_path": "../../mask/hdr_front_01702.png" + }, + { + "file_path": "../../rgb/hdr_front_01703.png", + "transform_matrix": [ + [ + -0.9784387946128845, + -0.030849983915686607, + 0.20421993732452393, + 69.99385833740234 + ], + [ + -0.20437565445899963, + 0.0019472460262477398, + -0.978890597820282, + 2.0749664306640625 + ], + [ + 0.02980109117925167, + -0.9995221495628357, + -0.00821024551987648, + -9.826218605041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1703, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_738471269", + "mask_path": "../../mask/hdr_front_01703.png" + }, + { + "file_path": "../../rgb/hdr_front_01704.png", + "transform_matrix": [ + [ + -0.9808971881866455, + -0.027707533910870552, + 0.19254332780838013, + 69.97251892089844 + ], + [ + -0.1927310675382614, + 0.004247894510626793, + -0.9812424182891846, + 2.1758546829223633 + ], + [ + 0.02636990323662758, + -0.9996070265769958, + -0.009506849572062492, + -9.827077865600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1704, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_838469505", + "mask_path": "../../mask/hdr_front_01704.png" + }, + { + "file_path": "../../rgb/hdr_front_01705.png", + "transform_matrix": [ + [ + -0.9803690314292908, + -0.0252612866461277, + 0.19554656744003296, + 69.94622039794922 + ], + [ + -0.19566543400287628, + 0.0022993795573711395, + -0.9806680679321289, + 2.2706899642944336 + ], + [ + 0.024323299527168274, + -0.9996782541275024, + -0.0071970014832913876, + -9.836341857910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1705, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_938470125", + "mask_path": "../../mask/hdr_front_01705.png" + }, + { + "file_path": "../../rgb/hdr_front_01706.png", + "transform_matrix": [ + [ + -0.9799075722694397, + -0.02284993603825569, + 0.19813872873783112, + 69.92257690429688 + ], + [ + -0.19827671349048615, + 0.003917602822184563, + -0.9801382422447205, + 2.3449296951293945 + ], + [ + 0.021619871258735657, + -0.9997312426567078, + -0.008369498886168003, + -9.841529846191406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1706, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_38470029", + "mask_path": "../../mask/hdr_front_01706.png" + }, + { + "file_path": "../../rgb/hdr_front_01707.png", + "transform_matrix": [ + [ + -0.9802441000938416, + -0.024282852187752724, + 0.19629527628421783, + 69.90318298339844 + ], + [ + -0.19639436900615692, + 0.0017421342199668288, + -0.9805234670639038, + 2.4346208572387695 + ], + [ + 0.023467931896448135, + -0.999703586101532, + -0.006476732436567545, + -9.843552589416504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1707, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_138470888", + "mask_path": "../../mask/hdr_front_01707.png" + }, + { + "file_path": "../../rgb/hdr_front_01708.png", + "transform_matrix": [ + [ + -0.9826730489730835, + -0.02443321980535984, + 0.1837301105260849, + 69.89349365234375 + ], + [ + -0.1836637705564499, + -0.004951352719217539, + -0.9829767346382141, + 2.5233328342437744 + ], + [ + 0.02492699958384037, + -0.9996891617774963, + 0.0003780634724535048, + -9.830276489257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1708, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_238470077", + "mask_path": "../../mask/hdr_front_01708.png" + }, + { + "file_path": "../../rgb/hdr_front_01709.png", + "transform_matrix": [ + [ + -0.985150158405304, + -0.029963400214910507, + 0.16906021535396576, + 69.8822021484375 + ], + [ + -0.1690649539232254, + -0.002393614035099745, + -0.9856020212173462, + 2.6032209396362305 + ], + [ + 0.029936648905277252, + -0.9995481371879578, + -0.0027076913975179195, + -9.823214530944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1709, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_338471651", + "mask_path": "../../mask/hdr_front_01709.png" + }, + { + "file_path": "../../rgb/hdr_front_01710.png", + "transform_matrix": [ + [ + -0.9869104027748108, + -0.026136552914977074, + 0.15913750231266022, + 69.86319732666016 + ], + [ + -0.15925046801567078, + 0.0022862167097628117, + -0.9872355461120605, + 2.708167791366577 + ], + [ + 0.02543911337852478, + -0.9996558427810669, + -0.006418549921363592, + -9.82719898223877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1710, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_438470840", + "mask_path": "../../mask/hdr_front_01710.png" + }, + { + "file_path": "../../rgb/hdr_front_01711.png", + "transform_matrix": [ + [ + -0.9864590764045715, + -0.017450597137212753, + 0.16307619214057922, + 69.83740997314453 + ], + [ + -0.1631036400794983, + 0.00015346432337537408, + -0.9866089224815369, + 2.8128244876861572 + ], + [ + 0.017191890627145767, + -0.9998477697372437, + -0.0029976421501487494, + -9.837663650512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1711, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_538470029", + "mask_path": "../../mask/hdr_front_01711.png" + }, + { + "file_path": "../../rgb/hdr_front_01712.png", + "transform_matrix": [ + [ + -0.9856895208358765, + -0.013042899779975414, + 0.1680654138326645, + 69.81600952148438 + ], + [ + -0.1681293547153473, + 0.003963844384998083, + -0.9857569336891174, + 2.8951456546783447 + ], + [ + 0.012190943583846092, + -0.9999070763587952, + -0.006100014317780733, + -9.840642929077148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1712, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_638470649", + "mask_path": "../../mask/hdr_front_01712.png" + }, + { + "file_path": "../../rgb/hdr_front_01713.png", + "transform_matrix": [ + [ + -0.9857292175292969, + -0.01325223594903946, + 0.167816162109375, + 69.802734375 + ], + [ + -0.16788899898529053, + 0.004580075386911631, + -0.9857953190803528, + 2.9882001876831055 + ], + [ + 0.012295379303395748, + -0.9999017119407654, + -0.006739618722349405, + -9.836681365966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1713, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_738471508", + "mask_path": "../../mask/hdr_front_01713.png" + }, + { + "file_path": "../../rgb/hdr_front_01714.png", + "transform_matrix": [ + [ + -0.9874095916748047, + -0.01291411928832531, + 0.157655730843544, + 69.79625701904297 + ], + [ + -0.1576302945613861, + -0.0029699490405619144, + -0.9874936938285828, + 3.0744826793670654 + ], + [ + 0.013220841065049171, + -0.9999122023582458, + 0.0008969003101810813, + -9.827186584472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1714, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_838469266", + "mask_path": "../../mask/hdr_front_01714.png" + }, + { + "file_path": "../../rgb/hdr_front_01715.png", + "transform_matrix": [ + [ + -0.9892025589942932, + -0.016694791615009308, + 0.14560094475746155, + 69.79116821289062 + ], + [ + -0.1456284523010254, + 0.000436987989814952, + -0.989339292049408, + 3.1501383781433105 + ], + [ + 0.01645318605005741, + -0.9998605847358704, + -0.0028635060880333185, + -9.818737030029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1715, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_938469409", + "mask_path": "../../mask/hdr_front_01715.png" + }, + { + "file_path": "../../rgb/hdr_front_01716.png", + "transform_matrix": [ + [ + -0.9905648827552795, + -0.013706982135772705, + 0.13635727763175964, + 69.7839584350586 + ], + [ + -0.13642172515392303, + 0.0038786516524851322, + -0.9906433820724487, + 3.2345566749572754 + ], + [ + 0.013049845583736897, + -0.9998984932899475, + -0.005711986217647791, + -9.818377494812012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1716, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_38470745", + "mask_path": "../../mask/hdr_front_01716.png" + }, + { + "file_path": "../../rgb/hdr_front_01717.png", + "transform_matrix": [ + [ + -0.9910226464271545, + -0.00271778367459774, + 0.13366669416427612, + 69.77359008789062 + ], + [ + -0.1336628645658493, + -0.0015468321507796645, + -0.9910256862640381, + 3.3318049907684326 + ], + [ + 0.002900154097005725, + -0.9999951720237732, + 0.0011696788715198636, + -9.824540138244629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1717, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_138468980", + "mask_path": "../../mask/hdr_front_01717.png" + }, + { + "file_path": "../../rgb/hdr_front_01718.png", + "transform_matrix": [ + [ + -0.9907193779945374, + 0.007671895436942577, + 0.1357065737247467, + 69.76177215576172 + ], + [ + -0.1357439011335373, + -0.004573894198983908, + -0.9907333850860596, + 3.418738603591919 + ], + [ + -0.006980095524340868, + -0.99996018409729, + 0.005572858266532421, + -9.83261775970459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1718, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_238470077", + "mask_path": "../../mask/hdr_front_01718.png" + }, + { + "file_path": "../../rgb/hdr_front_01719.png", + "transform_matrix": [ + [ + -0.9906955361366272, + 0.010999327525496483, + 0.13565191626548767, + 69.75102996826172 + ], + [ + -0.135707288980484, + -0.0044519007205963135, + -0.9907390475273132, + 3.5089774131774902 + ], + [ + -0.01029355451464653, + -0.9999296069145203, + 0.005903167184442282, + -9.832409858703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1719, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_338469505", + "mask_path": "../../mask/hdr_front_01719.png" + }, + { + "file_path": "../../rgb/hdr_front_01720.png", + "transform_matrix": [ + [ + -0.9915730953216553, + 0.00841863825917244, + 0.12927444279193878, + 69.74571990966797 + ], + [ + -0.12935128808021545, + -0.009330134838819504, + -0.9915549159049988, + 3.611335515975952 + ], + [ + -0.007141394075006247, + -0.9999210834503174, + 0.010340472683310509, + -9.828689575195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1720, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_438470363", + "mask_path": "../../mask/hdr_front_01720.png" + }, + { + "file_path": "../../rgb/hdr_front_01721.png", + "transform_matrix": [ + [ + -0.9932342767715454, + 0.0033057271502912045, + 0.11608085036277771, + 69.73892974853516 + ], + [ + -0.1161077544093132, + -0.00964352022856474, + -0.9931898713111877, + 3.7005722522735596 + ], + [ + -0.002163785509765148, + -0.9999480843544006, + 0.009962094947695732, + -9.821610450744629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1721, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_538470268", + "mask_path": "../../mask/hdr_front_01721.png" + }, + { + "file_path": "../../rgb/hdr_front_01722.png", + "transform_matrix": [ + [ + -0.9944751262664795, + -0.002098999684676528, + 0.10495169460773468, + 69.72523498535156 + ], + [ + -0.10493725538253784, + -0.006092381663620472, + -0.9944602251052856, + 3.793212413787842 + ], + [ + 0.0027267783880233765, + -0.9999792575836182, + 0.005838457960635424, + -9.822261810302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1722, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_638470172", + "mask_path": "../../mask/hdr_front_01722.png" + }, + { + "file_path": "../../rgb/hdr_front_01723.png", + "transform_matrix": [ + [ + -0.9947391152381897, + 0.0011984386947005987, + 0.10243379324674606, + 69.70655822753906 + ], + [ + -0.10243616253137589, + -0.002113091293722391, + -0.9947373867034912, + 3.906252861022949 + ], + [ + -0.0009756785584613681, + -0.999997079372406, + 0.0022247377783060074, + -9.822662353515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1723, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_738469839", + "mask_path": "../../mask/hdr_front_01723.png" + }, + { + "file_path": "../../rgb/hdr_front_01724.png", + "transform_matrix": [ + [ + -0.9937890768051147, + 0.00644526956602931, + 0.11109322309494019, + 69.6866455078125 + ], + [ + -0.11109272390604019, + 0.00043471093522384763, + -0.9938099980354309, + 4.006221294403076 + ], + [ + -0.006453666836023331, + -0.9999791383743286, + 0.00028401162126101553, + -9.825077056884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1724, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_838470220", + "mask_path": "../../mask/hdr_front_01724.png" + }, + { + "file_path": "../../rgb/hdr_front_01725.png", + "transform_matrix": [ + [ + -0.9932342767715454, + 0.005910486448556185, + 0.11597693711519241, + 69.67283630371094 + ], + [ + -0.11596838384866714, + 0.0017717306036502123, + -0.9932513236999512, + 4.095462799072266 + ], + [ + -0.006076078396290541, + -0.9999811053276062, + -0.0010743141174316406, + -9.826241493225098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1725, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_938469409", + "mask_path": "../../mask/hdr_front_01725.png" + }, + { + "file_path": "../../rgb/hdr_front_01726.png", + "transform_matrix": [ + [ + -0.9939260482788086, + 0.0029197249095886946, + 0.11001135408878326, + 69.66698455810547 + ], + [ + -0.11002113670110703, + -0.003431795397773385, + -0.9939233660697937, + 4.192376136779785 + ], + [ + -0.002524444367736578, + -0.9999898672103882, + 0.003732181852683425, + -9.821175575256348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1726, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_38469552", + "mask_path": "../../mask/hdr_front_01726.png" + }, + { + "file_path": "../../rgb/hdr_front_01727.png", + "transform_matrix": [ + [ + -0.995617151260376, + 0.0011877472279593349, + 0.09351484477519989, + 69.66310119628906 + ], + [ + -0.09351672977209091, + -0.0016608545556664467, + -0.9956164360046387, + 4.275321006774902 + ], + [ + -0.0010272248182445765, + -0.9999979734420776, + 0.001764649641700089, + -9.80909252166748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1727, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_138471364", + "mask_path": "../../mask/hdr_front_01727.png" + }, + { + "file_path": "../../rgb/hdr_front_01728.png", + "transform_matrix": [ + [ + -0.9966687560081482, + -0.0010806424543261528, + 0.08154886215925217, + 69.654052734375 + ], + [ + -0.08154924213886261, + 0.00030898003024049103, + -0.9966692328453064, + 4.356686115264893 + ], + [ + 0.0010518470080569386, + -0.9999993443489075, + -0.00039607632788829505, + -9.807393074035645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1728, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_238470077", + "mask_path": "../../mask/hdr_front_01728.png" + }, + { + "file_path": "../../rgb/hdr_front_01729.png", + "transform_matrix": [ + [ + -0.9969509243965149, + 0.0033662242349237204, + 0.07795823365449905, + 69.6396484375 + ], + [ + -0.07795896381139755, + -8.572111983085051e-05, + -0.9969565868377686, + 4.465515613555908 + ], + [ + -0.0033492958173155785, + -0.9999943375587463, + 0.0003478872240521014, + -9.811346054077148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1729, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_338470458", + "mask_path": "../../mask/hdr_front_01729.png" + }, + { + "file_path": "../../rgb/hdr_front_01730.png", + "transform_matrix": [ + [ + -0.9965773224830627, + 0.006038168910890818, + 0.08244543522596359, + 69.62425994873047 + ], + [ + -0.08243932574987411, + 0.0012528453953564167, + -0.9965953230857849, + 4.560418128967285 + ], + [ + -0.00612090015783906, + -0.9999809861183167, + -0.0007507748086936772, + -9.820975303649902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1730, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_438470840", + "mask_path": "../../mask/hdr_front_01730.png" + }, + { + "file_path": "../../rgb/hdr_front_01731.png", + "transform_matrix": [ + [ + -0.9966018795967102, + 0.006885509472340345, + 0.08208046853542328, + 69.61946868896484 + ], + [ + -0.08205706626176834, + 0.003617247100919485, + -0.9966210722923279, + 4.647355079650879 + ], + [ + -0.007159148808568716, + -0.9999697804450989, + -0.003039950504899025, + -9.819263458251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1731, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_538469552", + "mask_path": "../../mask/hdr_front_01731.png" + }, + { + "file_path": "../../rgb/hdr_front_01732.png", + "transform_matrix": [ + [ + -0.9972163438796997, + 0.00694064749404788, + 0.07423823326826096, + 69.62413787841797 + ], + [ + -0.07423806190490723, + 0.0002833966864272952, + -0.9972404837608337, + 4.733963966369629 + ], + [ + -0.006942532025277615, + -0.9999759197235107, + 0.00023265233903657645, + -9.81027603149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1732, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_638470649", + "mask_path": "../../mask/hdr_front_01732.png" + }, + { + "file_path": "../../rgb/hdr_front_01733.png", + "transform_matrix": [ + [ + -0.9980140924453735, + 0.003692297963425517, + 0.06288161128759384, + 69.62548065185547 + ], + [ + -0.06285502761602402, + 0.006921298801898956, + -0.9979987144470215, + 4.810253620147705 + ], + [ + -0.004120131488889456, + -0.9999692440032959, + -0.006675473880022764, + -9.800148010253906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1733, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_738471269", + "mask_path": "../../mask/hdr_front_01733.png" + }, + { + "file_path": "../../rgb/hdr_front_01734.png", + "transform_matrix": [ + [ + -0.9979677200317383, + -0.0007138554356060922, + 0.06371771544218063, + 69.61639404296875 + ], + [ + -0.06372164189815521, + 0.00970438588410616, + -0.997920572757721, + 4.8950676918029785 + ], + [ + 9.402933937963098e-05, + -0.9999526739120483, + -0.009730151854455471, + -9.801275253295898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1734, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_838469266", + "mask_path": "../../mask/hdr_front_01734.png" + }, + { + "file_path": "../../rgb/hdr_front_01735.png", + "transform_matrix": [ + [ + -0.9969531297683716, + 0.0027796488720923662, + 0.07795301824808121, + 69.59873962402344 + ], + [ + -0.07793543487787247, + 0.00595422787591815, + -0.996940553188324, + 4.99778413772583 + ], + [ + -0.003235294483602047, + -0.9999784231185913, + -0.005719452630728483, + -9.808561325073242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1735, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_938470363", + "mask_path": "../../mask/hdr_front_01735.png" + }, + { + "file_path": "../../rgb/hdr_front_01736.png", + "transform_matrix": [ + [ + -0.9953877925872803, + 0.011165193282067776, + 0.09528067708015442, + 69.57733917236328 + ], + [ + -0.0951949954032898, + 0.007969984784722328, + -0.9954267740249634, + 5.08611536026001 + ], + [ + -0.011873515322804451, + -0.9999059438705444, + -0.006870355922728777, + -9.815286636352539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1736, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_38469791", + "mask_path": "../../mask/hdr_front_01736.png" + }, + { + "file_path": "../../rgb/hdr_front_01737.png", + "transform_matrix": [ + [ + -0.9944409132003784, + 0.013631313107907772, + 0.10440973192453384, + 69.57200622558594 + ], + [ + -0.10425551980733871, + 0.01157365832477808, + -0.9944831728935242, + 5.176748752593994 + ], + [ + -0.01476451475173235, + -0.9998400807380676, + -0.010088181123137474, + -9.812308311462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1737, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_138469696", + "mask_path": "../../mask/hdr_front_01737.png" + }, + { + "file_path": "../../rgb/hdr_front_01738.png", + "transform_matrix": [ + [ + -0.994295597076416, + 0.01476746890693903, + 0.1056322529911995, + 69.57432556152344 + ], + [ + -0.10549912601709366, + 0.009522582404315472, + -0.9943737983703613, + 5.261035442352295 + ], + [ + -0.0156902726739645, + -0.9998456835746765, + -0.007910306565463543, + -9.79673957824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1738, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_238470792", + "mask_path": "../../mask/hdr_front_01738.png" + }, + { + "file_path": "../../rgb/hdr_left_01558.png", + "transform_matrix": [ + [ + 0.925573468208313, + -0.18376287817955017, + 0.3309754729270935, + 65.217041015625 + ], + [ + -0.3313699960708618, + 0.029472677037119865, + 0.9430404901504517, + -5.822107315063477 + ], + [ + -0.18305054306983948, + -0.9825286865234375, + -0.03361436724662781, + -8.676758766174316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1558, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_638469457", + "mask_path": "../../mask/hdr_left_01558.png" + }, + { + "file_path": "../../rgb/hdr_left_01560.png", + "transform_matrix": [ + [ + 0.9242613315582275, + -0.18174922466278076, + 0.3357202112674713, + 65.33172607421875 + ], + [ + -0.3376478850841522, + 0.021179046481847763, + 0.9410340785980225, + -5.844331741333008 + ], + [ + -0.17814242839813232, + -0.983116865158081, + -0.041792258620262146, + -8.703713417053223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1560, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_838466644", + "mask_path": "../../mask/hdr_left_01560.png" + }, + { + "file_path": "../../rgb/hdr_left_01561.png", + "transform_matrix": [ + [ + 0.9261694550514221, + -0.18360036611557007, + 0.3293948173522949, + 65.42405700683594 + ], + [ + -0.3330061137676239, + 0.011712677776813507, + 0.9428518414497375, + -5.854323387145996 + ], + [ + -0.17696604132652283, + -0.9829312562942505, + -0.05029211565852165, + -8.727235794067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1561, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_938469409", + "mask_path": "../../mask/hdr_left_01561.png" + }, + { + "file_path": "../../rgb/hdr_left_01562.png", + "transform_matrix": [ + [ + 0.9308526515960693, + -0.18911336362361908, + 0.3126489818096161, + 65.5145034790039 + ], + [ + -0.31733885407447815, + 0.0057512433268129826, + 0.9482946991920471, + -5.85670804977417 + ], + [ + -0.18113334476947784, + -0.9819384217262268, + -0.05465945973992348, + -8.739209175109863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1562, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_38469076", + "mask_path": "../../mask/hdr_left_01562.png" + }, + { + "file_path": "../../rgb/hdr_left_01563.png", + "transform_matrix": [ + [ + 0.9374020099639893, + -0.1848934292793274, + 0.2951132655143738, + 65.5857925415039 + ], + [ + -0.3007688522338867, + -0.0026705919299274683, + 0.9536933302879333, + -5.859536170959473 + ], + [ + -0.17554350197315216, + -0.9827550053596497, + -0.05811360105872154, + -8.753643989562988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1563, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_138468980", + "mask_path": "../../mask/hdr_left_01563.png" + }, + { + "file_path": "../../rgb/hdr_left_01564.png", + "transform_matrix": [ + [ + 0.9430539608001709, + -0.1818051040172577, + 0.2785608470439911, + 65.66725158691406 + ], + [ + -0.28388723731040955, + -0.0034239303786307573, + 0.9588515758514404, + -5.8694610595703125 + ], + [ + -0.17337031662464142, + -0.983328640460968, + -0.05484108626842499, + -8.768027305603027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1564, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_238469362", + "mask_path": "../../mask/hdr_left_01564.png" + }, + { + "file_path": "../../rgb/hdr_left_01565.png", + "transform_matrix": [ + [ + 0.9456109404563904, + -0.19063150882720947, + 0.26358941197395325, + 65.7586898803711 + ], + [ + -0.2674143314361572, + 0.005850496236234903, + 0.963563859462738, + -5.884020805358887 + ], + [ + -0.18522775173187256, + -0.981644332408905, + -0.04544530063867569, + -8.791579246520996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1565, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_338469266", + "mask_path": "../../mask/hdr_left_01565.png" + }, + { + "file_path": "../../rgb/hdr_left_01566.png", + "transform_matrix": [ + [ + 0.9488343000411987, + -0.19275429844856262, + 0.25011855363845825, + 65.8249740600586 + ], + [ + -0.25499317049980164, + -0.0004977103089913726, + 0.9669426679611206, + -5.8894195556640625 + ], + [ + -0.18625788390636444, + -0.9812470078468323, + -0.0496232695877552, + -8.803791046142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1566, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_438470125", + "mask_path": "../../mask/hdr_left_01566.png" + }, + { + "file_path": "../../rgb/hdr_left_01567.png", + "transform_matrix": [ + [ + 0.9533304572105408, + -0.18776248395442963, + 0.23644495010375977, + 65.87942504882812 + ], + [ + -0.2410908192396164, + -0.0019665362779051065, + 0.970500648021698, + -5.894023418426514 + ], + [ + -0.18175861239433289, + -0.9822125434875488, + -0.04714256152510643, + -8.817388534545898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1567, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_538470506", + "mask_path": "../../mask/hdr_left_01567.png" + }, + { + "file_path": "../../rgb/hdr_left_01568.png", + "transform_matrix": [ + [ + 0.9581093788146973, + -0.17934294044971466, + 0.22329896688461304, + 65.9532241821289 + ], + [ + -0.22726675868034363, + -0.001622185343876481, + 0.9738311767578125, + -5.897355079650879 + ], + [ + -0.17428751289844513, + -0.9837853312492371, + -0.04231292009353638, + -8.83581829071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1568, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_638471126", + "mask_path": "../../mask/hdr_left_01568.png" + }, + { + "file_path": "../../rgb/hdr_left_01569.png", + "transform_matrix": [ + [ + 0.9639237523078918, + -0.17333470284938812, + 0.20200520753860474, + 66.05986785888672 + ], + [ + -0.20657625794410706, + -0.008557240478694439, + 0.978393018245697, + -5.89024543762207 + ], + [ + -0.16786085069179535, + -0.984825849533081, + -0.044055353850126266, + -8.843939781188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1569, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_738470792", + "mask_path": "../../mask/hdr_left_01569.png" + }, + { + "file_path": "../../rgb/hdr_left_01570.png", + "transform_matrix": [ + [ + 0.9695577025413513, + -0.16943815350532532, + 0.17677223682403564, + 66.12989044189453 + ], + [ + -0.18115702271461487, + -0.010652865283191204, + 0.9833964109420776, + -5.876684188842773 + ], + [ + -0.16474173963069916, + -0.9854834079742432, + -0.04102347046136856, + -8.852375984191895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1570, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_838469982", + "mask_path": "../../mask/hdr_left_01570.png" + }, + { + "file_path": "../../rgb/hdr_left_01571.png", + "transform_matrix": [ + [ + 0.9740055203437805, + -0.1653858870267868, + 0.15479262173175812, + 66.19442749023438 + ], + [ + -0.15735235810279846, + -0.002407873049378395, + 0.987539529800415, + -5.867514610290527 + ], + [ + -0.16295239329338074, + -0.9862260222434998, + -0.02836913801729679, + -8.87501049041748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1571, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_938470602", + "mask_path": "../../mask/hdr_left_01571.png" + }, + { + "file_path": "../../rgb/hdr_left_01572.png", + "transform_matrix": [ + [ + 0.9761373996734619, + -0.16950799524784088, + 0.1357303112745285, + 66.28631591796875 + ], + [ + -0.13635416328907013, + 0.008010386489331722, + 0.9906277060508728, + -5.856994152069092 + ], + [ + -0.1690065860748291, + -0.9854963421821594, + -0.015293879434466362, + -8.890756607055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1572, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_38470268", + "mask_path": "../../mask/hdr_left_01572.png" + }, + { + "file_path": "../../rgb/hdr_left_01573.png", + "transform_matrix": [ + [ + 0.9733791351318359, + -0.18583761155605316, + 0.13415442407131195, + 66.36000061035156 + ], + [ + -0.1339547038078308, + 0.013689080253243446, + 0.9908928871154785, + -5.855390548706055 + ], + [ + -0.18598158657550812, + -0.9824852347373962, + -0.011569149792194366, + -8.896785736083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1573, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_138469934", + "mask_path": "../../mask/hdr_left_01573.png" + }, + { + "file_path": "../../rgb/hdr_left_01574.png", + "transform_matrix": [ + [ + 0.9725291132926941, + -0.18214452266693115, + 0.14495016634464264, + 66.41392517089844 + ], + [ + -0.14477898180484772, + 0.014308548532426357, + 0.9893605709075928, + -5.8591227531433105 + ], + [ + -0.18228062987327576, + -0.9831676483154297, + -0.01245521754026413, + -8.904159545898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1574, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_238470077", + "mask_path": "../../mask/hdr_left_01574.png" + }, + { + "file_path": "../../rgb/hdr_left_01575.png", + "transform_matrix": [ + [ + 0.9718621969223022, + -0.17433759570121765, + 0.15839886665344238, + 66.48224639892578 + ], + [ + -0.15855273604393005, + 0.013135184533894062, + 0.9872631430625916, + -5.854519844055176 + ], + [ + -0.17419767379760742, + -0.9845983386039734, + -0.014876111410558224, + -8.918517112731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1575, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_338470697", + "mask_path": "../../mask/hdr_left_01575.png" + }, + { + "file_path": "../../rgb/hdr_left_01576.png", + "transform_matrix": [ + [ + 0.9709659814834595, + -0.1720373034477234, + 0.16621741652488708, + 66.57955932617188 + ], + [ + -0.16866262257099152, + 0.0004097782075405121, + 0.9856738448143005, + -5.851386547088623 + ], + [ + -0.16964074969291687, + -0.9850903749465942, + -0.028618376702070236, + -8.938770294189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1576, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_438469886", + "mask_path": "../../mask/hdr_left_01576.png" + }, + { + "file_path": "../../rgb/hdr_left_01577.png", + "transform_matrix": [ + [ + 0.970193088054657, + -0.1785692721605301, + 0.16382358968257904, + 66.67242431640625 + ], + [ + -0.16827817261219025, + -0.00998621340841055, + 0.9856889247894287, + -5.843242168426514 + ], + [ + -0.17437776923179626, + -0.9838767647743225, + -0.03973785787820816, + -8.951362609863281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1577, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_538470029", + "mask_path": "../../mask/hdr_left_01577.png" + }, + { + "file_path": "../../rgb/hdr_left_01578.png", + "transform_matrix": [ + [ + 0.9701247811317444, + -0.18014143407344818, + 0.16250191628932953, + 66.73480987548828 + ], + [ + -0.16724535822868347, + -0.011359898373484612, + 0.9858497977256775, + -5.8310723304748535 + ], + [ + -0.1757463812828064, + -0.983575165271759, + -0.04114833474159241, + -8.977450370788574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1578, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_638470649", + "mask_path": "../../mask/hdr_left_01578.png" + }, + { + "file_path": "../../rgb/hdr_left_01579.png", + "transform_matrix": [ + [ + 0.9680811166763306, + -0.1879819631576538, + 0.16577565670013428, + 66.80984497070312 + ], + [ + -0.1701226532459259, + -0.007115907035768032, + 0.985397219657898, + -5.82932710647583 + ], + [ + -0.18405723571777344, + -0.9821467399597168, + -0.03886875882744789, + -8.994250297546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1579, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_738470554", + "mask_path": "../../mask/hdr_left_01579.png" + }, + { + "file_path": "../../rgb/hdr_left_01580.png", + "transform_matrix": [ + [ + 0.9588103294372559, + -0.21942442655563354, + 0.180376335978508, + 66.87621307373047 + ], + [ + -0.1824590265750885, + 0.010910025797784328, + 0.9831529259681702, + -5.819867134094238 + ], + [ + -0.21769565343856812, + -0.9755684733390808, + -0.029575318098068237, + -9.014524459838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1580, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_838470220", + "mask_path": "../../mask/hdr_left_01580.png" + }, + { + "file_path": "../../rgb/hdr_left_01581.png", + "transform_matrix": [ + [ + 0.9541627764701843, + -0.22965091466903687, + 0.1919211894273758, + 66.92687225341797 + ], + [ + -0.1952361762523651, + 0.008420904166996479, + 0.980720043182373, + -5.811467170715332 + ], + [ + -0.22683940827846527, + -0.9732366800308228, + -0.03680124878883362, + -9.027298927307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1581, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_938469886", + "mask_path": "../../mask/hdr_left_01581.png" + }, + { + "file_path": "../../rgb/hdr_left_01582.png", + "transform_matrix": [ + [ + 0.9537400007247925, + -0.22820734977722168, + 0.19570691883563995, + 66.99700927734375 + ], + [ + -0.20151537656784058, + -0.0021984921768307686, + 0.9794828295707703, + -5.815316677093506 + ], + [ + -0.2230949103832245, + -0.9736101031303406, + -0.0480840764939785, + -9.056537628173828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1582, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_38469791", + "mask_path": "../../mask/hdr_left_01582.png" + }, + { + "file_path": "../../rgb/hdr_left_01583.png", + "transform_matrix": [ + [ + 0.9535461068153381, + -0.22933998703956604, + 0.19532747566699982, + 67.09725952148438 + ], + [ + -0.20229148864746094, + -0.007020296063274145, + 0.9793002009391785, + -5.801760196685791 + ], + [ + -0.22322142124176025, + -0.9733211398124695, + -0.05308770015835762, + -9.085265159606934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1583, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_138472318", + "mask_path": "../../mask/hdr_left_01583.png" + }, + { + "file_path": "../../rgb/hdr_left_01584.png", + "transform_matrix": [ + [ + 0.9590729475021362, + -0.2105177491903305, + 0.189370796084404, + 67.18840789794922 + ], + [ + -0.19473528861999512, + -0.004855458624660969, + 0.9808437824249268, + -5.783037185668945 + ], + [ + -0.20556554198265076, + -0.9775780439376831, + -0.04565196484327316, + -9.074163436889648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1584, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_238470315", + "mask_path": "../../mask/hdr_left_01584.png" + }, + { + "file_path": "../../rgb/hdr_left_01585.png", + "transform_matrix": [ + [ + 0.9623324275016785, + -0.20125116407871246, + 0.18279561400413513, + 67.24234008789062 + ], + [ + -0.18921825289726257, + -0.012984496541321278, + 0.981849193572998, + -5.773236274719238 + ], + [ + -0.19522477686405182, + -0.9794536232948303, + -0.05057579278945923, + -9.093833923339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1585, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_338470458", + "mask_path": "../../mask/hdr_left_01585.png" + }, + { + "file_path": "../../rgb/hdr_left_01586.png", + "transform_matrix": [ + [ + 0.9639479517936707, + -0.19804339110851288, + 0.17771682143211365, + 67.3138427734375 + ], + [ + -0.1851278841495514, + -0.01940382644534111, + 0.9825229048728943, + -5.772071361541748 + ], + [ + -0.1911337524652481, + -0.9800012111663818, + -0.05536762252449989, + -9.115232467651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1586, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_438470363", + "mask_path": "../../mask/hdr_left_01586.png" + }, + { + "file_path": "../../rgb/hdr_left_01587.png", + "transform_matrix": [ + [ + 0.957477867603302, + -0.2244398295879364, + 0.1812812089920044, + 67.38654327392578 + ], + [ + -0.18894672393798828, + -0.012974417768418789, + 0.9819016456604004, + -5.772795677185059 + ], + [ + -0.218025803565979, + -0.9744016528129578, + -0.05482988432049751, + -9.146977424621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1587, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_538470745", + "mask_path": "../../mask/hdr_left_01587.png" + }, + { + "file_path": "../../rgb/hdr_left_01588.png", + "transform_matrix": [ + [ + 0.9481343030929565, + -0.2529491186141968, + 0.19250434637069702, + 67.43305206298828 + ], + [ + -0.20157480239868164, + -0.010189235210418701, + 0.9794201254844666, + -5.7716145515441895 + ], + [ + -0.2457820177078247, + -0.9674259424209595, + -0.060648929327726364, + -9.149188995361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1588, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_638468027", + "mask_path": "../../mask/hdr_left_01588.png" + }, + { + "file_path": "../../rgb/hdr_left_01589.png", + "transform_matrix": [ + [ + 0.9499615430831909, + -0.2417241930961609, + 0.19784411787986755, + 67.50273895263672 + ], + [ + -0.20998695492744446, + -0.025281818583607674, + 0.9773772358894348, + -5.780246734619141 + ], + [ + -0.23125384747982025, + -0.9700156450271606, + -0.07477567344903946, + -9.174001693725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1589, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_738469600", + "mask_path": "../../mask/hdr_left_01589.png" + }, + { + "file_path": "../../rgb/hdr_left_01590.png", + "transform_matrix": [ + [ + 0.9496545791625977, + -0.23696105182170868, + 0.20495273172855377, + 67.58556365966797 + ], + [ + -0.21819284558296204, + -0.030776316300034523, + 0.9754202365875244, + -5.781727313995361 + ], + [ + -0.22482891380786896, + -0.9710316061973572, + -0.08093006908893585, + -9.205888748168945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1590, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_838469743", + "mask_path": "../../mask/hdr_left_01590.png" + }, + { + "file_path": "../../rgb/hdr_left_01591.png", + "transform_matrix": [ + [ + 0.9537352323532104, + -0.2197623997926712, + 0.20516696572303772, + 67.69451141357422 + ], + [ + -0.21716947853565216, + -0.031657468527555466, + 0.9756203889846802, + -5.762327671051025 + ], + [ + -0.20790962874889374, + -0.9750396609306335, + -0.07791853696107864, + -9.202643394470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1591, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_938470363", + "mask_path": "../../mask/hdr_left_01591.png" + }, + { + "file_path": "../../rgb/hdr_left_01592.png", + "transform_matrix": [ + [ + 0.9614344835281372, + -0.1890701949596405, + 0.19973985850811005, + 67.79508209228516 + ], + [ + -0.20905731618404388, + -0.030483795329928398, + 0.977428138256073, + -5.744879245758057 + ], + [ + -0.17871367931365967, + -0.9814903736114502, + -0.06883467733860016, + -9.185994148254395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1592, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_38469791", + "mask_path": "../../mask/hdr_left_01592.png" + }, + { + "file_path": "../../rgb/hdr_left_01593.png", + "transform_matrix": [ + [ + 0.9643663763999939, + -0.1781591922044754, + 0.1955932378768921, + 67.85926818847656 + ], + [ + -0.20519672334194183, + -0.036991894245147705, + 0.9780213832855225, + -5.767611503601074 + ], + [ + -0.16700811684131622, + -0.9833061695098877, + -0.07223141193389893, + -9.219738960266113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1593, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_138468503", + "mask_path": "../../mask/hdr_left_01593.png" + }, + { + "file_path": "../../rgb/hdr_left_01594.png", + "transform_matrix": [ + [ + 0.9643093943595886, + -0.17765763401985168, + 0.19632883369922638, + 67.95809936523438 + ], + [ + -0.20568259060382843, + -0.035677168518304825, + 0.977968156337738, + -5.787240982055664 + ], + [ + -0.16673904657363892, + -0.9834454655647278, + -0.0709449052810669, + -9.231795310974121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1594, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_238467693", + "mask_path": "../../mask/hdr_left_01594.png" + }, + { + "file_path": "../../rgb/hdr_left_01595.png", + "transform_matrix": [ + [ + 0.9532604813575745, + -0.21775701642036438, + 0.20946647226810455, + 68.01880645751953 + ], + [ + -0.21838277578353882, + -0.01744014583528042, + 0.9757072925567627, + -5.78891134262085 + ], + [ + -0.20881398022174835, + -0.9758472442626953, + -0.06417937576770782, + -9.242918968200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1595, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_338469266", + "mask_path": "../../mask/hdr_left_01595.png" + }, + { + "file_path": "../../rgb/hdr_left_01597.png", + "transform_matrix": [ + [ + 0.9517040848731995, + -0.21370144188404083, + 0.22043377161026, + 68.13555908203125 + ], + [ + -0.2336413711309433, + -0.038330208510160446, + 0.9715670943260193, + -5.802002906799316 + ], + [ + -0.19917599856853485, + -0.9761467576026917, + -0.08640850335359573, + -9.289365768432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1597, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_538470268", + "mask_path": "../../mask/hdr_left_01597.png" + }, + { + "file_path": "../../rgb/hdr_left_01598.png", + "transform_matrix": [ + [ + 0.9538938999176025, + -0.2031698226928711, + 0.2209261804819107, + 68.23699188232422 + ], + [ + -0.2347290813922882, + -0.046247854828834534, + 0.9709600210189819, + -5.801518440246582 + ], + [ + -0.1870524138212204, + -0.9780507683753967, + -0.09180539846420288, + -9.300084114074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1598, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_638469457", + "mask_path": "../../mask/hdr_left_01598.png" + }, + { + "file_path": "../../rgb/hdr_left_01599.png", + "transform_matrix": [ + [ + 0.9610177874565125, + -0.17472699284553528, + 0.21427810192108154, + 68.33244323730469 + ], + [ + -0.22562852501869202, + -0.04767777398228645, + 0.9730460047721863, + -5.788082122802734 + ], + [ + -0.15980108082294464, + -0.9834619164466858, + -0.08524257689714432, + -9.283228874206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1599, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_738471508", + "mask_path": "../../mask/hdr_left_01599.png" + }, + { + "file_path": "../../rgb/hdr_left_01600.png", + "transform_matrix": [ + [ + 0.9647061228752136, + -0.15946954488754272, + 0.2095504105091095, + 68.39093780517578 + ], + [ + -0.2199830561876297, + -0.05065261572599411, + 0.9741877317428589, + -5.789437294006348 + ], + [ + -0.14473900198936462, + -0.9859025478363037, + -0.08394549041986465, + -9.301919937133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1600, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_838470458", + "mask_path": "../../mask/hdr_left_01600.png" + }, + { + "file_path": "../../rgb/hdr_left_01601.png", + "transform_matrix": [ + [ + 0.9671089053153992, + -0.14819838106632233, + 0.20673051476478577, + 68.4823989868164 + ], + [ + -0.21618889272212982, + -0.05066528543829918, + 0.975036084651947, + -5.796219825744629 + ], + [ + -0.1340247094631195, + -0.9876589775085449, + -0.08103770017623901, + -9.31371784210205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1601, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_938470602", + "mask_path": "../../mask/hdr_left_01601.png" + }, + { + "file_path": "../../rgb/hdr_left_01602.png", + "transform_matrix": [ + [ + 0.9613316059112549, + -0.16882765293121338, + 0.21757446229457855, + 68.56309509277344 + ], + [ + -0.22466114163398743, + -0.023839309811592102, + 0.9741452932357788, + -5.80433464050293 + ], + [ + -0.1592758148908615, + -0.9853573441505432, + -0.060846488922834396, + -9.33673095703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1602, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_38469076", + "mask_path": "../../mask/hdr_left_01602.png" + }, + { + "file_path": "../../rgb/hdr_left_01603.png", + "transform_matrix": [ + [ + 0.9512308835983276, + -0.198741614818573, + 0.23592664301395416, + 68.60131072998047 + ], + [ + -0.24112650752067566, + -0.0020236768759787083, + 0.9704915881156921, + -5.798512935638428 + ], + [ + -0.19239962100982666, + -0.9800498485565186, + -0.04984685406088829, + -9.326436042785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1603, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_138469457", + "mask_path": "../../mask/hdr_left_01603.png" + }, + { + "file_path": "../../rgb/hdr_left_01604.png", + "transform_matrix": [ + [ + 0.951042115688324, + -0.18809106945991516, + 0.24523566663265228, + 68.6607666015625 + ], + [ + -0.25236788392066956, + -0.014576532877981663, + 0.9675214886665344, + -5.807021617889404 + ], + [ + -0.1784074306488037, + -0.982043445110321, + -0.06133102998137474, + -9.34518051147461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1604, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_238468885", + "mask_path": "../../mask/hdr_left_01604.png" + }, + { + "file_path": "../../rgb/hdr_left_01605.png", + "transform_matrix": [ + [ + 0.9510406255722046, + -0.1781632900238037, + 0.25254592299461365, + 68.74271392822266 + ], + [ + -0.2601221203804016, + -0.020136229693889618, + 0.9653657674789429, + -5.8115739822387695 + ], + [ + -0.166907399892807, + -0.9837949275970459, + -0.0654945820569992, + -9.365198135375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1605, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_338468790", + "mask_path": "../../mask/hdr_left_01605.png" + }, + { + "file_path": "../../rgb/hdr_left_01606.png", + "transform_matrix": [ + [ + 0.9526952505111694, + -0.16948501765727997, + 0.2522824704647064, + 68.83567810058594 + ], + [ + -0.2603810727596283, + -0.027017099782824516, + 0.9651278257369995, + -5.814877986907959 + ], + [ + -0.15675874054431915, + -0.9851624369621277, + -0.0698697566986084, + -9.362812995910645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1606, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_438469171", + "mask_path": "../../mask/hdr_left_01606.png" + }, + { + "file_path": "../../rgb/hdr_left_01607.png", + "transform_matrix": [ + [ + 0.9563971161842346, + -0.15694844722747803, + 0.24631626904010773, + 68.90418243408203 + ], + [ + -0.25393325090408325, + -0.030165838077664375, + 0.9667511582374573, + -5.806728839874268 + ], + [ + -0.14429977536201477, + -0.9871460795402527, + -0.06870494782924652, + -9.371410369873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1607, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_538469076", + "mask_path": "../../mask/hdr_left_01607.png" + }, + { + "file_path": "../../rgb/hdr_left_01608.png", + "transform_matrix": [ + [ + 0.9594354629516602, + -0.14412258565425873, + 0.24230605363845825, + 68.98681640625 + ], + [ + -0.24921055138111115, + -0.03168059140443802, + 0.9679310321807861, + -5.805703639984131 + ], + [ + -0.1318242847919464, + -0.9890526533126831, + -0.06631233543157578, + -9.388236999511719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1608, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_638468742", + "mask_path": "../../mask/hdr_left_01608.png" + }, + { + "file_path": "../../rgb/hdr_left_01609.png", + "transform_matrix": [ + [ + 0.9576287269592285, + -0.14901003241539001, + 0.24646130204200745, + 69.0833511352539 + ], + [ + -0.25240933895111084, + -0.02211729809641838, + 0.9673677682876587, + -5.808750629425049 + ], + [ + -0.13869641721248627, + -0.9885883331298828, + -0.05879167467355728, + -9.401289939880371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1609, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_738469123", + "mask_path": "../../mask/hdr_left_01609.png" + }, + { + "file_path": "../../rgb/hdr_left_01610.png", + "transform_matrix": [ + [ + 0.9499335289001465, + -0.16781370341777802, + 0.26356205344200134, + 69.14726257324219 + ], + [ + -0.26785385608673096, + -0.0030587040819227695, + 0.9634547233581543, + -5.808770656585693 + ], + [ + -0.16087470948696136, + -0.9858140349388123, + -0.047855108976364136, + -9.397032737731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1610, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_838469266", + "mask_path": "../../mask/hdr_left_01610.png" + }, + { + "file_path": "../../rgb/hdr_left_01612.png", + "transform_matrix": [ + [ + 0.9523219466209412, + -0.15188957750797272, + 0.2645985782146454, + 69.28132629394531 + ], + [ + -0.2707894742488861, + -0.021252678707242012, + 0.9624039530754089, + -5.813143730163574 + ], + [ + -0.14055569469928741, + -0.9881689548492432, + -0.06136947125196457, + -9.425790786743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1612, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_38469314", + "mask_path": "../../mask/hdr_left_01612.png" + }, + { + "file_path": "../../rgb/hdr_left_01613.png", + "transform_matrix": [ + [ + 0.9569047689437866, + -0.15113362669944763, + 0.24797560274600983, + 69.36431884765625 + ], + [ + -0.25575265288352966, + -0.0340857096016407, + 0.9661411046981812, + -5.806963920593262 + ], + [ + -0.13756397366523743, + -0.9879255890846252, + -0.07126959413290024, + -9.436278343200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1613, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_138469934", + "mask_path": "../../mask/hdr_left_01613.png" + }, + { + "file_path": "../../rgb/hdr_left_01614.png", + "transform_matrix": [ + [ + 0.9626445770263672, + -0.14893558621406555, + 0.22612710297107697, + 69.4268569946289 + ], + [ + -0.2348897010087967, + -0.043905723839998245, + 0.9710298776626587, + -5.7994489669799805 + ], + [ + -0.13469260931015015, + -0.9878717660903931, + -0.07724903523921967, + -9.443976402282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1614, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_238469600", + "mask_path": "../../mask/hdr_left_01614.png" + }, + { + "file_path": "../../rgb/hdr_left_01616.png", + "transform_matrix": [ + [ + 0.9746799468994141, + -0.14450718462467194, + 0.17063602805137634, + 69.55165100097656 + ], + [ + -0.17870719730854034, + -0.0447513610124588, + 0.9828840494155884, + -5.7827677726745605 + ], + [ + -0.13439758121967316, + -0.9884912967681885, + -0.06944271922111511, + -9.465300559997559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1616, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_438469409", + "mask_path": "../../mask/hdr_left_01616.png" + }, + { + "file_path": "../../rgb/hdr_left_01617.png", + "transform_matrix": [ + [ + 0.9772560000419617, + -0.1542583853006363, + 0.1455162912607193, + 69.61788177490234 + ], + [ + -0.15250396728515625, + -0.034412797540426254, + 0.9877035617828369, + -5.773062229156494 + ], + [ + -0.1473539173603058, + -0.9874310493469238, + -0.057155124843120575, + -9.475312232971191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1617, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_538469076", + "mask_path": "../../mask/hdr_left_01617.png" + }, + { + "file_path": "../../rgb/hdr_left_01619.png", + "transform_matrix": [ + [ + 0.9821311235427856, + -0.15719637274742126, + 0.10347748547792435, + 69.71305847167969 + ], + [ + -0.10999865084886551, + -0.03334322199225426, + 0.9933722615242004, + -5.761716842651367 + ], + [ + -0.15270425379276276, + -0.9870043396949768, + -0.05003879964351654, + -9.499659538269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1619, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_738469839", + "mask_path": "../../mask/hdr_left_01619.png" + }, + { + "file_path": "../../rgb/hdr_left_01620.png", + "transform_matrix": [ + [ + 0.9846469759941101, + -0.15609057247638702, + 0.07814035564661026, + 69.78428649902344 + ], + [ + -0.08481273800134659, + -0.036544036120176315, + 0.9957265257835388, + -5.752950191497803 + ], + [ + -0.15256795287132263, + -0.9870665073394775, + -0.04922144114971161, + -9.512221336364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1620, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_838470220", + "mask_path": "../../mask/hdr_left_01620.png" + }, + { + "file_path": "../../rgb/hdr_left_01621.png", + "transform_matrix": [ + [ + 0.9864192605018616, + -0.15764226019382477, + 0.04610791429877281, + 69.84497833251953 + ], + [ + -0.05391329899430275, + -0.0455988273024559, + 0.997503936290741, + -5.734793186187744 + ], + [ + -0.15514631569385529, + -0.9864429831504822, + -0.05347856879234314, + -9.526872634887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1621, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_938469648", + "mask_path": "../../mask/hdr_left_01621.png" + }, + { + "file_path": "../../rgb/hdr_left_01623.png", + "transform_matrix": [ + [ + 0.9869539141654968, + -0.16020704805850983, + -0.015982970595359802, + 69.96354675292969 + ], + [ + 0.008353779092431068, + -0.04818158596754074, + 0.9988036155700684, + -5.69321870803833 + ], + [ + -0.16078545153141022, + -0.9859068393707275, + -0.046214666217565536, + -9.555325508117676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1623, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_138469934", + "mask_path": "../../mask/hdr_left_01623.png" + }, + { + "file_path": "../../rgb/hdr_left_01624.png", + "transform_matrix": [ + [ + 0.9847028255462646, + -0.16894860565662384, + -0.04262211173772812, + 70.03559112548828 + ], + [ + 0.035846952348947525, + -0.04295254126191139, + 0.9984338283538818, + -5.674747943878174 + ], + [ + -0.17051470279693604, + -0.9846885204315186, + -0.03623919561505318, + -9.57896900177002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1624, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_238470077", + "mask_path": "../../mask/hdr_left_01624.png" + }, + { + "file_path": "../../rgb/hdr_left_01625.png", + "transform_matrix": [ + [ + 0.9806996583938599, + -0.1851654350757599, + -0.06278449296951294, + 70.0906753540039 + ], + [ + 0.05564263463020325, + -0.0435226745903492, + 0.9975017309188843, + -5.658657550811768 + ], + [ + -0.18743538856506348, + -0.9817431569099426, + -0.032379571348428726, + -9.593790054321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1625, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_338470458", + "mask_path": "../../mask/hdr_left_01625.png" + }, + { + "file_path": "../../rgb/hdr_left_01627.png", + "transform_matrix": [ + [ + 0.9761220812797546, + -0.19495317339897156, + -0.09580615162849426, + 70.184814453125 + ], + [ + 0.08924499899148941, + -0.042185477912425995, + 0.9951158761978149, + -5.5968451499938965 + ], + [ + -0.198042631149292, + -0.9799049496650696, + -0.023779574781656265, + -9.627893447875977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1627, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_538470745", + "mask_path": "../../mask/hdr_left_01627.png" + }, + { + "file_path": "../../rgb/hdr_left_01628.png", + "transform_matrix": [ + [ + 0.9731429815292358, + -0.19555486738681793, + -0.12145373225212097, + 70.25616455078125 + ], + [ + 0.11333119124174118, + -0.05224541947245598, + 0.9921826124191284, + -5.5630011558532715 + ], + [ + -0.20037156343460083, + -0.9793002009391785, + -0.028679795563220978, + -9.647224426269531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1628, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_638469696", + "mask_path": "../../mask/hdr_left_01628.png" + }, + { + "file_path": "../../rgb/hdr_left_01629.png", + "transform_matrix": [ + [ + 0.9670801162719727, + -0.20229966938495636, + -0.1543722003698349, + 70.30804443359375 + ], + [ + 0.14722807705402374, + -0.04999243840575218, + 0.9878383278846741, + -5.524419784545898 + ], + [ + -0.207556813955307, + -0.9780468344688416, + -0.01856250874698162, + -9.667303085327148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1629, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_738469839", + "mask_path": "../../mask/hdr_left_01629.png" + }, + { + "file_path": "../../rgb/hdr_left_01630.png", + "transform_matrix": [ + [ + 0.9599587917327881, + -0.20343360304832458, + -0.19259777665138245, + 70.34649658203125 + ], + [ + 0.18664145469665527, + -0.048256609588861465, + 0.9812421798706055, + -5.480745315551758 + ], + [ + -0.20891173183918, + -0.9778988361358643, + -0.00835521798580885, + -9.685287475585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1630, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_838470458", + "mask_path": "../../mask/hdr_left_01630.png" + }, + { + "file_path": "../../rgb/hdr_left_01631.png", + "transform_matrix": [ + [ + 0.9486963152885437, + -0.21287040412425995, + -0.23379819095134735, + 70.38760375976562 + ], + [ + 0.23021835088729858, + -0.041812796145677567, + 0.9722402095794678, + -5.430815696716309 + ], + [ + -0.21673691272735596, + -0.9761853814125061, + 0.00933903455734253, + -9.704512596130371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1631, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_938470125", + "mask_path": "../../mask/hdr_left_01631.png" + }, + { + "file_path": "../../rgb/hdr_left_01632.png", + "transform_matrix": [ + [ + 0.9343612194061279, + -0.23082426190376282, + -0.2714574933052063, + 70.42715454101562 + ], + [ + 0.2689705789089203, + -0.042802292853593826, + 0.962196946144104, + -5.383638381958008 + ], + [ + -0.23371733725070953, + -0.9720536470413208, + 0.022092146798968315, + -9.718584060668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1632, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_38470268", + "mask_path": "../../mask/hdr_left_01632.png" + }, + { + "file_path": "../../rgb/hdr_left_01635.png", + "transform_matrix": [ + [ + 0.8964064717292786, + -0.2227967381477356, + -0.3831670880317688, + 70.56048583984375 + ], + [ + 0.3833428621292114, + -0.04424702003598213, + 0.9225456118583679, + -5.238504409790039 + ], + [ + -0.22249414026737213, + -0.9738602638244629, + 0.04574420675635338, + -9.75611400604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1635, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_338470458", + "mask_path": "../../mask/hdr_left_01635.png" + }, + { + "file_path": "../../rgb/hdr_left_01636.png", + "transform_matrix": [ + [ + 0.8769211769104004, + -0.21685874462127686, + -0.4289306700229645, + 70.61753845214844 + ], + [ + 0.4273014962673187, + -0.056827619671821594, + 0.902321457862854, + -5.1753010749816895 + ], + [ + -0.2200513780117035, + -0.9745476245880127, + 0.04283072054386139, + -9.775516510009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1636, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_438470840", + "mask_path": "../../mask/hdr_left_01636.png" + }, + { + "file_path": "../../rgb/hdr_left_01638.png", + "transform_matrix": [ + [ + 0.8294727802276611, + -0.21697218716144562, + -0.5146825313568115, + 70.67185974121094 + ], + [ + 0.5170814990997314, + -0.05011937767267227, + 0.854467511177063, + -5.062293529510498 + ], + [ + -0.21119125187397003, + -0.9748903512954712, + 0.0706196129322052, + -9.80516242980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1638, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_638470649", + "mask_path": "../../mask/hdr_left_01638.png" + }, + { + "file_path": "../../rgb/hdr_left_01639.png", + "transform_matrix": [ + [ + 0.803953230381012, + -0.219215989112854, + -0.5528141260147095, + 70.71029663085938 + ], + [ + 0.5566070079803467, + -0.04994186386466026, + 0.8292734026908875, + -4.9982147216796875 + ], + [ + -0.209398552775383, + -0.9743973612785339, + 0.08186624199151993, + -9.81694507598877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1639, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_738470077", + "mask_path": "../../mask/hdr_left_01639.png" + }, + { + "file_path": "../../rgb/hdr_left_01640.png", + "transform_matrix": [ + [ + 0.7801421284675598, + -0.21488776803016663, + -0.5875384211540222, + 70.73975372314453 + ], + [ + 0.5909608602523804, + -0.05504754185676575, + 0.8048198819160461, + -4.9467973709106445 + ], + [ + -0.20528846979141235, + -0.9750861525535583, + 0.08404535055160522, + -9.812397956848145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1640, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_838469743", + "mask_path": "../../mask/hdr_left_01640.png" + }, + { + "file_path": "../../rgb/hdr_left_01642.png", + "transform_matrix": [ + [ + 0.7317060232162476, + -0.1996774971485138, + -0.6517171263694763, + 70.78653717041016 + ], + [ + 0.6578760147094727, + -0.04328124225139618, + 0.75188148021698, + -4.817399024963379 + ], + [ + -0.17834095656871796, + -0.9789053797721863, + 0.0996938943862915, + -9.826520919799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1642, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_38469552", + "mask_path": "../../mask/hdr_left_01642.png" + }, + { + "file_path": "../../rgb/hdr_left_01643.png", + "transform_matrix": [ + [ + 0.7011183500289917, + -0.1854514479637146, + -0.6885062456130981, + 70.83589172363281 + ], + [ + 0.6943821907043457, + -0.04189255088567734, + 0.7183858752250671, + -4.726459980010986 + ], + [ + -0.16206897795200348, + -0.9817600846290588, + 0.09940256178379059, + -9.842581748962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1643, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_138470411", + "mask_path": "../../mask/hdr_left_01643.png" + }, + { + "file_path": "../../rgb/hdr_left_01644.png", + "transform_matrix": [ + [ + 0.6664064526557922, + -0.1785617172718048, + -0.7238909602165222, + 70.84807586669922 + ], + [ + 0.7295602560043335, + -0.04406661167740822, + 0.6824952960014343, + -4.662416458129883 + ], + [ + -0.15376698970794678, + -0.9829414486885071, + 0.10090526938438416, + -9.849817276000977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1644, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_238469600", + "mask_path": "../../mask/hdr_left_01644.png" + }, + { + "file_path": "../../rgb/hdr_left_01646.png", + "transform_matrix": [ + [ + 0.6055731773376465, + -0.1772051751613617, + -0.7758089303970337, + 70.84803009033203 + ], + [ + 0.7823653221130371, + -0.045738499611616135, + 0.6211380958557129, + -4.5532002449035645 + ], + [ + -0.14555323123931885, + -0.9831105470657349, + 0.11094117909669876, + -9.861095428466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1646, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_438470602", + "mask_path": "../../mask/hdr_left_01646.png" + }, + { + "file_path": "../../rgb/hdr_left_01647.png", + "transform_matrix": [ + [ + 0.5795473456382751, + -0.16682130098342896, + -0.7976812720298767, + 70.85804748535156 + ], + [ + 0.8031173348426819, + -0.0491991862654686, + 0.5937860012054443, + -4.495608329772949 + ], + [ + -0.13830143213272095, + -0.9847589731216431, + 0.10546385496854782, + -9.852734565734863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1647, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_538470506", + "mask_path": "../../mask/hdr_left_01647.png" + }, + { + "file_path": "../../rgb/hdr_left_01649.png", + "transform_matrix": [ + [ + 0.5434513688087463, + -0.15776997804641724, + -0.8244811296463013, + 70.88128662109375 + ], + [ + 0.8312413692474365, + -0.03579926863312721, + 0.5547577738761902, + -4.373915672302246 + ], + [ + -0.11703994125127792, + -0.9868267774581909, + 0.11168976128101349, + -9.848522186279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1649, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_738470315", + "mask_path": "../../mask/hdr_left_01649.png" + }, + { + "file_path": "../../rgb/hdr_left_01650.png", + "transform_matrix": [ + [ + 0.5278146266937256, + -0.1492161601781845, + -0.8361495733261108, + 70.9012680053711 + ], + [ + 0.8425945043563843, + -0.032014150172472, + 0.5375961065292358, + -4.2932515144348145 + ], + [ + -0.1069866493344307, + -0.9882862567901611, + 0.10883119702339172, + -9.855940818786621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1650, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_838469982", + "mask_path": "../../mask/hdr_left_01650.png" + }, + { + "file_path": "../../rgb/hdr_left_01651.png", + "transform_matrix": [ + [ + 0.5079078674316406, + -0.1436678171157837, + -0.8493462800979614, + 70.91161346435547 + ], + [ + 0.8551860451698303, + -0.034228090196847916, + 0.5171898007392883, + -4.23301887512207 + ], + [ + -0.10337501764297485, + -0.9890338778495789, + 0.10547798871994019, + -9.86506462097168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1651, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_938469886", + "mask_path": "../../mask/hdr_left_01651.png" + }, + { + "file_path": "../../rgb/hdr_left_01653.png", + "transform_matrix": [ + [ + 0.49744734168052673, + -0.13967904448509216, + -0.8561751246452332, + 70.93663024902344 + ], + [ + 0.8614541888237, + -0.036723826080560684, + 0.5065057873725891, + -4.108702182769775 + ], + [ + -0.10219027101993561, + -0.9895156621932983, + 0.10205891728401184, + -9.88701343536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1653, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_138470172", + "mask_path": "../../mask/hdr_left_01653.png" + }, + { + "file_path": "../../rgb/hdr_left_01654.png", + "transform_matrix": [ + [ + 0.5014223456382751, + -0.13180005550384521, + -0.8551048636436462, + 70.96387481689453 + ], + [ + 0.8592182993888855, + -0.040186215192079544, + 0.5100284218788147, + -4.038761615753174 + ], + [ + -0.10158518701791763, + -0.9904614686965942, + 0.09309473633766174, + -9.883956909179688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1654, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_238470554", + "mask_path": "../../mask/hdr_left_01654.png" + }, + { + "file_path": "../../rgb/hdr_left_01655.png", + "transform_matrix": [ + [ + 0.508544385433197, + -0.1253962367773056, + -0.8518558144569397, + 70.98580169677734 + ], + [ + 0.8558709621429443, + -0.03458067402243614, + 0.516031801700592, + -3.97564435005188 + ], + [ + -0.09416618198156357, + -0.991503894329071, + 0.08973721414804459, + -9.87405014038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1655, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_338468313", + "mask_path": "../../mask/hdr_left_01655.png" + }, + { + "file_path": "../../rgb/hdr_left_01656.png", + "transform_matrix": [ + [ + 0.5072382688522339, + -0.11466331779956818, + -0.8541438579559326, + 71.0106201171875 + ], + [ + 0.8577589392662048, + -0.02876557968556881, + 0.5132467150688171, + -3.906304121017456 + ], + [ + -0.0834205150604248, + -0.992987871170044, + 0.08376247435808182, + -9.874892234802246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1656, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_438471078", + "mask_path": "../../mask/hdr_left_01656.png" + }, + { + "file_path": "../../rgb/hdr_left_01657.png", + "transform_matrix": [ + [ + 0.488039493560791, + -0.10132049024105072, + -0.8669207692146301, + 71.03172302246094 + ], + [ + 0.8696931600570679, + -0.02756870537996292, + 0.4928223490715027, + -3.813945770263672 + ], + [ + -0.07383288443088531, + -0.9944718480110168, + 0.07466311752796173, + -9.880681991577148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1657, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_538470029", + "mask_path": "../../mask/hdr_left_01657.png" + }, + { + "file_path": "../../rgb/hdr_left_01658.png", + "transform_matrix": [ + [ + 0.4521715044975281, + -0.09393715113401413, + -0.8869705200195312, + 71.02986907958984 + ], + [ + 0.8891233801841736, + -0.031368501484394073, + 0.4565912187099457, + -3.7467496395111084 + ], + [ + -0.07071381062269211, + -0.9950838685035706, + 0.06933777779340744, + -9.890527725219727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1658, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_638469934", + "mask_path": "../../mask/hdr_left_01658.png" + }, + { + "file_path": "../../rgb/hdr_left_01660.png", + "transform_matrix": [ + [ + 0.37671783566474915, + -0.08788926154375076, + -0.922149121761322, + 71.0527114868164 + ], + [ + 0.9241774082183838, + -0.03213655203580856, + 0.38060933351516724, + -3.6001017093658447 + ], + [ + -0.06308616697788239, + -0.9956117868423462, + 0.06911883503198624, + -9.899288177490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1660, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_838469505", + "mask_path": "../../mask/hdr_left_01660.png" + }, + { + "file_path": "../../rgb/hdr_left_01661.png", + "transform_matrix": [ + [ + 0.3456822633743286, + -0.08752164244651794, + -0.9342609643936157, + 71.06380462646484 + ], + [ + 0.936401903629303, + -0.0319741852581501, + 0.34946978092193604, + -3.5326318740844727 + ], + [ + -0.06045839935541153, + -0.9956493973731995, + 0.07090253382921219, + -9.893028259277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1661, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_938469171", + "mask_path": "../../mask/hdr_left_01661.png" + }, + { + "file_path": "../../rgb/hdr_left_01662.png", + "transform_matrix": [ + [ + 0.3153783679008484, + -0.0893726572394371, + -0.9447481036186218, + 71.06198120117188 + ], + [ + 0.9472938179969788, + -0.02942485921084881, + 0.31901174783706665, + -3.476736307144165 + ], + [ + -0.0563100129365921, + -0.9955635666847229, + 0.07538221031427383, + -9.894521713256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1662, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_38470029", + "mask_path": "../../mask/hdr_left_01662.png" + }, + { + "file_path": "../../rgb/hdr_left_01663.png", + "transform_matrix": [ + [ + 0.2869788706302643, + -0.08711741119623184, + -0.9539673924446106, + 71.06346130371094 + ], + [ + 0.9566478133201599, + -0.02558210864663124, + 0.2901214063167572, + -3.4099204540252686 + ], + [ + -0.049679119139909744, + -0.9958695769309998, + 0.07599916309118271, + -9.894645690917969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1663, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_138470172", + "mask_path": "../../mask/hdr_left_01663.png" + }, + { + "file_path": "../../rgb/hdr_left_01664.png", + "transform_matrix": [ + [ + 0.2576664388179779, + -0.08073395490646362, + -0.9628551602363586, + 71.06547546386719 + ], + [ + 0.9652019739151001, + -0.02453683130443096, + 0.26035183668136597, + -3.3305859565734863 + ], + [ + -0.04464464634656906, + -0.996433675289154, + 0.07160225510597229, + -9.90097713470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1664, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_238469600", + "mask_path": "../../mask/hdr_left_01664.png" + }, + { + "file_path": "../../rgb/hdr_left_01665.png", + "transform_matrix": [ + [ + 0.22461281716823578, + -0.07748746126890182, + -0.9713622331619263, + 71.05817413330078 + ], + [ + 0.9735249876976013, + -0.02553495392203331, + 0.22714988887310028, + -3.258023500442505 + ], + [ + -0.04240495339035988, + -0.9966662526130676, + 0.06970048695802689, + -9.907118797302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1665, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_338469266", + "mask_path": "../../mask/hdr_left_01665.png" + }, + { + "file_path": "../../rgb/hdr_left_01666.png", + "transform_matrix": [ + [ + 0.19086170196533203, + -0.08122583478689194, + -0.9782505631446838, + 71.04452514648438 + ], + [ + 0.9808019995689392, + -0.024819927290081978, + 0.19342032074928284, + -3.187364339828491 + ], + [ + -0.039990831166505814, + -0.9963866472244263, + 0.07492927461862564, + -9.910829544067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1666, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_438471555", + "mask_path": "../../mask/hdr_left_01666.png" + }, + { + "file_path": "../../rgb/hdr_left_01667.png", + "transform_matrix": [ + [ + 0.1586911380290985, + -0.08595102280378342, + -0.9835799932479858, + 71.0317153930664 + ], + [ + 0.9865136742591858, + -0.026656797155737877, + 0.16149386763572693, + -3.109955072402954 + ], + [ + -0.040099650621414185, + -0.9959427118301392, + 0.08056164532899857, + -9.914446830749512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1667, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_538470268", + "mask_path": "../../mask/hdr_left_01667.png" + }, + { + "file_path": "../../rgb/hdr_left_01668.png", + "transform_matrix": [ + [ + 0.1327405720949173, + -0.08224328607320786, + -0.9877327680587769, + 71.02334594726562 + ], + [ + 0.9904379844665527, + -0.026780035346746445, + 0.13533395528793335, + -3.0361390113830566 + ], + [ + -0.037581827491521835, + -0.9962524175643921, + 0.07790207862854004, + -9.901143074035645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1668, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_638470888", + "mask_path": "../../mask/hdr_left_01668.png" + }, + { + "file_path": "../../rgb/hdr_left_01669.png", + "transform_matrix": [ + [ + 0.11089353263378143, + -0.08455809205770493, + -0.990228533744812, + 71.00424194335938 + ], + [ + 0.9933745265007019, + -0.02080695703625679, + 0.11302260309457779, + -2.9786300659179688 + ], + [ + -0.03016061708331108, + -0.9962013363838196, + 0.08169049769639969, + -9.892955780029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1669, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_738470554", + "mask_path": "../../mask/hdr_left_01669.png" + }, + { + "file_path": "../../rgb/hdr_left_01670.png", + "transform_matrix": [ + [ + 0.09450657665729523, + -0.08700032532215118, + -0.9917153716087341, + 70.98403930664062 + ], + [ + 0.9952217936515808, + -0.01629582606256008, + 0.09627030044794083, + -2.908754825592041 + ], + [ + -0.0245363712310791, + -0.9960750341415405, + 0.08504455536603928, + -9.89432144165039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1670, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_838471174", + "mask_path": "../../mask/hdr_left_01670.png" + }, + { + "file_path": "../../rgb/hdr_left_01671.png", + "transform_matrix": [ + [ + 0.07975446432828903, + -0.08111852407455444, + -0.9935083985328674, + 70.96795654296875 + ], + [ + 0.9965917468070984, + -0.014583388343453407, + 0.08119267970323563, + -2.816768169403076 + ], + [ + -0.021074950695037842, + -0.9965977668762207, + 0.0796789601445198, + -9.898408889770508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1671, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_938469171", + "mask_path": "../../mask/hdr_left_01671.png" + }, + { + "file_path": "../../rgb/hdr_left_01672.png", + "transform_matrix": [ + [ + 0.06936363875865936, + -0.07340046763420105, + -0.9948874115943909, + 70.95181274414062 + ], + [ + 0.9974181056022644, + -0.013488393276929855, + 0.07053522020578384, + -2.7489750385284424 + ], + [ + -0.018596751615405083, + -0.9972113370895386, + 0.07227535545825958, + -9.901487350463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1672, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_38469552", + "mask_path": "../../mask/hdr_left_01672.png" + }, + { + "file_path": "../../rgb/hdr_left_01673.png", + "transform_matrix": [ + [ + 0.05561170354485512, + -0.06954590976238251, + -0.996027410030365, + 70.9332504272461 + ], + [ + 0.9983440041542053, + -0.010829022154211998, + 0.056497152894735336, + -2.6936850547790527 + ], + [ + -0.014715149067342281, + -0.9975200295448303, + 0.0688285157084465, + -9.900094985961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1673, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_138470172", + "mask_path": "../../mask/hdr_left_01673.png" + }, + { + "file_path": "../../rgb/hdr_left_01674.png", + "transform_matrix": [ + [ + 0.04501334950327873, + -0.06978531926870346, + -0.9965459108352661, + 70.90961456298828 + ], + [ + 0.9988418221473694, + -0.01382348220795393, + 0.046085041016340256, + -2.6222574710845947 + ], + [ + -0.01699179597198963, + -0.9974662661552429, + 0.06908226013183594, + -9.903707504272461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1674, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_238471269", + "mask_path": "../../mask/hdr_left_01674.png" + }, + { + "file_path": "../../rgb/hdr_left_01675.png", + "transform_matrix": [ + [ + 0.040549516677856445, + -0.06578739732503891, + -0.9970093369483948, + 70.89550018310547 + ], + [ + 0.9989837408065796, + -0.016978846862912178, + 0.041750162839889526, + -2.5467894077301025 + ], + [ + -0.01967470534145832, + -0.9976892471313477, + 0.06503205746412277, + -9.897040367126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1675, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_338469743", + "mask_path": "../../mask/hdr_left_01675.png" + }, + { + "file_path": "../../rgb/hdr_left_01676.png", + "transform_matrix": [ + [ + 0.03913207724690437, + -0.06879129260778427, + -0.9968633651733398, + 70.88162231445312 + ], + [ + 0.9991194009780884, + -0.01241597905755043, + 0.04007743299007416, + -2.4783036708831787 + ], + [ + -0.015134012326598167, + -0.9975538849830627, + 0.06824485212564468, + -9.885009765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1676, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_438470125", + "mask_path": "../../mask/hdr_left_01676.png" + }, + { + "file_path": "../../rgb/hdr_left_01677.png", + "transform_matrix": [ + [ + 0.03155616298317909, + -0.06919095665216446, + -0.9971042275428772, + 70.86006927490234 + ], + [ + 0.9994592666625977, + -0.0070327394641935825, + 0.032118696719408035, + -2.402904510498047 + ], + [ + -0.009234698489308357, + -0.9975786805152893, + 0.06893160939216614, + -9.883466720581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1677, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_538470029", + "mask_path": "../../mask/hdr_left_01677.png" + }, + { + "file_path": "../../rgb/hdr_left_01678.png", + "transform_matrix": [ + [ + 0.007313740439713001, + -0.0635189339518547, + -0.9979537725448608, + 70.82474517822266 + ], + [ + 0.9999656081199646, + -0.0034452169202268124, + 0.007547746878117323, + -2.298161506652832 + ], + [ + -0.0039175935089588165, + -0.9979747533798218, + 0.06349155306816101, + -9.882428169250488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1678, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_638469934", + "mask_path": "../../mask/hdr_left_01678.png" + }, + { + "file_path": "../../rgb/hdr_left_01679.png", + "transform_matrix": [ + [ + -0.029603401198983192, + -0.05628136172890663, + -0.9979758858680725, + 70.78770446777344 + ], + [ + 0.9995545744895935, + -0.005431377794593573, + -0.029343917965888977, + -2.2124342918395996 + ], + [ + -0.003768870374187827, + -0.9984002709388733, + 0.056417085230350494, + -9.884140968322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1679, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_738469600", + "mask_path": "../../mask/hdr_left_01679.png" + }, + { + "file_path": "../../rgb/hdr_left_01680.png", + "transform_matrix": [ + [ + -0.059123896062374115, + -0.05546954646706581, + -0.9967083930969238, + 70.75849151611328 + ], + [ + 0.998242199420929, + -0.007406087126582861, + -0.05880272015929222, + -2.1390838623046875 + ], + [ + -0.004119948949664831, + -0.9984329342842102, + 0.05580991134047508, + -9.88925552368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1680, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_838469743", + "mask_path": "../../mask/hdr_left_01680.png" + }, + { + "file_path": "../../rgb/hdr_left_01681.png", + "transform_matrix": [ + [ + -0.06942809373140335, + -0.05530145764350891, + -0.9960529208183289, + 70.7374496459961 + ], + [ + 0.9975680708885193, + -0.009988595731556416, + -0.06897912174463272, + -2.044060230255127 + ], + [ + -0.006134524941444397, + -0.9984197616577148, + 0.055860456079244614, + -9.889789581298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1681, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_938470125", + "mask_path": "../../mask/hdr_left_01681.png" + }, + { + "file_path": "../../rgb/hdr_left_01682.png", + "transform_matrix": [ + [ + -0.06002767011523247, + -0.05433247610926628, + -0.9967169165611267, + 70.72891998291016 + ], + [ + 0.9981740117073059, + -0.009998527355492115, + -0.059570372104644775, + -1.9683711528778076 + ], + [ + -0.006729096174240112, + -0.9984729290008545, + 0.05483345687389374, + -9.872724533081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1682, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_38470029", + "mask_path": "../../mask/hdr_left_01682.png" + }, + { + "file_path": "../../rgb/hdr_left_01683.png", + "transform_matrix": [ + [ + -0.049820929765701294, + -0.05546581372618675, + -0.9972168207168579, + 70.71004486083984 + ], + [ + 0.998741626739502, + -0.008496345952153206, + -0.04942455515265465, + -1.908123254776001 + ], + [ + -0.005731326062232256, + -0.9984245300292969, + 0.055819321423769, + -9.870301246643066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1683, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_138469934", + "mask_path": "../../mask/hdr_left_01683.png" + }, + { + "file_path": "../../rgb/hdr_left_01684.png", + "transform_matrix": [ + [ + -0.04110684618353844, + -0.05094846338033676, + -0.9978548288345337, + 70.691162109375 + ], + [ + 0.9991539120674133, + -0.003401317400857806, + -0.04098666459321976, + -1.827223539352417 + ], + [ + -0.0013058144832029939, + -0.9986955523490906, + 0.05104517564177513, + -9.870203018188477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1684, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_238469839", + "mask_path": "../../mask/hdr_left_01684.png" + }, + { + "file_path": "../../rgb/hdr_left_01685.png", + "transform_matrix": [ + [ + -0.04130204766988754, + -0.04665987193584442, + -0.9980567097663879, + 70.66300964355469 + ], + [ + 0.9991459846496582, + -0.003091375343501568, + -0.04120262339711189, + -1.7301325798034668 + ], + [ + -0.0011628603097051382, + -0.9989060759544373, + 0.04674770310521126, + -9.873723030090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1685, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_338468313", + "mask_path": "../../mask/hdr_left_01685.png" + }, + { + "file_path": "../../rgb/hdr_left_01686.png", + "transform_matrix": [ + [ + -0.04268858581781387, + -0.04378640279173851, + -0.9981284737586975, + 70.63798522949219 + ], + [ + 0.9990879893302917, + -0.0028210559394210577, + -0.04260588064789772, + -1.660197377204895 + ], + [ + -0.0009502196335233748, + -0.9990369081497192, + 0.04386689513921738, + -9.878580093383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1686, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_438470363", + "mask_path": "../../mask/hdr_left_01686.png" + }, + { + "file_path": "../../rgb/hdr_left_01687.png", + "transform_matrix": [ + [ + -0.042067430913448334, + -0.043204814195632935, + -0.9981801509857178, + 70.6155776977539 + ], + [ + 0.9991094470024109, + -0.005051001440733671, + -0.041887979954481125, + -1.578589677810669 + ], + [ + -0.003232048125937581, + -0.9990535378456116, + 0.04337882250547409, + -9.879485130310059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1687, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_538469552", + "mask_path": "../../mask/hdr_left_01687.png" + }, + { + "file_path": "../../rgb/hdr_left_01688.png", + "transform_matrix": [ + [ + -0.03546091169118881, + -0.04112105444073677, + -0.9985246062278748, + 70.60030364990234 + ], + [ + 0.9993320107460022, + -0.01028051134198904, + -0.03506624326109886, + -1.4976657629013062 + ], + [ + -0.00882338359951973, + -0.9991013407707214, + 0.04145814850926399, + -9.874011039733887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1688, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_638470411", + "mask_path": "../../mask/hdr_left_01688.png" + }, + { + "file_path": "../../rgb/hdr_left_01689.png", + "transform_matrix": [ + [ + -0.025813784450292587, + -0.04292319715023041, + -0.9987448453903198, + 70.58747100830078 + ], + [ + 0.9996343851089478, + -0.009144429117441177, + -0.02544378861784935, + -1.4203370809555054 + ], + [ + -0.008040822111070156, + -0.9990366101264954, + 0.043143559247255325, + -9.860451698303223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1689, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_738470554", + "mask_path": "../../mask/hdr_left_01689.png" + }, + { + "file_path": "../../rgb/hdr_left_01690.png", + "transform_matrix": [ + [ + -0.015919050201773643, + -0.0420711487531662, + -0.9989877939224243, + 70.57174682617188 + ], + [ + 0.9998589754104614, + -0.00599697045981884, + -0.01568041928112507, + -1.342637062072754 + ], + [ + -0.005331207998096943, + -0.9990966320037842, + 0.04216068238019943, + -9.860523223876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1690, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_838469982", + "mask_path": "../../mask/hdr_left_01690.png" + }, + { + "file_path": "../../rgb/hdr_left_01691.png", + "transform_matrix": [ + [ + -0.008833678439259529, + -0.03750010207295418, + -0.9992576241493225, + 70.54691314697266 + ], + [ + 0.9999525547027588, + -0.004417122807353735, + -0.008674072101712227, + -1.2402242422103882 + ], + [ + -0.004088565241545439, + -0.999286949634552, + 0.0375373438000679, + -9.861381530761719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1691, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_938470125", + "mask_path": "../../mask/hdr_left_01691.png" + }, + { + "file_path": "../../rgb/hdr_left_01692.png", + "transform_matrix": [ + [ + -0.009892168454825878, + -0.02653355337679386, + -0.9995989799499512, + 70.5269546508789 + ], + [ + 0.9999182224273682, + -0.008352487348020077, + -0.009673655033111572, + -1.1521357297897339 + ], + [ + -0.008092462085187435, + -0.9996130466461182, + 0.026614010334014893, + -9.869002342224121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_38469791", + "mask_path": "../../mask/hdr_left_01692.png" + }, + { + "file_path": "../../rgb/hdr_left_01693.png", + "transform_matrix": [ + [ + -0.010013362392783165, + -0.021480165421962738, + -0.9997191429138184, + 70.5135498046875 + ], + [ + 0.9999334216117859, + -0.005954422987997532, + -0.00988756213337183, + -1.0749362707138062 + ], + [ + -0.005740364082157612, + -0.9997515678405762, + 0.02153836004436016, + -9.873098373413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1693, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_138469696", + "mask_path": "../../mask/hdr_left_01693.png" + }, + { + "file_path": "../../rgb/hdr_left_01694.png", + "transform_matrix": [ + [ + -0.00609440915286541, + -0.021912626922130585, + -0.9997413158416748, + 70.49674224853516 + ], + [ + 0.999962329864502, + -0.006297684740275145, + -0.005957739427685738, + -0.971992015838623 + ], + [ + -0.0061655063182115555, + -0.9997401237487793, + 0.021950189024209976, + -9.869680404663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1694, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_238470554", + "mask_path": "../../mask/hdr_left_01694.png" + }, + { + "file_path": "../../rgb/hdr_left_01695.png", + "transform_matrix": [ + [ + 0.008626123890280724, + -0.024775447323918343, + -0.9996557831764221, + 70.49181365966797 + ], + [ + 0.9999000430107117, + -0.010985965840518475, + 0.008900504559278488, + -0.875872790813446 + ], + [ + -0.011202698573470116, + -0.999632716178894, + 0.02467820607125759, + -9.857210159301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1695, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_338470220", + "mask_path": "../../mask/hdr_left_01695.png" + }, + { + "file_path": "../../rgb/hdr_left_01696.png", + "transform_matrix": [ + [ + 0.024815259501338005, + -0.03130684047937393, + -0.999201774597168, + 70.4810791015625 + ], + [ + 0.9996581077575684, + -0.007450253237038851, + 0.025060007348656654, + -0.8041787147521973 + ], + [ + -0.008228857070207596, + -0.9994821548461914, + 0.031111259013414383, + -9.851811408996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1696, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_438470363", + "mask_path": "../../mask/hdr_left_01696.png" + }, + { + "file_path": "../../rgb/hdr_left_01697.png", + "transform_matrix": [ + [ + 0.03775110840797424, + -0.03200145065784454, + -0.9987745881080627, + 70.46363067626953 + ], + [ + 0.999284565448761, + -0.0010607463773339987, + 0.037804339081048965, + -0.7177496552467346 + ], + [ + -0.0022692419588565826, + -0.9994872808456421, + 0.03193850815296173, + -9.851198196411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1697, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_538470268", + "mask_path": "../../mask/hdr_left_01697.png" + }, + { + "file_path": "../../rgb/hdr_left_01698.png", + "transform_matrix": [ + [ + 0.04037736356258392, + -0.029239453375339508, + -0.9987565875053406, + 70.44041442871094 + ], + [ + 0.999181866645813, + 0.0034741980489343405, + 0.04029284045100212, + -0.6202011108398438 + ], + [ + 0.0022917366586625576, + -0.9995664954185486, + 0.029355810955166817, + -9.85167407989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1698, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_638469696", + "mask_path": "../../mask/hdr_left_01698.png" + }, + { + "file_path": "../../rgb/hdr_left_01699.png", + "transform_matrix": [ + [ + 0.03472293168306351, + -0.025970056653022766, + -0.9990594983100891, + 70.42329406738281 + ], + [ + 0.9993945956230164, + 0.0030584244523197412, + 0.034655094146728516, + -0.5392266511917114 + ], + [ + 0.0021555523853749037, + -0.9996581077575684, + 0.02606053464114666, + -9.856593132019043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1699, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_738469123", + "mask_path": "../../mask/hdr_left_01699.png" + }, + { + "file_path": "../../rgb/hdr_left_01700.png", + "transform_matrix": [ + [ + 0.03086591698229313, + -0.028278542682528496, + -0.9991234540939331, + 70.40921783447266 + ], + [ + 0.9995234608650208, + 0.001069477992132306, + 0.030847998335957527, + -0.4572402238845825 + ], + [ + 0.00019620325474534184, + -0.9995995163917542, + 0.02829807810485363, + -9.861778259277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1700, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_838470935", + "mask_path": "../../mask/hdr_left_01700.png" + }, + { + "file_path": "../../rgb/hdr_left_01701.png", + "transform_matrix": [ + [ + 0.035854265093803406, + -0.031406864523887634, + -0.9988633394241333, + 70.40609741210938 + ], + [ + 0.9993233680725098, + -0.0070761204697191715, + 0.03609327971935272, + -0.3630284368991852 + ], + [ + -0.008201654069125652, + -0.9994816780090332, + 0.031131908297538757, + -9.857636451721191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1701, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_938469886", + "mask_path": "../../mask/hdr_left_01701.png" + }, + { + "file_path": "../../rgb/hdr_left_01702.png", + "transform_matrix": [ + [ + 0.04943114146590233, + -0.031631261110305786, + -0.9982765316963196, + 70.39942169189453 + ], + [ + 0.9987321496009827, + -0.007956226356327534, + 0.04970579966902733, + -0.2834388017654419 + ], + [ + -0.009514771401882172, + -0.9994679689407349, + 0.03119787573814392, + -9.845770835876465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1702, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_38469314", + "mask_path": "../../mask/hdr_left_01702.png" + }, + { + "file_path": "../../rgb/hdr_left_01703.png", + "transform_matrix": [ + [ + 0.061459653079509735, + -0.03384825587272644, + -0.9975354671478271, + 70.38780212402344 + ], + [ + 0.9980847239494324, + -0.004972218070179224, + 0.061662204563617706, + -0.21090394258499146 + ], + [ + -0.007047122344374657, + -0.9994146823883057, + 0.03347783908247948, + -9.843158721923828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1703, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_138469696", + "mask_path": "../../mask/hdr_left_01703.png" + }, + { + "file_path": "../../rgb/hdr_left_01704.png", + "transform_matrix": [ + [ + 0.06945688277482986, + -0.031878720968961716, + -0.9970754981040955, + 70.37710571289062 + ], + [ + 0.9975772500038147, + -0.0017098004464060068, + 0.06954650580883026, + -0.11323332786560059 + ], + [ + -0.003921854309737682, + -0.9994903206825256, + 0.031682729721069336, + -9.843331336975098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1704, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_238470077", + "mask_path": "../../mask/hdr_left_01704.png" + }, + { + "file_path": "../../rgb/hdr_left_01705.png", + "transform_matrix": [ + [ + 0.06640911102294922, + -0.024715755134820938, + -0.9974862337112427, + 70.36296844482422 + ], + [ + 0.9977766275405884, + -0.003980599343776703, + 0.06652707606554031, + -0.016493380069732666 + ], + [ + -0.005614861845970154, + -0.9996866583824158, + 0.024396462365984917, + -9.847173690795898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1705, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_338469266", + "mask_path": "../../mask/hdr_left_01705.png" + }, + { + "file_path": "../../rgb/hdr_left_01706.png", + "transform_matrix": [ + [ + 0.06400422751903534, + -0.02197977900505066, + -0.9977074861526489, + 70.3508071899414 + ], + [ + 0.9979361891746521, + -0.0037837179843336344, + 0.06410227715969086, + 0.06425334513187408 + ], + [ + -0.005183997564017773, + -0.9997512698173523, + 0.021692240610718727, + -9.853801727294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1706, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_438469886", + "mask_path": "../../mask/hdr_left_01706.png" + }, + { + "file_path": "../../rgb/hdr_left_01707.png", + "transform_matrix": [ + [ + 0.06519384682178497, + -0.02520957961678505, + -0.9975541234016418, + 70.3349838256836 + ], + [ + 0.9978357553482056, + -0.006931781768798828, + 0.06538740545511246, + 0.1516946256160736 + ], + [ + -0.008563216775655746, + -0.9996581673622131, + 0.02470311149954796, + -9.854436874389648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1707, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_538467645", + "mask_path": "../../mask/hdr_left_01707.png" + }, + { + "file_path": "../../rgb/hdr_left_01708.png", + "transform_matrix": [ + [ + 0.07649514824151993, + -0.02735414355993271, + -0.9966946840286255, + 70.32775115966797 + ], + [ + 0.9969308376312256, + -0.014596818014979362, + 0.07691387832164764, + 0.23382039368152618 + ], + [ + -0.016652483493089676, + -0.9995192289352417, + 0.026153605431318283, + -9.850560188293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1708, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_638469696", + "mask_path": "../../mask/hdr_left_01708.png" + }, + { + "file_path": "../../rgb/hdr_left_01709.png", + "transform_matrix": [ + [ + 0.09213408827781677, + -0.03241022676229477, + -0.9952189922332764, + 70.32750701904297 + ], + [ + 0.9956465363502502, + -0.01116701029241085, + 0.09253731369972229, + 0.3139006197452545 + ], + [ + -0.014112777076661587, + -0.9994123578071594, + 0.031240273267030716, + -9.845486640930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1709, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_738470554", + "mask_path": "../../mask/hdr_left_01709.png" + }, + { + "file_path": "../../rgb/hdr_left_01710.png", + "transform_matrix": [ + [ + 0.10527486354112625, + -0.03180978074669838, + -0.9939342141151428, + 70.31970977783203 + ], + [ + 0.9943863153457642, + -0.0073099019937217236, + 0.10555670410394669, + 0.40620943903923035 + ], + [ + -0.010623297654092312, + -0.9994671940803528, + 0.030861664563417435, + -9.845243453979492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_838469982", + "mask_path": "../../mask/hdr_left_01710.png" + }, + { + "file_path": "../../rgb/hdr_left_01711.png", + "transform_matrix": [ + [ + 0.11045222729444504, + -0.024021361023187637, + -0.9935911297798157, + 70.30176544189453 + ], + [ + 0.9938094019889832, + -0.00936417281627655, + 0.11070287972688675, + 0.5082866549491882 + ], + [ + -0.011963393539190292, + -0.9996676445007324, + 0.02283836342394352, + -9.844446182250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1711, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_938469886", + "mask_path": "../../mask/hdr_left_01711.png" + }, + { + "file_path": "../../rgb/hdr_left_01712.png", + "transform_matrix": [ + [ + 0.10714730620384216, + -0.01664689928293228, + -0.994103729724884, + 70.2862548828125 + ], + [ + 0.994150698184967, + -0.011844435706734657, + 0.10735071450471878, + 0.5952407121658325 + ], + [ + -0.013561654835939407, + -0.9997913241386414, + 0.01528042834252119, + -9.850793838500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1712, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_38468122", + "mask_path": "../../mask/hdr_left_01712.png" + }, + { + "file_path": "../../rgb/hdr_left_01713.png", + "transform_matrix": [ + [ + 0.10798415541648865, + -0.01674485206604004, + -0.9940115809440613, + 70.28446960449219 + ], + [ + 0.9940692186355591, + -0.011126164346933365, + 0.10817785561084747, + 0.6783561706542969 + ], + [ + -0.01287095807492733, + -0.9997979402542114, + 0.01544409804046154, + -9.852890968322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1713, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_138468027", + "mask_path": "../../mask/hdr_left_01713.png" + }, + { + "file_path": "../../rgb/hdr_left_01714.png", + "transform_matrix": [ + [ + 0.11522126942873001, + -0.023609265685081482, + -0.9930591583251953, + 70.28982543945312 + ], + [ + 0.9931929111480713, + -0.014452739618718624, + 0.11558040231466293, + 0.7630703449249268 + ], + [ + -0.01708119362592697, + -0.999616801738739, + 0.021783296018838882, + -9.854204177856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1714, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_238469362", + "mask_path": "../../mask/hdr_left_01714.png" + }, + { + "file_path": "../../rgb/hdr_left_01715.png", + "transform_matrix": [ + [ + 0.1284153312444687, + -0.025272607803344727, + -0.9913983941078186, + 70.29666900634766 + ], + [ + 0.9915551543235779, + -0.014978463761508465, + 0.12881748378276825, + 0.8392763733863831 + ], + [ + -0.018105177208781242, + -0.9995684027671814, + 0.023135721683502197, + -9.843207359313965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1715, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_338469743", + "mask_path": "../../mask/hdr_left_01715.png" + }, + { + "file_path": "../../rgb/hdr_left_01716.png", + "transform_matrix": [ + [ + 0.14134849607944489, + -0.026246273890137672, + -0.9896118640899658, + 70.29474639892578 + ], + [ + 0.9898666143417358, + -0.009976956062018871, + 0.14164946973323822, + 0.9083986282348633 + ], + [ + -0.013591084629297256, + -0.9996057748794556, + 0.024570083245635033, + -9.838306427001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1716, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_438469409", + "mask_path": "../../mask/hdr_left_01716.png" + }, + { + "file_path": "../../rgb/hdr_left_01717.png", + "transform_matrix": [ + [ + 0.1499122977256775, + -0.02226884849369526, + -0.988448441028595, + 70.29155731201172 + ], + [ + 0.9886581897735596, + -0.005739233456552029, + 0.15007339417934418, + 1.0020012855529785 + ], + [ + -0.009014897979795933, + -0.9997355341911316, + 0.02115589752793312, + -9.843317985534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1717, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_538470029", + "mask_path": "../../mask/hdr_left_01717.png" + }, + { + "file_path": "../../rgb/hdr_left_01718.png", + "transform_matrix": [ + [ + 0.14448919892311096, + -0.01642994023859501, + -0.9893699884414673, + 70.28673553466797 + ], + [ + 0.9894534945487976, + -0.007930913008749485, + 0.14463308453559875, + 1.097084879875183 + ], + [ + -0.010222920216619968, + -0.9998335838317871, + 0.015110732987523079, + -9.847882270812988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1718, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_638469219", + "mask_path": "../../mask/hdr_left_01718.png" + }, + { + "file_path": "../../rgb/hdr_left_01719.png", + "transform_matrix": [ + [ + 0.13113710284233093, + -0.014307545498013496, + -0.9912610054016113, + 70.27493286132812 + ], + [ + 0.9913471341133118, + -0.00397447170689702, + 0.13120584189891815, + 1.1823740005493164 + ], + [ + -0.005816973280161619, + -0.9998897910118103, + 0.013662545010447502, + -9.851151466369629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1719, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_738470315", + "mask_path": "../../mask/hdr_left_01719.png" + }, + { + "file_path": "../../rgb/hdr_left_01720.png", + "transform_matrix": [ + [ + 0.11560367047786713, + -0.01732541434466839, + -0.9931442737579346, + 70.26524353027344 + ], + [ + 0.9932846426963806, + -0.0026147987227886915, + 0.11566562205553055, + 1.2753268480300903 + ], + [ + -0.004600828047841787, + -0.9998465180397034, + 0.016906792297959328, + -9.85041332244873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1720, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_838469982", + "mask_path": "../../mask/hdr_left_01720.png" + }, + { + "file_path": "../../rgb/hdr_left_01721.png", + "transform_matrix": [ + [ + 0.10572104901075363, + -0.019118692725896835, + -0.9942119717597961, + 70.26203918457031 + ], + [ + 0.9943485260009766, + -0.007709078025072813, + 0.10588381439447403, + 1.3625357151031494 + ], + [ + -0.009688818827271461, + -0.9997875094413757, + 0.018195636570453644, + -9.839837074279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1721, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_938471317", + "mask_path": "../../mask/hdr_left_01721.png" + }, + { + "file_path": "../../rgb/hdr_left_01722.png", + "transform_matrix": [ + [ + 0.091450035572052, + -0.02693031169474125, + -0.9954453110694885, + 70.24917602539062 + ], + [ + 0.9957966208457947, + -0.0026392077561467886, + 0.0915537104010582, + 1.4341623783111572 + ], + [ + -0.0050927577540278435, + -0.9996338486671448, + 0.026575760915875435, + -9.835494041442871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1722, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_38470268", + "mask_path": "../../mask/hdr_left_01722.png" + }, + { + "file_path": "../../rgb/hdr_left_01723.png", + "transform_matrix": [ + [ + 0.07216038554906845, + -0.033737678080797195, + -0.9968222975730896, + 70.2281723022461 + ], + [ + 0.9973928928375244, + 0.001876411377452314, + 0.07213816791772842, + 1.5200194120407104 + ], + [ + -0.0005633262917399406, + -0.9994290471076965, + 0.033785123378038406, + -9.838394165039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1723, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_138470649", + "mask_path": "../../mask/hdr_left_01723.png" + }, + { + "file_path": "../../rgb/hdr_left_01724.png", + "transform_matrix": [ + [ + 0.042162418365478516, + -0.03294786065816879, + -0.9985672831535339, + 70.20382690429688 + ], + [ + 0.9991105198860168, + 0.0020345905795693398, + 0.04211820289492607, + 1.622397780418396 + ], + [ + 0.0006439697463065386, + -0.9994550347328186, + 0.033004339784383774, + -9.842741966247559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1724, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_238469839", + "mask_path": "../../mask/hdr_left_01724.png" + }, + { + "file_path": "../../rgb/hdr_left_01725.png", + "transform_matrix": [ + [ + 0.004441787023097277, + -0.027037177234888077, + -0.9996245503425598, + 70.17668151855469 + ], + [ + 0.9999861717224121, + 0.0029270818922668695, + 0.004364221356809139, + 1.7017807960510254 + ], + [ + 0.0028079848270863295, + -0.9996301531791687, + 0.027049805968999863, + -9.844367980957031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1725, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_338473558", + "mask_path": "../../mask/hdr_left_01725.png" + }, + { + "file_path": "../../rgb/hdr_left_01726.png", + "transform_matrix": [ + [ + -0.031155847012996674, + -0.03070899099111557, + -0.9990426301956177, + 70.14682006835938 + ], + [ + 0.9995111227035522, + 0.0016302490839734674, + -0.031220577657222748, + 1.7827234268188477 + ], + [ + 0.0025874397251755, + -0.9995270371437073, + 0.030643191188573837, + -9.846944808959961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1726, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_438469886", + "mask_path": "../../mask/hdr_left_01726.png" + }, + { + "file_path": "../../rgb/hdr_left_01727.png", + "transform_matrix": [ + [ + -0.05156923457980156, + -0.03669935092329979, + -0.9979948401451111, + 70.1265869140625 + ], + [ + 0.9986647367477417, + -0.004931322298943996, + -0.051422517746686935, + 1.873967170715332 + ], + [ + -0.003034261055290699, + -0.9993142485618591, + 0.036904655396938324, + -9.845330238342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1727, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_538470029", + "mask_path": "../../mask/hdr_left_01727.png" + }, + { + "file_path": "../../rgb/hdr_left_01728.png", + "transform_matrix": [ + [ + -0.040584977716207504, + -0.040008872747421265, + -0.9983747005462646, + 70.12247467041016 + ], + [ + 0.999171793460846, + -0.004545524716377258, + -0.04043521732091904, + 1.9438703060150146 + ], + [ + -0.002920370316132903, + -0.999189019203186, + 0.04016022011637688, + -9.836499214172363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1728, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_638470172", + "mask_path": "../../mask/hdr_left_01728.png" + }, + { + "file_path": "../../rgb/hdr_left_01729.png", + "transform_matrix": [ + [ + -0.023819584399461746, + -0.043477971106767654, + -0.9987704157829285, + 70.11034393310547 + ], + [ + 0.9997156262397766, + -0.002079717116430402, + -0.02375164069235325, + 2.0185794830322266 + ], + [ + -0.00104448851197958, + -0.9990522265434265, + 0.043515145778656006, + -9.83105182647705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1729, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_738471269", + "mask_path": "../../mask/hdr_left_01729.png" + }, + { + "file_path": "../../rgb/hdr_left_01730.png", + "transform_matrix": [ + [ + -0.01187923550605774, + -0.04038409888744354, + -0.9991136193275452, + 70.08834075927734 + ], + [ + 0.9999290108680725, + 0.00037115582381375134, + -0.011903959326446056, + 2.1180896759033203 + ], + [ + 0.0008515556692145765, + -0.9991841912269592, + 0.040376827120780945, + -9.831661224365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1730, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_838469505", + "mask_path": "../../mask/hdr_left_01730.png" + }, + { + "file_path": "../../rgb/hdr_left_01731.png", + "transform_matrix": [ + [ + -0.014919347129762173, + -0.037927016615867615, + -0.999169111251831, + 70.0622329711914 + ], + [ + 0.9998881220817566, + -0.0016151192830875516, + -0.014868758618831635, + 2.2132694721221924 + ], + [ + -0.001049849670380354, + -0.999279260635376, + 0.03794686868786812, + -9.840533256530762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1731, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_938470125", + "mask_path": "../../mask/hdr_left_01731.png" + }, + { + "file_path": "../../rgb/hdr_left_01732.png", + "transform_matrix": [ + [ + -0.017543191090226173, + -0.035506267100572586, + -0.9992154240608215, + 70.03874969482422 + ], + [ + 0.9998458623886108, + -3.076806024182588e-05, + -0.017553189769387245, + 2.28782057762146 + ], + [ + 0.0005925034056417644, + -0.9993695020675659, + 0.03550133854150772, + -9.845536231994629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1732, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_38470029", + "mask_path": "../../mask/hdr_left_01732.png" + }, + { + "file_path": "../../rgb/hdr_left_01733.png", + "transform_matrix": [ + [ + -0.015674637630581856, + -0.03694600239396095, + -0.999194324016571, + 70.01924133300781 + ], + [ + 0.9998758435249329, + -0.002181735821068287, + -0.015604672022163868, + 2.377285957336426 + ], + [ + -0.0016034487634897232, + -0.9993149042129517, + 0.036975614726543427, + -9.847599029541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1733, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_138470888", + "mask_path": "../../mask/hdr_left_01733.png" + }, + { + "file_path": "../../rgb/hdr_left_01734.png", + "transform_matrix": [ + [ + -0.002878007013350725, + -0.03714548051357269, + -0.9993057250976562, + 70.00880432128906 + ], + [ + 0.9999588131904602, + -0.008710017427802086, + -0.002556140534579754, + 2.4644904136657715 + ], + [ + -0.008609021082520485, + -0.9992718696594238, + 0.037169016897678375, + -9.833930969238281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1734, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_238470077", + "mask_path": "../../mask/hdr_left_01734.png" + }, + { + "file_path": "../../rgb/hdr_left_01735.png", + "transform_matrix": [ + [ + 0.011977211572229862, + -0.042727794498205185, + -0.9990149736404419, + 69.9966049194336 + ], + [ + 0.9999071955680847, + -0.005963473580777645, + 0.012242953293025494, + 2.5426759719848633 + ], + [ + -0.006480714306235313, + -0.9990689754486084, + 0.04265240207314491, + -9.82762622833252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1735, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_338471651", + "mask_path": "../../mask/hdr_left_01735.png" + }, + { + "file_path": "../../rgb/hdr_left_01736.png", + "transform_matrix": [ + [ + 0.022068843245506287, + -0.038937993347644806, + -0.9989979267120361, + 69.97699737548828 + ], + [ + 0.9997543096542358, + -0.0011567951878532767, + 0.022130614146590233, + 2.6464920043945312 + ], + [ + -0.002017358550801873, + -0.9992409944534302, + 0.038902901113033295, + -9.831442832946777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1736, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_438470840", + "mask_path": "../../mask/hdr_left_01736.png" + }, + { + "file_path": "../../rgb/hdr_left_01737.png", + "transform_matrix": [ + [ + 0.018145907670259476, + -0.03024149313569069, + -0.9993778467178345, + 69.95148468017578 + ], + [ + 0.9998278021812439, + -0.003339342074468732, + 0.01825515367090702, + 2.751591205596924 + ], + [ + -0.0038893281016498804, + -0.9995371103286743, + 0.030175691470503807, + -9.840791702270508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1737, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_538470029", + "mask_path": "../../mask/hdr_left_01737.png" + }, + { + "file_path": "../../rgb/hdr_left_01738.png", + "transform_matrix": [ + [ + 0.01311626099050045, + -0.025817248970270157, + -0.9995805621147156, + 69.93040466308594 + ], + [ + 0.9999138712882996, + 0.00040555777377448976, + 0.013110139407217503, + 2.8344995975494385 + ], + [ + 6.691915768897161e-05, + -0.9996665716171265, + 0.025820346549153328, + -9.84350299835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1738, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_638470649", + "mask_path": "../../mask/hdr_left_01738.png" + }, + { + "file_path": "../../rgb/hdr_left_01739.png", + "transform_matrix": [ + [ + 0.01336779072880745, + -0.026027429848909378, + -0.9995718598365784, + 69.9171142578125 + ], + [ + 0.9999103546142578, + 0.0010248534381389618, + 0.013345606625080109, + 2.9275271892547607 + ], + [ + 0.0006770626059733331, + -0.9996607303619385, + 0.026038795709609985, + -9.83960247039795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1739, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_738471508", + "mask_path": "../../mask/hdr_left_01739.png" + }, + { + "file_path": "../../rgb/hdr_left_01740.png", + "transform_matrix": [ + [ + 0.023665733635425568, + -0.02572532184422016, + -0.9993888139724731, + 69.9100112915039 + ], + [ + 0.999695360660553, + -0.006391474977135658, + 0.023837517946958542, + 3.0126144886016846 + ], + [ + -0.007000797428190708, + -0.9996486306190491, + 0.025566227734088898, + -9.829598426818848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1740, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_838469266", + "mask_path": "../../mask/hdr_left_01740.png" + }, + { + "file_path": "../../rgb/hdr_left_01741.png", + "transform_matrix": [ + [ + 0.035831741988658905, + -0.029545698314905167, + -0.9989209771156311, + 69.90414428710938 + ], + [ + 0.9993502497673035, + -0.002829008735716343, + 0.035930801182985306, + 3.0868968963623047 + ], + [ + -0.0038875576574355364, + -0.9995594620704651, + 0.029425134882330894, + -9.821778297424316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1741, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_938469409", + "mask_path": "../../mask/hdr_left_01741.png" + }, + { + "file_path": "../../rgb/hdr_left_01742.png", + "transform_matrix": [ + [ + 0.04518035799264908, + -0.026588689535856247, + -0.9986249208450317, + 69.89634704589844 + ], + [ + 0.9989787340164185, + 0.0007320413133129478, + 0.0451769083738327, + 3.170271396636963 + ], + [ + -0.0004701601283159107, + -0.9996461868286133, + 0.026594609022140503, + -9.821294784545898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1742, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_38470745", + "mask_path": "../../mask/hdr_left_01742.png" + }, + { + "file_path": "../../rgb/hdr_left_01743.png", + "transform_matrix": [ + [ + 0.04795028641819954, + -0.01561015285551548, + -0.9987277388572693, + 69.88582611083984 + ], + [ + 0.9988350868225098, + -0.0046570878475904465, + 0.04802823066711426, + 3.267200231552124 + ], + [ + -0.005400891415774822, + -0.9998673796653748, + 0.015368662774562836, + -9.825872421264648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1743, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_138468980", + "mask_path": "../../mask/hdr_left_01743.png" + }, + { + "file_path": "../../rgb/hdr_left_01744.png", + "transform_matrix": [ + [ + 0.04592793062329292, + -0.0052146147936582565, + -0.9989311099052429, + 69.87415313720703 + ], + [ + 0.9989131093025208, + -0.007710941135883331, + 0.04596736654639244, + 3.3543670177459717 + ], + [ + -0.007942401804029942, + -0.9999567270278931, + 0.0048548015765845776, + -9.832589149475098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1744, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_238470077", + "mask_path": "../../mask/hdr_left_01744.png" + }, + { + "file_path": "../../rgb/hdr_left_01745.png", + "transform_matrix": [ + [ + 0.045989759266376495, + -0.0018872357904911041, + -0.9989401698112488, + 69.8634033203125 + ], + [ + 0.998912513256073, + -0.007588482927531004, + 0.0460028201341629, + 3.4446017742156982 + ], + [ + -0.007667258381843567, + -0.9999694228172302, + 0.0015361913247033954, + -9.832014083862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1745, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_338469505", + "mask_path": "../../mask/hdr_left_01745.png" + }, + { + "file_path": "../../rgb/hdr_left_01746.png", + "transform_matrix": [ + [ + 0.052411071956157684, + -0.00448794336989522, + -0.9986155033111572, + 69.85768127441406 + ], + [ + 0.9985460638999939, + -0.012383544817566872, + 0.05246306210756302, + 3.5462377071380615 + ], + [ + -0.012601850554347038, + -0.9999133348464966, + 0.0038323861081153154, + -9.828266143798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1746, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_438470363", + "mask_path": "../../mask/hdr_left_01746.png" + }, + { + "file_path": "../../rgb/hdr_left_01747.png", + "transform_matrix": [ + [ + 0.0656682550907135, + -0.009640254080295563, + -0.9977949857711792, + 69.85000610351562 + ], + [ + 0.9977551102638245, + -0.012524405494332314, + 0.06578662246465683, + 3.633986234664917 + ], + [ + -0.013130987994372845, + -0.9998751282691956, + 0.00879615917801857, + -9.821727752685547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1747, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_538470268", + "mask_path": "../../mask/hdr_left_01747.png" + }, + { + "file_path": "../../rgb/hdr_left_01748.png", + "transform_matrix": [ + [ + 0.07681792974472046, + -0.015076003037393093, + -0.9969311356544495, + 69.83555603027344 + ], + [ + 0.9969953298568726, + -0.008827936835587025, + 0.0769563689827919, + 3.725383996963501 + ], + [ + -0.009961039759218693, + -0.999847412109375, + 0.01435256190598011, + -9.82320785522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1748, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_638470172", + "mask_path": "../../mask/hdr_left_01748.png" + }, + { + "file_path": "../../rgb/hdr_left_01749.png", + "transform_matrix": [ + [ + 0.07935427129268646, + -0.011785757727921009, + -0.9967767596244812, + 69.81671142578125 + ], + [ + 0.9968299269676208, + -0.004816377069801092, + 0.079415462911129, + 3.8381502628326416 + ], + [ + -0.005736825056374073, + -0.9999189972877502, + 0.01136619970202446, + -9.82351303100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1749, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_738469839", + "mask_path": "../../mask/hdr_left_01749.png" + }, + { + "file_path": "../../rgb/hdr_left_01750.png", + "transform_matrix": [ + [ + 0.07068556547164917, + -0.006515085231512785, + -0.9974773526191711, + 69.7973861694336 + ], + [ + 0.997494637966156, + -0.002381742000579834, + 0.07070234417915344, + 3.9390830993652344 + ], + [ + -0.0028363659512251616, + -0.9999759793281555, + 0.006330409552901983, + -9.825519561767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1750, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_838470220", + "mask_path": "../../mask/hdr_left_01750.png" + }, + { + "file_path": "../../rgb/hdr_left_01751.png", + "transform_matrix": [ + [ + 0.0657801553606987, + -0.0070358640514314175, + -0.9978092908859253, + 69.7839126586914 + ], + [ + 0.9978328943252563, + -0.0011084036668762565, + 0.06578951328992844, + 4.028870582580566 + ], + [ + -0.0015688625862821937, + -0.99997478723526, + 0.006947709247469902, + -9.826830863952637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1751, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_938469409", + "mask_path": "../../mask/hdr_left_01751.png" + }, + { + "file_path": "../../rgb/hdr_left_01752.png", + "transform_matrix": [ + [ + 0.07176121324300766, + -0.010043598711490631, + -0.997371256351471, + 69.77765655517578 + ], + [ + 0.9973977208137512, + -0.006233925465494394, + 0.07182587683200836, + 4.125114917755127 + ], + [ + -0.00693892827257514, + -0.999930202960968, + 0.009570110589265823, + -9.821748733520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1752, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_38469552", + "mask_path": "../../mask/hdr_left_01752.png" + }, + { + "file_path": "../../rgb/hdr_left_01753.png", + "transform_matrix": [ + [ + 0.08828470855951309, + -0.011820156127214432, + -0.9960250854492188, + 69.77263641357422 + ], + [ + 0.9960813522338867, + -0.004247703123837709, + 0.08834011107683182, + 4.206234455108643 + ], + [ + -0.005275013390928507, + -0.9999211430549622, + 0.011398831382393837, + -9.809974670410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1753, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_138471364", + "mask_path": "../../mask/hdr_left_01753.png" + }, + { + "file_path": "../../rgb/hdr_left_01754.png", + "transform_matrix": [ + [ + 0.10023479908704758, + -0.014118483290076256, + -0.9948635697364807, + 69.76275634765625 + ], + [ + 0.9949575662612915, + -0.0021215889137238264, + 0.10027436167001724, + 4.286291122436523 + ], + [ + -0.003526414278894663, + -0.9998980760574341, + 0.0138346366584301, + -9.808659553527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1754, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_238470077", + "mask_path": "../../mask/hdr_left_01754.png" + }, + { + "file_path": "../../rgb/hdr_left_01755.png", + "transform_matrix": [ + [ + 0.10383371263742447, + -0.0096806101500988, + -0.9945474863052368, + 69.74809265136719 + ], + [ + 0.9945886135101318, + -0.0024692805018275976, + 0.10386204719543457, + 4.394728660583496 + ], + [ + -0.00346126570366323, + -0.999950110912323, + 0.009371833875775337, + -9.812102317810059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1755, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_338470458", + "mask_path": "../../mask/hdr_left_01755.png" + }, + { + "file_path": "../../rgb/hdr_left_01756.png", + "transform_matrix": [ + [ + 0.09936302155256271, + -0.00699787400662899, + -0.995026707649231, + 69.7330322265625 + ], + [ + 0.9950494170188904, + -0.0011894488707184792, + 0.09937367588281631, + 4.490120887756348 + ], + [ + -0.0018789381720125675, + -0.9999748468399048, + 0.006845045369118452, + -9.821534156799316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1756, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_438470840", + "mask_path": "../../mask/hdr_left_01756.png" + }, + { + "file_path": "../../rgb/hdr_left_01757.png", + "transform_matrix": [ + [ + 0.09972955286502838, + -0.006151427980512381, + -0.9949954748153687, + 69.72821044921875 + ], + [ + 0.9950143694877625, + 0.0011797527549788356, + 0.09972413629293442, + 4.577019691467285 + ], + [ + 0.0005604021134786308, + -0.9999804496765137, + 0.006238417234271765, + -9.81989574432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1757, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_538469552", + "mask_path": "../../mask/hdr_left_01757.png" + }, + { + "file_path": "../../rgb/hdr_left_01758.png", + "transform_matrix": [ + [ + 0.10755359381437302, + -0.006115060765296221, + -0.99418044090271, + 69.73233032226562 + ], + [ + 0.9941955804824829, + -0.0020514922216534615, + 0.10756784677505493, + 4.662773132324219 + ], + [ + -0.002697338117286563, + -0.9999792575836182, + 0.005858924239873886, + -9.810672760009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1758, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_638470649", + "mask_path": "../../mask/hdr_left_01758.png" + }, + { + "file_path": "../../rgb/hdr_left_01759.png", + "transform_matrix": [ + [ + 0.11885480582714081, + -0.00938908476382494, + -0.9928671717643738, + 69.73284912109375 + ], + [ + 0.9929051399230957, + 0.004734968766570091, + 0.11881456524133682, + 4.737842559814453 + ], + [ + 0.0035856340546160936, + -0.9999447464942932, + 0.009885245934128761, + -9.801380157470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1759, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_738471269", + "mask_path": "../../mask/hdr_left_01759.png" + }, + { + "file_path": "../../rgb/hdr_left_01760.png", + "transform_matrix": [ + [ + 0.11800770461559296, + -0.013793102465569973, + -0.9929168820381165, + 69.72381591796875 + ], + [ + 0.99299556016922, + 0.007506484165787697, + 0.11791276186704636, + 4.822755336761475 + ], + [ + 0.005826930981129408, + -0.9998767375946045, + 0.014582312665879726, + -9.803180694580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1760, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_838469266", + "mask_path": "../../mask/hdr_left_01760.png" + }, + { + "file_path": "../../rgb/hdr_left_01761.png", + "transform_matrix": [ + [ + 0.10383707284927368, + -0.010267172008752823, + -0.9945412874221802, + 69.70718383789062 + ], + [ + 0.9945911765098572, + 0.00357046932913363, + 0.10380540043115616, + 4.927002906799316 + ], + [ + 0.0024851905182003975, + -0.9999409317970276, + 0.010582386516034603, + -9.809808731079102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1761, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_938470363", + "mask_path": "../../mask/hdr_left_01761.png" + }, + { + "file_path": "../../rgb/hdr_left_01762.png", + "transform_matrix": [ + [ + 0.0865437239408493, + -0.0018381616100668907, + -0.996246337890625, + 69.68701171875 + ], + [ + 0.9962345361709595, + 0.005360406357795, + 0.08653280884027481, + 5.017226696014404 + ], + [ + 0.005181223154067993, + -0.9999839663505554, + 0.002295152051374316, + -9.815738677978516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1762, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_38469791", + "mask_path": "../../mask/hdr_left_01762.png" + }, + { + "file_path": "../../rgb/hdr_left_01763.png", + "transform_matrix": [ + [ + 0.07740334421396255, + 0.0006526421057060361, + -0.9969995617866516, + 69.68230438232422 + ], + [ + 0.9969603419303894, + 0.008845512755215168, + 0.07740608602762222, + 5.108868598937988 + ], + [ + 0.008869491517543793, + -0.9999606609344482, + 3.401584763196297e-05, + -9.81271743774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1763, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_138469696", + "mask_path": "../../mask/hdr_left_01763.png" + }, + { + "file_path": "../../rgb/hdr_left_01764.png", + "transform_matrix": [ + [ + 0.07617895305156708, + 0.0017922769766300917, + -0.9970924854278564, + 69.68470001220703 + ], + [ + 0.9970703125, + 0.006778358481824398, + 0.07618944346904755, + 5.193289279937744 + ], + [ + 0.006895202677696943, + -0.9999755024909973, + -0.001270654029212892, + -9.796882629394531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1764, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_238470792", + "mask_path": "../../mask/hdr_left_01764.png" + }, + { + "file_path": "../../rgb/hdr_right_01545.png", + "transform_matrix": [ + [ + -0.983527421951294, + -0.18064089119434357, + 0.006528056692332029, + 65.2520523071289 + ], + [ + -0.010169915854930878, + 0.019241882488131523, + -0.9997632503509521, + -5.617961883544922 + ], + [ + 0.1804724931716919, + -0.9833608865737915, + -0.020762018859386444, + -8.678239822387695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1545, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_638469457", + "mask_path": "../../mask/hdr_right_01545.png" + }, + { + "file_path": "../../rgb/hdr_right_01547.png", + "transform_matrix": [ + [ + -0.9839065670967102, + -0.1786765307188034, + 0.0015999029856175184, + 65.36775207519531 + ], + [ + -0.003610054962337017, + 0.010925577953457832, + -0.9999337792396545, + -5.640385150909424 + ], + [ + 0.1786472052335739, + -0.9838472008705139, + -0.01139477826654911, + -8.707036018371582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1547, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_838466644", + "mask_path": "../../mask/hdr_right_01547.png" + }, + { + "file_path": "../../rgb/hdr_right_01548.png", + "transform_matrix": [ + [ + -0.9835478067398071, + -0.18046097457408905, + 0.00821543950587511, + 65.4587173461914 + ], + [ + -0.008622990921139717, + 0.0014740026090294123, + -0.9999617338180542, + -5.650177478790283 + ], + [ + 0.1804419755935669, + -0.9835810661315918, + -0.003005863633006811, + -8.73233413696289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1548, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594321_938469409", + "mask_path": "../../mask/hdr_right_01548.png" + }, + { + "file_path": "../../rgb/hdr_right_01549.png", + "transform_matrix": [ + [ + -0.9822538495063782, + -0.1857997477054596, + 0.025610024109482765, + 65.54558563232422 + ], + [ + -0.025225643068552017, + -0.004433051683008671, + -0.9996719360351562, + -5.652005672454834 + ], + [ + 0.18585236370563507, + -0.9825776219367981, + -0.00033253958099521697, + -8.745052337646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1549, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_38469076", + "mask_path": "../../mask/hdr_right_01549.png" + }, + { + "file_path": "../../rgb/hdr_right_01550.png", + "transform_matrix": [ + [ + -0.982414186000824, + -0.18138736486434937, + 0.04428376629948616, + 65.61306762695312 + ], + [ + -0.04266950860619545, + -0.01279417797923088, + -0.9990074038505554, + -5.654319763183594 + ], + [ + 0.18177390098571777, + -0.9833285212516785, + 0.004829477518796921, + -8.760388374328613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1550, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_138468980", + "mask_path": "../../mask/hdr_right_01550.png" + }, + { + "file_path": "../../rgb/hdr_right_01551.png", + "transform_matrix": [ + [ + -0.9820699095726013, + -0.1781207174062729, + 0.06173873692750931, + 65.69094848632812 + ], + [ + -0.060300346463918686, + -0.013483180664479733, + -0.9980893135070801, + -5.663782596588135 + ], + [ + 0.17861279845237732, + -0.9839162230491638, + 0.0025006893556565046, + -8.77418041229248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1551, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_238469362", + "mask_path": "../../mask/hdr_right_01551.png" + }, + { + "file_path": "../../rgb/hdr_right_01552.png", + "transform_matrix": [ + [ + -0.9793930649757385, + -0.18680161237716675, + 0.07677414268255234, + 65.77923583984375 + ], + [ + -0.07736355811357498, + -0.004143795929849148, + -0.9969943761825562, + -5.6779465675354 + ], + [ + 0.1865582913160324, + -0.982388973236084, + -0.010393232107162476, + -8.795397758483887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1552, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_338469266", + "mask_path": "../../mask/hdr_right_01552.png" + }, + { + "file_path": "../../rgb/hdr_right_01553.png", + "transform_matrix": [ + [ + -0.97783362865448, + -0.18878787755966187, + 0.09055756777524948, + 65.84265899658203 + ], + [ + -0.09021195769309998, + -0.010440756566822529, + -0.9958678483963013, + -5.683096885681152 + ], + [ + 0.18895328044891357, + -0.9819623827934265, + -0.006821603048592806, + -8.808425903320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1553, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_438470125", + "mask_path": "../../mask/hdr_right_01553.png" + }, + { + "file_path": "../../rgb/hdr_right_01554.png", + "transform_matrix": [ + [ + -0.9773792028427124, + -0.18365001678466797, + 0.10489272326231003, + 65.89415740966797 + ], + [ + -0.10449853539466858, + -0.011850626207888126, + -0.9944545030593872, + -5.687462329864502 + ], + [ + 0.18387462198734283, + -0.9829202890396118, + -0.007608602289110422, + -8.821675300598145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1554, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_538470506", + "mask_path": "../../mask/hdr_right_01554.png" + }, + { + "file_path": "../../rgb/hdr_right_01555.png", + "transform_matrix": [ + [ + -0.97735995054245, + -0.1750873476266861, + 0.11879324167966843, + 65.96511840820312 + ], + [ + -0.11862828582525253, + -0.011445974931120872, + -0.9928727746009827, + -5.690596580505371 + ], + [ + 0.17519916594028473, + -0.9844864010810852, + -0.009583472274243832, + -8.83938217163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1555, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_638471126", + "mask_path": "../../mask/hdr_right_01555.png" + }, + { + "file_path": "../../rgb/hdr_right_01556.png", + "transform_matrix": [ + [ + -0.9755416512489319, + -0.16885919868946075, + 0.14073029160499573, + 66.06721496582031 + ], + [ + -0.13965526223182678, + -0.018286719918251038, + -0.9900313019752502, + -5.683286666870117 + ], + [ + 0.1697493940591812, + -0.9854705333709717, + -0.0057426197454333305, + -8.848084449768066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1556, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_738470792", + "mask_path": "../../mask/hdr_right_01556.png" + }, + { + "file_path": "../../rgb/hdr_right_01557.png", + "transform_matrix": [ + [ + -0.9722164869308472, + -0.16470997035503387, + 0.16633017361164093, + 66.13189697265625 + ], + [ + -0.16526272892951965, + -0.02026168629527092, + -0.9860414266586304, + -5.669594764709473 + ], + [ + 0.16578099131584167, + -0.9861339926719666, + -0.0075216772966086864, + -8.856012344360352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1557, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_838469982", + "mask_path": "../../mask/hdr_right_01557.png" + }, + { + "file_path": "../../rgb/hdr_right_01558.png", + "transform_matrix": [ + [ + -0.9688857197761536, + -0.160440593957901, + 0.18846578896045685, + 66.19178771972656 + ], + [ + -0.18902678787708282, + -0.011899629607796669, + -0.9818997979164124, + -5.660403728485107 + ], + [ + 0.15977929532527924, + -0.986973762512207, + -0.01879819482564926, + -8.876126289367676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1558, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594322_938470602", + "mask_path": "../../mask/hdr_right_01558.png" + }, + { + "file_path": "../../rgb/hdr_right_01559.png", + "transform_matrix": [ + [ + -0.9643988013267517, + -0.16438508033752441, + 0.20715314149856567, + 66.27970886230469 + ], + [ + -0.20978610217571259, + -0.0013734247768297791, + -0.977746307849884, + -5.6499762535095215 + ], + [ + 0.16101142764091492, + -0.9863953590393066, + -0.03316117823123932, + -8.88899040222168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1559, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_38470268", + "mask_path": "../../mask/hdr_right_01559.png" + }, + { + "file_path": "../../rgb/hdr_right_01560.png", + "transform_matrix": [ + [ + -0.9613193273544312, + -0.18071796000003815, + 0.20786114037036896, + 66.35315704345703 + ], + [ + -0.2121143639087677, + 0.004318098071962595, + -0.9772353768348694, + -5.6483964920043945 + ], + [ + 0.1757064014673233, + -0.9835255742073059, + -0.042483940720558167, + -8.89366340637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1560, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_138469934", + "mask_path": "../../mask/hdr_right_01560.png" + }, + { + "file_path": "../../rgb/hdr_right_01561.png", + "transform_matrix": [ + [ + -0.9641920924186707, + -0.17712324857711792, + 0.19738566875457764, + 66.40931701660156 + ], + [ + -0.20141488313674927, + 0.004881064407527447, + -0.9794939160346985, + -5.65206241607666 + ], + [ + 0.17252768576145172, + -0.9841765761375427, + -0.0403815396130085, + -8.901348114013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1561, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_238470077", + "mask_path": "../../mask/hdr_right_01561.png" + }, + { + "file_path": "../../rgb/hdr_right_01562.png", + "transform_matrix": [ + [ + -0.9681292772293091, + -0.16943654417991638, + 0.18443681299686432, + 66.48041534423828 + ], + [ + -0.18775570392608643, + 0.0036371834576129913, + -0.9822090864181519, + -5.647407054901123 + ], + [ + 0.16575127840042114, + -0.9855343699455261, + -0.035333938896656036, + -8.916482925415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1562, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_338470697", + "mask_path": "../../mask/hdr_right_01562.png" + }, + { + "file_path": "../../rgb/hdr_right_01563.png", + "transform_matrix": [ + [ + -0.9699472188949585, + -0.16720928251743317, + 0.17675836384296417, + 66.57936096191406 + ], + [ + -0.17774991691112518, + -0.009138870984315872, + -0.9840334057807922, + -5.64425802230835 + ], + [ + 0.1661548614501953, + -0.9858790040016174, + -0.020857209339737892, + -8.939702033996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1563, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_438469886", + "mask_path": "../../mask/hdr_right_01563.png" + }, + { + "file_path": "../../rgb/hdr_right_01564.png", + "transform_matrix": [ + [ + -0.9684244394302368, + -0.17372530698776245, + 0.17881187796592712, + 66.67176055908203 + ], + [ + -0.17814883589744568, + -0.019531918689608574, + -0.9838097095489502, + -5.636134624481201 + ], + [ + 0.17440515756607056, + -0.9846004843711853, + -0.012033774517476559, + -8.954398155212402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1564, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_538470029", + "mask_path": "../../mask/hdr_right_01564.png" + }, + { + "file_path": "../../rgb/hdr_right_01565.png", + "transform_matrix": [ + [ + -0.9679141044616699, + -0.1752864569425583, + 0.18004700541496277, + 66.73387145996094 + ], + [ + -0.179178848862648, + -0.020900264382362366, + -0.9835944771766663, + -5.623969554901123 + ], + [ + 0.17617382109165192, + -0.9842956066131592, + -0.011177962645888329, + -8.980725288391113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1565, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_638470649", + "mask_path": "../../mask/hdr_right_01565.png" + }, + { + "file_path": "../../rgb/hdr_right_01566.png", + "transform_matrix": [ + [ + -0.9671345353126526, + -0.18316778540611267, + 0.17635318636894226, + 66.80963897705078 + ], + [ + -0.1763065606355667, + -0.016671137884259224, + -0.9841941595077515, + -5.622211456298828 + ], + [ + 0.18321265280246735, + -0.9829402565956116, + -0.016170445829629898, + -8.996767044067383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1566, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_738470554", + "mask_path": "../../mask/hdr_right_01566.png" + }, + { + "file_path": "../../rgb/hdr_right_01567.png", + "transform_matrix": [ + [ + -0.9634994268417358, + -0.21479344367980957, + 0.1597893387079239, + 66.87928009033203 + ], + [ + -0.1638885736465454, + 0.0012936770217493176, + -0.9864780902862549, + -5.612759590148926 + ], + [ + 0.2116823047399521, + -0.9766585826873779, + -0.0364486463367939, + -9.013961791992188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1567, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_838470220", + "mask_path": "../../mask/hdr_right_01567.png" + }, + { + "file_path": "../../rgb/hdr_right_01568.png", + "transform_matrix": [ + [ + -0.9631014466285706, + -0.22514837980270386, + 0.14745719730854034, + 66.93244934082031 + ], + [ + -0.15105587244033813, + -0.0012565944343805313, + -0.9885244369506836, + -5.60441255569458 + ], + [ + 0.2227499634027481, + -0.9743236899375916, + -0.03279975801706314, + -9.027889251708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1568, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594323_938469886", + "mask_path": "../../mask/hdr_right_01568.png" + }, + { + "file_path": "../../rgb/hdr_right_01569.png", + "transform_matrix": [ + [ + -0.9639912843704224, + -0.2237401157617569, + 0.143739715218544, + 67.00337219238281 + ], + [ + -0.14476443827152252, + -0.011905143968760967, + -0.9893945455551147, + -5.608305931091309 + ], + [ + 0.22307847440242767, + -0.9745761156082153, + -0.020913157612085342, + -9.059562683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1569, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_38469791", + "mask_path": "../../mask/hdr_right_01569.png" + }, + { + "file_path": "../../rgb/hdr_right_01570.png", + "transform_matrix": [ + [ + -0.9636831283569336, + -0.22487066686153412, + 0.14404186606407166, + 67.10354614257812 + ], + [ + -0.14398761093616486, + -0.016730092465877533, + -0.9894380569458008, + -5.594764232635498 + ], + [ + 0.22490544617176056, + -0.974245011806488, + -0.01625608094036579, + -9.089306831359863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1570, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_138472318", + "mask_path": "../../mask/hdr_right_01570.png" + }, + { + "file_path": "../../rgb/hdr_right_01571.png", + "transform_matrix": [ + [ + -0.9667872786521912, + -0.20596282184123993, + 0.1513330489397049, + 67.19331359863281 + ], + [ + -0.15161028504371643, + -0.014530032873153687, + -0.9883335828781128, + -5.575988292694092 + ], + [ + 0.20575885474681854, + -0.9784519672393799, + -0.01717863604426384, + -9.077308654785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1571, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_238470315", + "mask_path": "../../mask/hdr_right_01571.png" + }, + { + "file_path": "../../rgb/hdr_right_01572.png", + "transform_matrix": [ + [ + -0.9675790071487427, + -0.19661934673786163, + 0.15853026509284973, + 67.24579620361328 + ], + [ + -0.15716461837291718, + -0.022631749510765076, + -0.9873130917549133, + -5.566183567047119 + ], + [ + 0.19771265983581543, + -0.9802186489105225, + -0.009003596380352974, + -9.098348617553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1572, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_338470458", + "mask_path": "../../mask/hdr_right_01572.png" + }, + { + "file_path": "../../rgb/hdr_right_01573.png", + "transform_matrix": [ + [ + -0.9673546552658081, + -0.19335775077342987, + 0.16382227838039398, + 67.31620788574219 + ], + [ + -0.16125939786434174, + -0.02903018333017826, + -0.9864850640296936, + -5.565030574798584 + ], + [ + 0.19550032913684845, + -0.9806987047195435, + -0.003098265966400504, + -9.120868682861328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1573, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_438470363", + "mask_path": "../../mask/hdr_right_01573.png" + }, + { + "file_path": "../../rgb/hdr_right_01574.png", + "transform_matrix": [ + [ + -0.9625712633132935, + -0.2198249101638794, + 0.15853571891784668, + 67.38983154296875 + ], + [ + -0.1574377417564392, + -0.022620374336838722, + -0.987269937992096, + -5.565741539001465 + ], + [ + 0.22061264514923096, + -0.9752770662307739, + -0.0128350043669343, + -9.151557922363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1574, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_538470745", + "mask_path": "../../mask/hdr_right_01574.png" + }, + { + "file_path": "../../rgb/hdr_right_01575.png", + "transform_matrix": [ + [ + -0.9577063918113708, + -0.24848903715610504, + 0.145091712474823, + 67.43893432617188 + ], + [ + -0.14471209049224854, + -0.019895270466804504, + -0.9892737865447998, + -5.56462287902832 + ], + [ + 0.24871034920215607, + -0.9684303402900696, + -0.016905542463064194, + -9.153979301452637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1575, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_638468027", + "mask_path": "../../mask/hdr_right_01575.png" + }, + { + "file_path": "../../rgb/hdr_right_01576.png", + "transform_matrix": [ + [ + -0.9612109065055847, + -0.23729883134365082, + 0.1405806690454483, + 67.50965118408203 + ], + [ + -0.13615477085113525, + -0.03502354770898819, + -0.9900683164596558, + -5.57339334487915 + ], + [ + 0.23986567556858063, + -0.9708051681518555, + 0.0013556507183238864, + -9.182186126708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1576, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_738469600", + "mask_path": "../../mask/hdr_right_01576.png" + }, + { + "file_path": "../../rgb/hdr_right_01577.png", + "transform_matrix": [ + [ + -0.9633327126502991, + -0.23259899020195007, + 0.1337452381849289, + 67.59394836425781 + ], + [ + -0.12779074907302856, + -0.040553707629442215, + -0.9909718036651611, + -5.5749921798706055 + ], + [ + 0.23592285811901093, + -0.9717268943786621, + 0.009342721663415432, + -9.215555191040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1577, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_838469743", + "mask_path": "../../mask/hdr_right_01577.png" + }, + { + "file_path": "../../rgb/hdr_right_01578.png", + "transform_matrix": [ + [ + -0.9671880602836609, + -0.21537692844867706, + 0.13475936651229858, + 67.70281219482422 + ], + [ + -0.12882372736930847, + -0.041429948061704636, + -0.9908017516136169, + -5.555588722229004 + ], + [ + 0.2189788967370987, + -0.975651741027832, + 0.012324901297688484, + -9.212291717529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1578, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594324_938470363", + "mask_path": "../../mask/hdr_right_01578.png" + }, + { + "file_path": "../../rgb/hdr_right_01579.png", + "transform_matrix": [ + [ + -0.9724780321121216, + -0.18459035456180573, + 0.14217202365398407, + 67.80204010009766 + ], + [ + -0.137062206864357, + -0.040219686925411224, + -0.9897456169128418, + -5.538053035736084 + ], + [ + 0.18841558694839478, + -0.981992244720459, + 0.013812405057251453, + -9.194814682006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1579, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_38469791", + "mask_path": "../../mask/hdr_right_01579.png" + }, + { + "file_path": "../../rgb/hdr_right_01580.png", + "transform_matrix": [ + [ + -0.9737851619720459, + -0.17362551391124725, + 0.14695779979228973, + 67.86528778076172 + ], + [ + -0.14091382920742035, + -0.046707671135663986, + -0.9889194369316101, + -5.5608062744140625 + ], + [ + 0.17856571078300476, + -0.9837034940719604, + 0.021017005667090416, + -9.22966480255127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1580, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_138468503", + "mask_path": "../../mask/hdr_right_01580.png" + }, + { + "file_path": "../../rgb/hdr_right_01581.png", + "transform_matrix": [ + [ + -0.9739810824394226, + -0.17313067615032196, + 0.14624181389808655, + 67.96427154541016 + ], + [ + -0.1404348611831665, + -0.045395687222480774, + -0.9890487194061279, + -5.580428600311279 + ], + [ + 0.1778734028339386, + -0.9838521480560303, + 0.019900958985090256, + -9.24146842956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1581, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_238467693", + "mask_path": "../../mask/hdr_right_01581.png" + }, + { + "file_path": "../../rgb/hdr_right_01582.png", + "transform_matrix": [ + [ + -0.968202531337738, + -0.2134116142988205, + 0.13053546845912933, + 68.02800750732422 + ], + [ + -0.1276685744524002, + -0.02722199261188507, + -0.9914432764053345, + -5.58209753036499 + ], + [ + 0.21513895690441132, + -0.9765830636024475, + -0.000889554969035089, + -9.249731063842773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1582, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_338469266", + "mask_path": "../../mask/hdr_right_01582.png" + }, + { + "file_path": "../../rgb/hdr_right_01584.png", + "transform_matrix": [ + [ + -0.9704685807228088, + -0.20946046710014343, + 0.11965402960777283, + 68.14705657958984 + ], + [ + -0.11197816580533981, + -0.0481734499335289, + -0.9925423860549927, + -5.595521926879883 + ], + [ + 0.2136625349521637, + -0.9766297340393066, + 0.023295825347304344, + -9.301054000854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1584, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_538470268", + "mask_path": "../../mask/hdr_right_01584.png" + }, + { + "file_path": "../../rgb/hdr_right_01585.png", + "transform_matrix": [ + [ + -0.9726622104644775, + -0.19891959428787231, + 0.11983014643192291, + 68.24851989746094 + ], + [ + -0.11077327281236649, + -0.05609241873025894, + -0.992261528968811, + -5.5951313972473145 + ], + [ + 0.2041018307209015, + -0.9784092307090759, + 0.0325239934027195, + -9.313299179077148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1585, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_638469457", + "mask_path": "../../mask/hdr_right_01585.png" + }, + { + "file_path": "../../rgb/hdr_right_01586.png", + "transform_matrix": [ + [ + -0.9770018458366394, + -0.17037548124790192, + 0.12821727991104126, + 68.34239959716797 + ], + [ + -0.12004389613866806, + -0.057481635361909866, + -0.9911031723022461, + -5.581589221954346 + ], + [ + 0.1762298047542572, + -0.9837011694908142, + 0.035707131028175354, + -9.296063423156738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1586, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_738471508", + "mask_path": "../../mask/hdr_right_01586.png" + }, + { + "file_path": "../../rgb/hdr_right_01587.png", + "transform_matrix": [ + [ + -0.9788082838058472, + -0.15505459904670715, + 0.1337626725435257, + 68.39981842041016 + ], + [ + -0.12574942409992218, + -0.06042979657649994, + -0.9902198910713196, + -5.582911968231201 + ], + [ + 0.16162140667438507, + -0.9860559701919556, + 0.03965117037296295, + -9.315019607543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1587, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_838470458", + "mask_path": "../../mask/hdr_right_01587.png" + }, + { + "file_path": "../../rgb/hdr_right_01588.png", + "transform_matrix": [ + [ + -0.9800695776939392, + -0.14374442398548126, + 0.13711723685264587, + 68.4906234741211 + ], + [ + -0.12960533797740936, + -0.06042534112930298, + -0.9897227883338928, + -5.589653968811035 + ], + [ + 0.15055249631404877, + -0.987768292427063, + 0.04059100151062012, + -9.326600074768066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1588, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594325_938470602", + "mask_path": "../../mask/hdr_right_01588.png" + }, + { + "file_path": "../../rgb/hdr_right_01589.png", + "transform_matrix": [ + [ + -0.9784030318260193, + -0.16450278460979462, + 0.12516531348228455, + 68.57372283935547 + ], + [ + -0.12125397473573685, + -0.03364776074886322, + -0.9920511245727539, + -5.597626209259033 + ], + [ + 0.16740669310092926, + -0.9858025908470154, + 0.012974454089999199, + -9.344605445861816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1589, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_38469076", + "mask_path": "../../mask/hdr_right_01589.png" + }, + { + "file_path": "../../rgb/hdr_right_01590.png", + "transform_matrix": [ + [ + -0.9752630591392517, + -0.19463758170604706, + 0.10477641969919205, + 68.61600494384766 + ], + [ + -0.10446206480264664, + -0.011907916516065598, + -0.9944576025009155, + -5.591952323913574 + ], + [ + 0.19480650126934052, + -0.9808029532432556, + -0.008718892931938171, + -9.330901145935059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1590, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_138469457", + "mask_path": "../../mask/hdr_right_01590.png" + }, + { + "file_path": "../../rgb/hdr_right_01591.png", + "transform_matrix": [ + [ + -0.9782285094261169, + -0.18406878411769867, + 0.09585258364677429, + 68.67737579345703 + ], + [ + -0.09292105585336685, + -0.02450685203075409, + -0.9953718185424805, + -5.600687026977539 + ], + [ + 0.18556591868400574, + -0.9826077818870544, + 0.006869435776025057, + -9.352481842041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1591, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_238468885", + "mask_path": "../../mask/hdr_right_01591.png" + }, + { + "file_path": "../../rgb/hdr_right_01592.png", + "transform_matrix": [ + [ + -0.9806903004646301, + -0.17420436441898346, + 0.0888788104057312, + 68.76082611083984 + ], + [ + -0.0849139615893364, + -0.030097592622041702, + -0.9959336519241333, + -5.605413913726807 + ], + [ + 0.17617101967334747, + -0.984249472618103, + 0.01472404133528471, + -9.37375259399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1592, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_338468790", + "mask_path": "../../mask/hdr_right_01592.png" + }, + { + "file_path": "../../rgb/hdr_right_01593.png", + "transform_matrix": [ + [ + -0.9821286201477051, + -0.16551369428634644, + 0.08960180729627609, + 68.85369110107422 + ], + [ + -0.08461081236600876, + -0.03697768971323967, + -0.9957277178764343, + -5.608765125274658 + ], + [ + 0.16811983287334442, + -0.9855140447616577, + 0.02231260947883129, + -9.372617721557617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1593, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_438469171", + "mask_path": "../../mask/hdr_right_01593.png" + }, + { + "file_path": "../../rgb/hdr_right_01594.png", + "transform_matrix": [ + [ + -0.9835336804389954, + -0.15290281176567078, + 0.09634389728307724, + 68.92085266113281 + ], + [ + -0.09123539179563522, + -0.04009871184825897, + -0.9950217604637146, + -5.600512981414795 + ], + [ + 0.1560048907995224, + -0.9874274134635925, + 0.025488287210464478, + -9.381415367126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1594, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_538469076", + "mask_path": "../../mask/hdr_right_01594.png" + }, + { + "file_path": "../../rgb/hdr_right_01595.png", + "transform_matrix": [ + [ + -0.9849815964698792, + -0.14002369344234467, + 0.10101816803216934, + 69.00257873535156 + ], + [ + -0.09608197957277298, + -0.04159313067793846, + -0.9945040941238403, + -5.5994133949279785 + ], + [ + 0.14345577359199524, + -0.9892742037773132, + 0.027514711022377014, + -9.398191452026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1595, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_638468742", + "mask_path": "../../mask/hdr_right_01595.png" + }, + { + "file_path": "../../rgb/hdr_right_01596.png", + "transform_matrix": [ + [ + -0.9847161173820496, + -0.14495816826820374, + 0.0965462476015091, + 69.10002136230469 + ], + [ + -0.09285316616296768, + -0.032046128064394, + -0.9951640367507935, + -5.602453708648682 + ], + [ + 0.14735107123851776, + -0.988918662071228, + 0.018096525222063065, + -9.409467697143555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1596, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_738469123", + "mask_path": "../../mask/hdr_right_01596.png" + }, + { + "file_path": "../../rgb/hdr_right_01597.png", + "transform_matrix": [ + [ + -0.9833757877349854, + -0.16395708918571472, + 0.07804019749164581, + 69.16767883300781 + ], + [ + -0.07694095373153687, + -0.013054373674094677, + -0.9969502091407776, + -5.602713108062744 + ], + [ + 0.16447581350803375, + -0.9863811135292053, + 0.00022234201605897397, + -9.402199745178223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1597, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594326_838469266", + "mask_path": "../../mask/hdr_right_01597.png" + }, + { + "file_path": "../../rgb/hdr_right_01599.png", + "transform_matrix": [ + [ + -0.9859248995780945, + -0.1480274200439453, + 0.07771720737218857, + 69.30188751220703 + ], + [ + -0.07387972623109818, + -0.031257160007953644, + -0.9967772364616394, + -5.6072163581848145 + ], + [ + 0.14997956156730652, + -0.9884891510009766, + 0.019880985841155052, + -9.434429168701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1599, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_38469314", + "mask_path": "../../mask/hdr_right_01599.png" + }, + { + "file_path": "../../rgb/hdr_right_01600.png", + "transform_matrix": [ + [ + -0.9845588803291321, + -0.1470993012189865, + 0.09489767998456955, + 69.38131713867188 + ], + [ + -0.08932925015687943, + -0.04402482137084007, + -0.9950287342071533, + -5.600813388824463 + ], + [ + 0.1505458801984787, + -0.9881415367126465, + 0.030204754322767258, + -9.447042465209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1600, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_138469934", + "mask_path": "../../mask/hdr_right_01600.png" + }, + { + "file_path": "../../rgb/hdr_right_01601.png", + "transform_matrix": [ + [ + -0.9824932217597961, + -0.14467684924602509, + 0.1173698678612709, + 69.43920135498047 + ], + [ + -0.110638827085495, + -0.05375205725431442, + -0.9924060106277466, + -5.5930399894714355 + ], + [ + 0.1498870551586151, + -0.9880178570747375, + 0.03680415451526642, + -9.456061363220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1601, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_238469600", + "mask_path": "../../mask/hdr_right_01601.png" + }, + { + "file_path": "../../rgb/hdr_right_01603.png", + "transform_matrix": [ + [ + -0.9748600721359253, + -0.13969479501247406, + 0.17358939349651337, + 69.55225372314453 + ], + [ + -0.16749702394008636, + -0.054338060319423676, + -0.9843739867210388, + -5.575904369354248 + ], + [ + 0.14694441854953766, + -0.9887025356292725, + 0.02957354485988617, + -9.47580337524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1603, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_438469409", + "mask_path": "../../mask/hdr_right_01603.png" + }, + { + "file_path": "../../rgb/hdr_right_01604.png", + "transform_matrix": [ + [ + -0.9687415361404419, + -0.14921317994594574, + 0.19817979633808136, + 69.61325073242188 + ], + [ + -0.19373996555805206, + -0.04387293756008148, + -0.980071485042572, + -5.566120624542236 + ], + [ + 0.15493430197238922, + -0.987831175327301, + 0.013592980802059174, + -9.482852935791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1604, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_538469076", + "mask_path": "../../mask/hdr_right_01604.png" + }, + { + "file_path": "../../rgb/hdr_right_01606.png", + "transform_matrix": [ + [ + -0.9589905142784119, + -0.15175865590572357, + 0.23938775062561035, + 69.69966888427734 + ], + [ + -0.23562535643577576, + -0.042578693479299545, + -0.9709107875823975, + -5.555103302001953 + ], + [ + 0.15753693878650665, + -0.9875000715255737, + 0.005074371583759785, + -9.505558967590332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1606, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_738469839", + "mask_path": "../../mask/hdr_right_01606.png" + }, + { + "file_path": "../../rgb/hdr_right_01607.png", + "transform_matrix": [ + [ + -0.9527074098587036, + -0.1504191756248474, + 0.26405051350593567, + 69.76564025878906 + ], + [ + -0.2601131200790405, + -0.04563754051923752, + -0.9644990563392639, + -5.546740531921387 + ], + [ + 0.15712976455688477, + -0.9875683188438416, + 0.004353220574557781, + -9.517958641052246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1607, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_838470220", + "mask_path": "../../mask/hdr_right_01607.png" + }, + { + "file_path": "../../rgb/hdr_right_01608.png", + "transform_matrix": [ + [ + -0.9434493184089661, + -0.15168432891368866, + 0.2947801947593689, + 69.81973266601562 + ], + [ + -0.2897930443286896, + -0.05450832471251488, + -0.9555359482765198, + -5.52931022644043 + ], + [ + 0.16100779175758362, + -0.9869248270988464, + 0.007468780968338251, + -9.533388137817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1608, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594327_938469648", + "mask_path": "../../mask/hdr_right_01608.png" + }, + { + "file_path": "../../rgb/hdr_right_01610.png", + "transform_matrix": [ + [ + -0.9227757453918457, + -0.15371236205101013, + 0.35335177183151245, + 69.92559814453125 + ], + [ + -0.34877511858940125, + -0.05670158565044403, + -0.9354896545410156, + -5.489650726318359 + ], + [ + 0.1638319045305252, + -0.9864874482154846, + -0.0012881964212283492, + -9.560160636901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1610, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_138469934", + "mask_path": "../../mask/hdr_right_01610.png" + }, + { + "file_path": "../../rgb/hdr_right_01611.png", + "transform_matrix": [ + [ + -0.9115980863571167, + -0.16223914921283722, + 0.37771326303482056, + 69.99227905273438 + ], + [ + -0.37447601556777954, + -0.05129282549023628, + -0.9258168935775757, + -5.4722113609313965 + ], + [ + 0.1695777177810669, + -0.985417366027832, + -0.013996214605867863, + -9.581425666809082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1611, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_238470077", + "mask_path": "../../mask/hdr_right_01611.png" + }, + { + "file_path": "../../rgb/hdr_right_01612.png", + "transform_matrix": [ + [ + -0.9010066986083984, + -0.1783076673746109, + 0.3954659402370453, + 70.04337310791016 + ], + [ + -0.3927675783634186, + -0.05172759294509888, + -0.9181819558143616, + -5.457004070281982 + ], + [ + 0.18417535722255707, + -0.9826141595840454, + -0.023426558822393417, + -9.594863891601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1612, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_338470458", + "mask_path": "../../mask/hdr_right_01612.png" + }, + { + "file_path": "../../rgb/hdr_right_01614.png", + "transform_matrix": [ + [ + -0.885468065738678, + -0.18784072995185852, + 0.42504385113716125, + 70.13091278076172 + ], + [ + -0.42353537678718567, + -0.05015385150909424, + -0.9044901132583618, + -5.396852970123291 + ], + [ + 0.19121769070625305, + -0.9809181690216064, + -0.035147570073604584, + -9.626839637756348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1614, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_538470745", + "mask_path": "../../mask/hdr_right_01614.png" + }, + { + "file_path": "../../rgb/hdr_right_01615.png", + "transform_matrix": [ + [ + -0.8739190697669983, + -0.18824131786823273, + 0.4481413960456848, + 70.19713592529297 + ], + [ + -0.44520679116249084, + -0.060033101588487625, + -0.8934131264686584, + -5.364460468292236 + ], + [ + 0.19508060812950134, + -0.9802863597869873, + -0.03134224936366081, + -9.647088050842285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1615, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_638469696", + "mask_path": "../../mask/hdr_right_01615.png" + }, + { + "file_path": "../../rgb/hdr_right_01616.png", + "transform_matrix": [ + [ + -0.8570099472999573, + -0.1947420835494995, + 0.4770843982696533, + 70.24250030517578 + ], + [ + -0.4755803942680359, + -0.057524919509887695, + -0.8777893781661987, + -5.327949047088623 + ], + [ + 0.1983867734670639, + -0.9791661500930786, + -0.043316084891557693, + -9.664849281311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1616, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_738469839", + "mask_path": "../../mask/hdr_right_01616.png" + }, + { + "file_path": "../../rgb/hdr_right_01617.png", + "transform_matrix": [ + [ + -0.8372775316238403, + -0.19559352099895477, + 0.5105971693992615, + 70.27339172363281 + ], + [ + -0.5103728175163269, + -0.05547903850674629, + -0.8581618666648865, + -5.2869977951049805 + ], + [ + 0.19617833197116852, + -0.9791145324707031, + -0.05337424948811531, + -9.68070125579834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1617, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_838470458", + "mask_path": "../../mask/hdr_right_01617.png" + }, + { + "file_path": "../../rgb/hdr_right_01618.png", + "transform_matrix": [ + [ + -0.8126635551452637, + -0.20474842190742493, + 0.5455787181854248, + 70.30648040771484 + ], + [ + -0.5482434034347534, + -0.04867800697684288, + -0.834900975227356, + -5.240423679351807 + ], + [ + 0.19750232994556427, + -0.9776034355163574, + -0.07269313186407089, + -9.696039199829102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1618, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594328_938470125", + "mask_path": "../../mask/hdr_right_01618.png" + }, + { + "file_path": "../../rgb/hdr_right_01619.png", + "transform_matrix": [ + [ + -0.7863960862159729, + -0.22247008979320526, + 0.5762710571289062, + 70.33882141113281 + ], + [ + -0.5812466740608215, + -0.04933194816112518, + -0.8122307658195496, + -5.196652889251709 + ], + [ + 0.2091255784034729, + -0.9736906290054321, + -0.09051555395126343, + -9.7069091796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1619, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_38470268", + "mask_path": "../../mask/hdr_right_01619.png" + }, + { + "file_path": "../../rgb/hdr_right_01622.png", + "transform_matrix": [ + [ + -0.712580680847168, + -0.2137279212474823, + 0.6682432889938354, + 70.45067596435547 + ], + [ + -0.6752320528030396, + -0.049700457602739334, + -0.7359290719032288, + -5.063615322113037 + ], + [ + 0.19050060212612152, + -0.9756280779838562, + -0.10890034586191177, + -9.740004539489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1622, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_338470458", + "mask_path": "../../mask/hdr_right_01622.png" + }, + { + "file_path": "../../rgb/hdr_right_01623.png", + "transform_matrix": [ + [ + -0.6786324977874756, + -0.20752264559268951, + 0.704551100730896, + 70.49907684326172 + ], + [ + -0.7096920013427734, + -0.061823923140764236, + -0.7017942667007446, + -5.006091117858887 + ], + [ + 0.18919631838798523, + -0.9762746691703796, + -0.10532142966985703, + -9.760087966918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1623, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_438470840", + "mask_path": "../../mask/hdr_right_01623.png" + }, + { + "file_path": "../../rgb/hdr_right_01625.png", + "transform_matrix": [ + [ + -0.6047748327255249, + -0.20720495283603668, + 0.7689691781997681, + 70.53754425048828 + ], + [ + -0.7777367830276489, + -0.05412767827510834, + -0.6262553930282593, + -4.9059858322143555 + ], + [ + 0.1713857352733612, + -0.9767990112304688, + -0.12841582298278809, + -9.784371376037598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1625, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_638470649", + "mask_path": "../../mask/hdr_right_01625.png" + }, + { + "file_path": "../../rgb/hdr_right_01626.png", + "transform_matrix": [ + [ + -0.5677838325500488, + -0.20928533375263214, + 0.7961288094520569, + 70.569091796875 + ], + [ + -0.8062941431999207, + -0.05347960442304611, + -0.5890922546386719, + -4.848432540893555 + ], + [ + 0.16586503386497498, + -0.976391077041626, + -0.13838070631027222, + -9.793919563293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1626, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_738470077", + "mask_path": "../../mask/hdr_right_01626.png" + }, + { + "file_path": "../../rgb/hdr_right_01627.png", + "transform_matrix": [ + [ + -0.5335409045219421, + -0.20481234788894653, + 0.8206009864807129, + 70.59229278564453 + ], + [ + -0.830259382724762, + -0.058154042810201645, + -0.5543352365493774, + -4.803214073181152 + ], + [ + 0.16125597059726715, + -0.9770721197128296, + -0.13901980221271515, + -9.789072036743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1627, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594329_838469743", + "mask_path": "../../mask/hdr_right_01627.png" + }, + { + "file_path": "../../rgb/hdr_right_01629.png", + "transform_matrix": [ + [ + -0.46606728434562683, + -0.18936342000961304, + 0.8642469644546509, + 70.627685546875 + ], + [ + -0.8750608563423157, + -0.04550344869494438, + -0.4818691313266754, + -4.686951637268066 + ], + [ + 0.13057461380958557, + -0.9808521866798401, + -0.1444968581199646, + -9.800946235656738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1629, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_38469552", + "mask_path": "../../mask/hdr_right_01629.png" + }, + { + "file_path": "../../rgb/hdr_right_01630.png", + "transform_matrix": [ + [ + -0.4247191250324249, + -0.1750190407037735, + 0.8882466554641724, + 70.67062377929688 + ], + [ + -0.8979440927505493, + -0.04359240457415581, + -0.4379453957080841, + -4.604126453399658 + ], + [ + 0.11536957323551178, + -0.9835995435714722, + -0.1386427879333496, + -9.817639350891113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1630, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_138470411", + "mask_path": "../../mask/hdr_right_01630.png" + }, + { + "file_path": "../../rgb/hdr_right_01631.png", + "transform_matrix": [ + [ + -0.37999603152275085, + -0.16804912686347961, + 0.909594714641571, + 70.67679595947266 + ], + [ + -0.9187727570533752, + -0.045231886208057404, + -0.3921869993209839, + -4.548642635345459 + ], + [ + 0.1070493757724762, + -0.9847403168678284, + -0.13721105456352234, + -9.824859619140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1631, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_238469600", + "mask_path": "../../mask/hdr_right_01631.png" + }, + { + "file_path": "../../rgb/hdr_right_01633.png", + "transform_matrix": [ + [ + -0.3050956130027771, + -0.16663813591003418, + 0.9376291632652283, + 70.66828155517578 + ], + [ + -0.9474803805351257, + -0.04603716731071472, + -0.3164830207824707, + -4.453801155090332 + ], + [ + 0.0959039181470871, + -0.9849427342414856, + -0.14384064078330994, + -9.834375381469727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1633, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_438470602", + "mask_path": "../../mask/hdr_right_01633.png" + }, + { + "file_path": "../../rgb/hdr_right_01634.png", + "transform_matrix": [ + [ + -0.2731367349624634, + -0.15623445808887482, + 0.9492034316062927, + 70.67475891113281 + ], + [ + -0.9576660394668579, + -0.04912930354475975, + -0.2836584150791168, + -4.402522563934326 + ], + [ + 0.09095091372728348, + -0.9864974021911621, + -0.13620144128799438, + -9.827388763427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1634, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_538470506", + "mask_path": "../../mask/hdr_right_01634.png" + }, + { + "file_path": "../../rgb/hdr_right_01636.png", + "transform_matrix": [ + [ + -0.23003505170345306, + -0.14718569815158844, + 0.9619876146316528, + 70.69379425048828 + ], + [ + -0.9707449078559875, + -0.0352141372859478, + -0.23751696944236755, + -4.289767265319824 + ], + [ + 0.06883466988801956, + -0.9884818196296692, + -0.13477928936481476, + -9.822651863098145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1636, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_738470315", + "mask_path": "../../mask/hdr_right_01636.png" + }, + { + "file_path": "../../rgb/hdr_right_01637.png", + "transform_matrix": [ + [ + -0.2113288938999176, + -0.13863275945186615, + 0.9675334692001343, + 70.71195220947266 + ], + [ + -0.9755497574806213, + -0.03120884858071804, + -0.21755164861679077, + -4.2129998207092285 + ], + [ + 0.06035539135336876, + -0.9898519515991211, + -0.1286478489637375, + -9.831006050109863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1637, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_838469982", + "mask_path": "../../mask/hdr_right_01637.png" + }, + { + "file_path": "../../rgb/hdr_right_01638.png", + "transform_matrix": [ + [ + -0.18809694051742554, + -0.13309946656227112, + 0.9730899930000305, + 70.72029876708984 + ], + [ + -0.9804303646087646, + -0.033166445791721344, + -0.19405236840248108, + -4.157375812530518 + ], + [ + 0.05810220539569855, + -0.9905475378036499, + -0.12425624579191208, + -9.8409423828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1638, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594330_938469886", + "mask_path": "../../mask/hdr_right_01638.png" + }, + { + "file_path": "../../rgb/hdr_right_01640.png", + "transform_matrix": [ + [ + -0.17592182755470276, + -0.12911957502365112, + 0.9758993983268738, + 70.74429321289062 + ], + [ + -0.9826849699020386, + -0.035529978573322296, + -0.18184596300125122, + -4.035462379455566 + ], + [ + 0.05815355107188225, + -0.9909923076629639, + -0.12063336372375488, + -9.863631248474121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1640, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_138470172", + "mask_path": "../../mask/hdr_right_01640.png" + }, + { + "file_path": "../../rgb/hdr_right_01641.png", + "transform_matrix": [ + [ + -0.17999885976314545, + -0.12122465670108795, + 0.9761685132980347, + 70.7716293334961 + ], + [ + -0.9817959070205688, + -0.03903679922223091, + -0.18588431179523468, + -3.9647278785705566 + ], + [ + 0.06064024940133095, + -0.9918572306632996, + -0.1119912788271904, + -9.862425804138184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1641, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_238470554", + "mask_path": "../../mask/hdr_right_01641.png" + }, + { + "file_path": "../../rgb/hdr_right_01642.png", + "transform_matrix": [ + [ + -0.18778209388256073, + -0.11480329185724258, + 0.9754784107208252, + 70.79397583007812 + ], + [ + -0.9806802868843079, + -0.033504657447338104, + -0.19272664189338684, + -3.9002621173858643 + ], + [ + 0.05480871722102165, + -0.99282306432724, + -0.10629376024007797, + -9.85346508026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1642, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_338468313", + "mask_path": "../../mask/hdr_right_01642.png" + }, + { + "file_path": "../../rgb/hdr_right_01643.png", + "transform_matrix": [ + [ + -0.18574026226997375, + -0.10405974090099335, + 0.9770732522010803, + 70.8183822631836 + ], + [ + -0.9814865589141846, + -0.02765384130179882, + -0.18952444195747375, + -3.831550359725952 + ], + [ + 0.04674169048666954, + -0.994186520576477, + -0.09699681401252747, + -9.855905532836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1643, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_438471078", + "mask_path": "../../mask/hdr_right_01643.png" + }, + { + "file_path": "../../rgb/hdr_right_01644.png", + "transform_matrix": [ + [ + -0.163292795419693, + -0.09073146432638168, + 0.9823967218399048, + 70.83757019042969 + ], + [ + -0.9857324957847595, + -0.026204895228147507, + -0.1662675142288208, + -3.7437779903411865 + ], + [ + 0.04082930088043213, + -0.9955306053161621, + -0.08515787869691849, + -9.863889694213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1644, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_538470029", + "mask_path": "../../mask/hdr_right_01644.png" + }, + { + "file_path": "../../rgb/hdr_right_01645.png", + "transform_matrix": [ + [ + -0.12271353602409363, + -0.08340709656476974, + 0.9889311194419861, + 70.83287811279297 + ], + [ + -0.9916472434997559, + -0.0295683853328228, + -0.12554441392421722, + -3.684662103652954 + ], + [ + 0.039712388068437576, + -0.9960768222808838, + -0.07908197492361069, + -9.874932289123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1645, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_638469934", + "mask_path": "../../mask/hdr_right_01645.png" + }, + { + "file_path": "../../rgb/hdr_right_01647.png", + "transform_matrix": [ + [ + -0.039766523987054825, + -0.07754280418157578, + 0.9961956143379211, + 70.85118103027344 + ], + [ + -0.998676598072052, + -0.029458481818437576, + -0.04215859994292259, + -3.554753065109253 + ], + [ + 0.03261550888419151, + -0.9965537190437317, + -0.07626871764659882, + -9.884003639221191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1647, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_838469505", + "mask_path": "../../mask/hdr_right_01647.png" + }, + { + "file_path": "../../rgb/hdr_right_01648.png", + "transform_matrix": [ + [ + -0.0064598252065479755, + -0.07727083563804626, + 0.9969892501831055, + 70.86089324951172 + ], + [ + -0.9995428323745728, + -0.028950102627277374, + -0.008720138110220432, + -3.494067668914795 + ], + [ + 0.02953675016760826, + -0.9965897798538208, + -0.07704850286245346, + -9.877471923828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1648, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594331_938469171", + "mask_path": "../../mask/hdr_right_01648.png" + }, + { + "file_path": "../../rgb/hdr_right_01649.png", + "transform_matrix": [ + [ + 0.025597846135497093, + -0.07922661304473877, + 0.9965279698371887, + 70.85798645019531 + ], + [ + -0.9993815422058105, + -0.02606933005154133, + 0.023598581552505493, + -3.4447684288024902 + ], + [ + 0.02410917915403843, + -0.996515691280365, + -0.07984493672847748, + -9.878195762634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1649, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_38470029", + "mask_path": "../../mask/hdr_right_01649.png" + }, + { + "file_path": "../../rgb/hdr_right_01650.png", + "transform_matrix": [ + [ + 0.055445630103349686, + -0.07707500457763672, + 0.9954824447631836, + 70.85857391357422 + ], + [ + -0.9983054399490356, + -0.021918559446930885, + 0.053905803710222244, + -3.38417387008667 + ], + [ + 0.017664745450019836, + -0.9967843294143677, + -0.07815968245267868, + -9.878426551818848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1650, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_138470172", + "mask_path": "../../mask/hdr_right_01650.png" + }, + { + "file_path": "../../rgb/hdr_right_01651.png", + "transform_matrix": [ + [ + 0.0860513299703598, + -0.07080413401126862, + 0.9937716722488403, + 70.85980987548828 + ], + [ + -0.9961862564086914, + -0.02056269533932209, + 0.08479535579681396, + -3.3112151622772217 + ], + [ + 0.014430757611989975, + -0.9972783327102661, + -0.07230355590581894, + -9.885831832885742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1651, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_238469600", + "mask_path": "../../mask/hdr_right_01651.png" + }, + { + "file_path": "../../rgb/hdr_right_01652.png", + "transform_matrix": [ + [ + 0.12003407627344131, + -0.06769738346338272, + 0.9904589056968689, + 70.8519287109375 + ], + [ + -0.9926850199699402, + -0.021222127601504326, + 0.11885331571102142, + -3.245723247528076 + ], + [ + 0.012973588891327381, + -0.9974801540374756, + -0.06974954903125763, + -9.892439842224121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1652, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_338469266", + "mask_path": "../../mask/hdr_right_01652.png" + }, + { + "file_path": "../../rgb/hdr_right_01653.png", + "transform_matrix": [ + [ + 0.15409837663173676, + -0.07159348577260971, + 0.9854583740234375, + 70.83805084228516 + ], + [ + -0.9880152940750122, + -0.020170709118247032, + 0.1530327945947647, + -3.182203769683838 + ], + [ + 0.008921240456402302, + -0.9972299337387085, + -0.07384372502565384, + -9.89516830444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1653, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_438471555", + "mask_path": "../../mask/hdr_right_01653.png" + }, + { + "file_path": "../../rgb/hdr_right_01654.png", + "transform_matrix": [ + [ + 0.18614204227924347, + -0.07647956907749176, + 0.9795417785644531, + 70.82527160644531 + ], + [ + -0.9824971556663513, + -0.02169658988714218, + 0.18500962853431702, + -3.111514091491699 + ], + [ + 0.007103258278220892, + -0.9968349933624268, + -0.07917959988117218, + -9.89763069152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1654, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_538470268", + "mask_path": "../../mask/hdr_right_01654.png" + }, + { + "file_path": "../../rgb/hdr_right_01655.png", + "transform_matrix": [ + [ + 0.21196378767490387, + -0.07290329784154892, + 0.9745545387268066, + 70.81697082519531 + ], + [ + -0.9772611856460571, + -0.02156994864344597, + 0.21093888580799103, + -3.0431761741638184 + ], + [ + 0.005642947740852833, + -0.9971057176589966, + -0.07581761479377747, + -9.884958267211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1655, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_638470888", + "mask_path": "../../mask/hdr_right_01655.png" + }, + { + "file_path": "../../rgb/hdr_right_01656.png", + "transform_matrix": [ + [ + 0.23334413766860962, + -0.07533706724643707, + 0.9694714546203613, + 70.7981185913086 + ], + [ + -0.9723907113075256, + -0.015386742539703846, + 0.2328510582447052, + -2.990318536758423 + ], + [ + -0.002625309629365802, + -0.9970394372940063, + -0.07684747129678726, + -9.87625789642334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1656, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_738470554", + "mask_path": "../../mask/hdr_right_01656.png" + }, + { + "file_path": "../../rgb/hdr_right_01657.png", + "transform_matrix": [ + [ + 0.24924741685390472, + -0.07787179201841354, + 0.9653039574623108, + 70.77818298339844 + ], + [ + -0.9683974385261536, + -0.010720142163336277, + 0.2491813600063324, + -2.9239232540130615 + ], + [ + -0.009056007489562035, + -0.9969057440757751, + -0.07808282226324081, + -9.877135276794434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1657, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_838471174", + "mask_path": "../../mask/hdr_right_01657.png" + }, + { + "file_path": "../../rgb/hdr_right_01658.png", + "transform_matrix": [ + [ + 0.26374438405036926, + -0.07206982374191284, + 0.961896538734436, + 70.76225280761719 + ], + [ + -0.9645357131958008, + -0.00886952318251133, + 0.26380348205566406, + -2.8350610733032227 + ], + [ + -0.010480708442628384, + -0.997360110282898, + -0.07185321301221848, + -9.882439613342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1658, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594332_938469171", + "mask_path": "../../mask/hdr_right_01658.png" + }, + { + "file_path": "../../rgb/hdr_right_01659.png", + "transform_matrix": [ + [ + 0.2740062177181244, + -0.06440719962120056, + 0.9595687985420227, + 70.74620056152344 + ], + [ + -0.9616729021072388, + -0.007677762303501368, + 0.2740917205810547, + -2.7694711685180664 + ], + [ + -0.010286142118275166, + -0.9978941679000854, + -0.06404242664575577, + -9.887116432189941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1659, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_38469552", + "mask_path": "../../mask/hdr_right_01659.png" + }, + { + "file_path": "../../rgb/hdr_right_01660.png", + "transform_matrix": [ + [ + 0.2873339056968689, + -0.06063152849674225, + 0.9559095501899719, + 70.72789001464844 + ], + [ + -0.9577455520629883, + -0.0048920465633273125, + 0.28757548332214355, + -2.7170770168304443 + ], + [ + -0.012759787030518055, + -0.9981482028961182, + -0.05947522819042206, + -9.886564254760742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1660, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_138470172", + "mask_path": "../../mask/hdr_right_01660.png" + }, + { + "file_path": "../../rgb/hdr_right_01661.png", + "transform_matrix": [ + [ + 0.29747244715690613, + -0.0609346441924572, + 0.9527839422225952, + 70.70451354980469 + ], + [ + -0.9546703696250916, + -0.007793726399540901, + 0.29756295680999756, + -2.6477954387664795 + ], + [ + -0.01070616114884615, + -0.9981113076210022, + -0.0604909285902977, + -9.890045166015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1661, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_238471269", + "mask_path": "../../mask/hdr_right_01661.png" + }, + { + "file_path": "../../rgb/hdr_right_01662.png", + "transform_matrix": [ + [ + 0.3018389940261841, + -0.05696168914437294, + 0.9516557455062866, + 70.69046783447266 + ], + [ + -0.953334629535675, + -0.010910773649811745, + 0.30171841382980347, + -2.573220729827881 + ], + [ + -0.006803090218454599, + -0.998316764831543, + -0.057596851140260696, + -9.884110450744629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1662, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_338469743", + "mask_path": "../../mask/hdr_right_01662.png" + }, + { + "file_path": "../../rgb/hdr_right_01663.png", + "transform_matrix": [ + [ + 0.3031121790409088, + -0.05997578054666519, + 0.9510657787322998, + 70.67667388916016 + ], + [ + -0.9528772830963135, + -0.006332932505756617, + 0.3032901883125305, + -2.5050764083862305 + ], + [ + -0.012167029082775116, + -0.9981797337532043, + -0.05906914547085762, + -9.871582984924316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1663, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_438470125", + "mask_path": "../../mask/hdr_right_01663.png" + }, + { + "file_path": "../../rgb/hdr_right_01664.png", + "transform_matrix": [ + [ + 0.31031444668769836, + -0.060422081500291824, + 0.9487118721008301, + 70.65533447265625 + ], + [ + -0.9504645466804504, + -0.0008794773020781577, + 0.3108316957950592, + -2.4313082695007324 + ], + [ + -0.017946727573871613, + -0.9981725215911865, + -0.0577019602060318, + -9.870105743408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1664, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_538470029", + "mask_path": "../../mask/hdr_right_01664.png" + }, + { + "file_path": "../../rgb/hdr_right_01665.png", + "transform_matrix": [ + [ + 0.3334096670150757, + -0.054899025708436966, + 0.9411822557449341, + 70.62068939208984 + ], + [ + -0.9425461888313293, + 0.002922080224379897, + 0.33406326174736023, + -2.3315954208374023 + ], + [ + -0.021089958027005196, + -0.998487651348114, + -0.05077061802148819, + -9.870365142822266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1665, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_638469934", + "mask_path": "../../mask/hdr_right_01665.png" + }, + { + "file_path": "../../rgb/hdr_right_01666.png", + "transform_matrix": [ + [ + 0.36814162135124207, + -0.04789913073182106, + 0.9285351037979126, + 70.5849380493164 + ], + [ + -0.9295793175697327, + 0.0012501712189987302, + 0.3686200976371765, + -2.253387689590454 + ], + [ + -0.018817411735653877, + -0.9988514184951782, + -0.04406580701470375, + -9.873527526855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1666, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_738469600", + "mask_path": "../../mask/hdr_right_01666.png" + }, + { + "file_path": "../../rgb/hdr_right_01667.png", + "transform_matrix": [ + [ + 0.39546075463294983, + -0.04728812724351883, + 0.9172648787498474, + 70.55702209472656 + ], + [ + -0.918300986289978, + -0.00047990994062274694, + 0.3958826959133148, + -2.186007499694824 + ], + [ + -0.01828034594655037, + -0.9988811612129211, + -0.04361451789736748, + -9.878753662109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1667, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_838469743", + "mask_path": "../../mask/hdr_right_01667.png" + }, + { + "file_path": "../../rgb/hdr_right_01668.png", + "transform_matrix": [ + [ + 0.4049234688282013, + -0.04719195514917374, + 0.9131319522857666, + 70.5364761352539 + ], + [ + -0.9142034649848938, + -0.0029792231507599354, + 0.4052446484565735, + -2.0930404663085938 + ], + [ + -0.016403865069150925, + -0.9988813996315002, + -0.04434940591454506, + -9.879206657409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1668, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594333_938470125", + "mask_path": "../../mask/hdr_right_01668.png" + }, + { + "file_path": "../../rgb/hdr_right_01669.png", + "transform_matrix": [ + [ + 0.3963167369365692, + -0.0461568608880043, + 0.916952908039093, + 70.52748107910156 + ], + [ + -0.9179831147193909, + -0.003066047327592969, + 0.3966076374053955, + -2.0154519081115723 + ], + [ + -0.01549474522471428, + -0.998929500579834, + -0.04358635097742081, + -9.862330436706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1669, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_38470029", + "mask_path": "../../mask/hdr_right_01669.png" + }, + { + "file_path": "../../rgb/hdr_right_01670.png", + "transform_matrix": [ + [ + 0.3868894577026367, + -0.04722019284963608, + 0.9209163188934326, + 70.50814056396484 + ], + [ + -0.9219735264778137, + -0.0016474206931889057, + 0.3872492015361786, + -1.9531508684158325 + ], + [ + -0.016768846660852432, + -0.9988831877708435, + -0.04417314752936363, + -9.8597412109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1670, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_138469934", + "mask_path": "../../mask/hdr_right_01670.png" + }, + { + "file_path": "../../rgb/hdr_right_01671.png", + "transform_matrix": [ + [ + 0.37893006205558777, + -0.042641572654247284, + 0.9244422912597656, + 70.48883056640625 + ], + [ + -0.9252240657806396, + 0.0033775109332054853, + 0.37940624356269836, + -1.8705376386642456 + ], + [ + -0.01930079609155655, + -0.9990847706794739, + -0.03817317262291908, + -9.860773086547852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1671, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_238469839", + "mask_path": "../../mask/hdr_right_01671.png" + }, + { + "file_path": "../../rgb/hdr_right_01672.png", + "transform_matrix": [ + [ + 0.37919580936431885, + -0.03835275024175644, + 0.9245214462280273, + 70.46064758300781 + ], + [ + -0.9251419901847839, + 0.0036892390344291925, + 0.37960338592529297, + -1.7734901905059814 + ], + [ + -0.017969613894820213, + -0.9992574453353882, + -0.034082796424627304, + -9.865175247192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1672, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_338468313", + "mask_path": "../../mask/hdr_right_01672.png" + }, + { + "file_path": "../../rgb/hdr_right_01673.png", + "transform_matrix": [ + [ + 0.38053256273269653, + -0.03548775240778923, + 0.9240863919258118, + 70.43566131591797 + ], + [ + -0.9246078133583069, + 0.0039712185971438885, + 0.3808997869491577, + -1.7038391828536987 + ], + [ + -0.017187025398015976, + -0.9993621706962585, + -0.03130107372999191, + -9.870627403259277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1673, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_438470363", + "mask_path": "../../mask/hdr_right_01673.png" + }, + { + "file_path": "../../rgb/hdr_right_01674.png", + "transform_matrix": [ + [ + 0.37996816635131836, + -0.034901756793260574, + 0.9243409037590027, + 70.41322326660156 + ], + [ + -0.9248799085617065, + 0.0017353756120428443, + 0.38025522232055664, + -1.6220879554748535 + ], + [ + -0.014875654131174088, + -0.9993892908096313, + -0.03162054717540741, + -9.871552467346191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1674, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_538469552", + "mask_path": "../../mask/hdr_right_01674.png" + }, + { + "file_path": "../../rgb/hdr_right_01675.png", + "transform_matrix": [ + [ + 0.37388208508491516, + -0.03277266398072243, + 0.9268969893455505, + 70.39765167236328 + ], + [ + -0.9274328947067261, + -0.0035509776789695024, + 0.37397271394729614, + -1.5397846698760986 + ], + [ + -0.008964692242443562, + -0.999456524848938, + -0.03172209858894348, + -9.8662748336792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1675, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_638470411", + "mask_path": "../../mask/hdr_right_01675.png" + }, + { + "file_path": "../../rgb/hdr_right_01676.png", + "transform_matrix": [ + [ + 0.3648833632469177, + -0.03451076149940491, + 0.9304134845733643, + 70.38443756103516 + ], + [ + -0.9309965372085571, + -0.002495642052963376, + 0.3650195002555847, + -1.4605008363723755 + ], + [ + -0.01027512177824974, + -0.9994012117385864, + -0.03304002061486244, + -9.852399826049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1676, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_738470554", + "mask_path": "../../mask/hdr_right_01676.png" + }, + { + "file_path": "../../rgb/hdr_right_01677.png", + "transform_matrix": [ + [ + 0.35566791892051697, + -0.03359302878379822, + 0.9340085387229919, + 70.3683090209961 + ], + [ + -0.9345288872718811, + 0.0005692439735867083, + 0.3558866083621979, + -1.380812168121338 + ], + [ + -0.012486988678574562, + -0.9994354248046875, + -0.031191198155283928, + -9.852766036987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1677, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_838469982", + "mask_path": "../../mask/hdr_right_01677.png" + }, + { + "file_path": "../../rgb/hdr_right_01678.png", + "transform_matrix": [ + [ + 0.3491140305995941, + -0.02897435612976551, + 0.9366322159767151, + 70.34317779541016 + ], + [ + -0.9370023608207703, + 0.002089440356940031, + 0.34931665658950806, + -1.276970624923706 + ], + [ + -0.012078262865543365, + -0.9995779991149902, + -0.026419589295983315, + -9.854612350463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1678, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594334_938470125", + "mask_path": "../../mask/hdr_right_01678.png" + }, + { + "file_path": "../../rgb/hdr_right_01679.png", + "transform_matrix": [ + [ + 0.3502596616744995, + -0.018012316897511482, + 0.9364795088768005, + 70.32320404052734 + ], + [ + -0.9366413950920105, + -0.0018373352941125631, + 0.3502849042415619, + -1.189089059829712 + ], + [ + -0.004588815849274397, + -0.9998360872268677, + -0.017514627426862717, + -9.864322662353516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_38469791", + "mask_path": "../../mask/hdr_right_01679.png" + }, + { + "file_path": "../../rgb/hdr_right_01680.png", + "transform_matrix": [ + [ + 0.35043033957481384, + -0.012958967126905918, + 0.9364992380142212, + 70.30978393554688 + ], + [ + -0.936575174331665, + 0.0005625252961181104, + 0.3504665195941925, + -1.111931324005127 + ], + [ + -0.005068488884717226, + -0.9999158382415771, + -0.011939922347664833, + -9.869537353515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1680, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_138469696", + "mask_path": "../../mask/hdr_right_01680.png" + }, + { + "file_path": "../../rgb/hdr_right_01681.png", + "transform_matrix": [ + [ + 0.34675276279449463, + -0.013366008177399635, + 0.9378613829612732, + 70.29283142089844 + ], + [ + -0.937944233417511, + 0.00018572549743112177, + 0.3467860519886017, + -1.0081861019134521 + ], + [ + -0.0048093306832015514, + -0.9999106526374817, + -0.01247217133641243, + -9.866021156311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1681, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_238470554", + "mask_path": "../../mask/hdr_right_01681.png" + }, + { + "file_path": "../../rgb/hdr_right_01682.png", + "transform_matrix": [ + [ + 0.3328774869441986, + -0.016134710982441902, + 0.9428321123123169, + 70.28740692138672 + ], + [ + -0.942969560623169, + -0.004630271345376968, + 0.3328467607498169, + -0.9090362191200256 + ], + [ + -0.0010048182448372245, + -0.999859094619751, + -0.016755856573581696, + -9.85281753540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1682, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_338470220", + "mask_path": "../../mask/hdr_right_01682.png" + }, + { + "file_path": "../../rgb/hdr_right_01683.png", + "transform_matrix": [ + [ + 0.3174845576286316, + -0.02256549708545208, + 0.9479950070381165, + 70.27618408203125 + ], + [ + -0.9482444524765015, + -0.0012350765755400062, + 0.31753870844841003, + -0.8340309262275696 + ], + [ + -0.005994572304189205, + -0.9997446537017822, + -0.021789727732539177, + -9.846209526062012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1683, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_438470363", + "mask_path": "../../mask/hdr_right_01683.png" + }, + { + "file_path": "../../rgb/hdr_right_01684.png", + "transform_matrix": [ + [ + 0.3051770329475403, + -0.023180527612566948, + 0.9520134925842285, + 70.25836944580078 + ], + [ + -0.9522215723991394, + 0.005042226519435644, + 0.30536651611328125, + -0.7449803948402405 + ], + [ + -0.01187882386147976, + -0.9997186064720154, + -0.020534226670861244, + -9.845635414123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1684, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_538470268", + "mask_path": "../../mask/hdr_right_01684.png" + }, + { + "file_path": "../../rgb/hdr_right_01685.png", + "transform_matrix": [ + [ + 0.3027108311653137, + -0.020401954650878906, + 0.9528641104698181, + 70.23506927490234 + ], + [ + -0.9529598951339722, + 0.009554881602525711, + 0.3029458522796631, + -0.6469155550003052 + ], + [ + -0.0152851901948452, + -0.9997462034225464, + -0.01654987782239914, + -9.84679889678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1685, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_638469696", + "mask_path": "../../mask/hdr_right_01685.png" + }, + { + "file_path": "../../rgb/hdr_right_01686.png", + "transform_matrix": [ + [ + 0.30813947319984436, + -0.017166513949632645, + 0.9511862993240356, + 70.21808624267578 + ], + [ + -0.951237678527832, + 0.009188910014927387, + 0.30832192301750183, + -0.567099928855896 + ], + [ + -0.014033179730176926, + -0.9998104572296143, + -0.013497970998287201, + -9.852385520935059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1686, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_738469123", + "mask_path": "../../mask/hdr_right_01686.png" + }, + { + "file_path": "../../rgb/hdr_right_01687.png", + "transform_matrix": [ + [ + 0.3117796778678894, + -0.019499124959111214, + 0.9499543905258179, + 70.20413208007812 + ], + [ + -0.9500660300254822, + 0.007233597803860903, + 0.31196483969688416, + -0.4858972728252411 + ], + [ + -0.012954629957675934, + -0.9997836947441101, + -0.016270171850919724, + -9.85704517364502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1687, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_838470935", + "mask_path": "../../mask/hdr_right_01687.png" + }, + { + "file_path": "../../rgb/hdr_right_01688.png", + "transform_matrix": [ + [ + 0.30699217319488525, + -0.02259741723537445, + 0.9514436721801758, + 70.20088958740234 + ], + [ + -0.9516929984092712, + -0.0009578588069416583, + 0.30704984068870544, + -0.39061611890792847 + ], + [ + -0.00602718535810709, + -0.999744176864624, + -0.021799860522150993, + -9.852030754089355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1688, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594335_938469886", + "mask_path": "../../mask/hdr_right_01688.png" + }, + { + "file_path": "../../rgb/hdr_right_01689.png", + "transform_matrix": [ + [ + 0.2940291166305542, + -0.022739510983228683, + 0.9555259346961975, + 70.19385528564453 + ], + [ + -0.9557843804359436, + -0.001958604669198394, + 0.2940619885921478, + -0.30822768807411194 + ], + [ + -0.00481532933190465, + -0.9997395277023315, + -0.022309957072138786, + -9.840106010437012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1689, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_38469314", + "mask_path": "../../mask/hdr_right_01689.png" + }, + { + "file_path": "../../rgb/hdr_right_01690.png", + "transform_matrix": [ + [ + 0.2824626564979553, + -0.024885373190045357, + 0.9589555263519287, + 70.18196868896484 + ], + [ + -0.9592457413673401, + 0.0009184001828543842, + 0.2825719714164734, + -0.23322612047195435 + ], + [ + -0.007912613451480865, + -0.9996899366378784, + -0.023611774668097496, + -9.837114334106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1690, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_138469696", + "mask_path": "../../mask/hdr_right_01690.png" + }, + { + "file_path": "../../rgb/hdr_right_01691.png", + "transform_matrix": [ + [ + 0.2747945189476013, + -0.022868461906909943, + 0.9612310528755188, + 70.17108917236328 + ], + [ + -0.9614485502243042, + 0.004109665285795927, + 0.2749544382095337, + -0.13392475247383118 + ], + [ + -0.010238123126327991, + -0.9997300505638123, + -0.020857535302639008, + -9.837762832641602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1691, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_238470077", + "mask_path": "../../mask/hdr_right_01691.png" + }, + { + "file_path": "../../rgb/hdr_right_01692.png", + "transform_matrix": [ + [ + 0.2778218686580658, + -0.015721984207630157, + 0.9605039358139038, + 70.15697479248047 + ], + [ + -0.9606128334999084, + 0.001866206876002252, + 0.2778838872909546, + -0.037810564041137695 + ], + [ + -0.006161387078464031, + -0.9998747110366821, + -0.014584273099899292, + -9.843034744262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1692, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_338469266", + "mask_path": "../../mask/hdr_right_01692.png" + }, + { + "file_path": "../../rgb/hdr_right_01693.png", + "transform_matrix": [ + [ + 0.2801664471626282, + -0.012999732978641987, + 0.9598634243011475, + 70.14485931396484 + ], + [ + -0.9599348902702332, + 0.0020849243737757206, + 0.2802155315876007, + 0.04243580996990204 + ], + [ + -0.005643969401717186, + -0.9999132752418518, + -0.0118947708979249, + -9.850229263305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1693, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_438469886", + "mask_path": "../../mask/hdr_right_01693.png" + }, + { + "file_path": "../../rgb/hdr_right_01694.png", + "transform_matrix": [ + [ + 0.278985857963562, + -0.016223013401031494, + 0.9601582288742065, + 70.1290283203125 + ], + [ + -0.9602888226509094, + -0.001074638799764216, + 0.27900561690330505, + 0.13013967871665955 + ], + [ + -0.003494488773867488, + -0.9998677968978882, + -0.0158785879611969, + -9.850131034851074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1694, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_538467645", + "mask_path": "../../mask/hdr_right_01694.png" + }, + { + "file_path": "../../rgb/hdr_right_01695.png", + "transform_matrix": [ + [ + 0.2680627703666687, + -0.01830214262008667, + 0.9632276892662048, + 70.12156677246094 + ], + [ + -0.9633946418762207, + -0.00884403008967638, + 0.2679412066936493, + 0.21464230120182037 + ], + [ + 0.0036149155348539352, + -0.9997933506965637, + -0.0200029443949461, + -9.84567642211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1695, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_638469696", + "mask_path": "../../mask/hdr_right_01695.png" + }, + { + "file_path": "../../rgb/hdr_right_01696.png", + "transform_matrix": [ + [ + 0.25284308195114136, + -0.02327001467347145, + 0.9672274589538574, + 70.1210708618164 + ], + [ + -0.9675071835517883, + -0.005556835792958736, + 0.2527824938297272, + 0.2979606091976166 + ], + [ + -0.0005075294757261872, + -0.9997138381004333, + -0.023918915539979935, + -9.839652061462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1696, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_738470554", + "mask_path": "../../mask/hdr_right_01696.png" + }, + { + "file_path": "../../rgb/hdr_right_01697.png", + "transform_matrix": [ + [ + 0.24005435407161713, + -0.02259610965847969, + 0.9704964756965637, + 70.11307525634766 + ], + [ + -0.9707525372505188, + -0.0018198497127741575, + 0.24007532000541687, + 0.39297544956207275 + ], + [ + -0.003658611560240388, + -0.9997429847717285, + -0.02237209677696228, + -9.839608192443848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_838469982", + "mask_path": "../../mask/hdr_right_01697.png" + }, + { + "file_path": "../../rgb/hdr_right_01698.png", + "transform_matrix": [ + [ + 0.23509488999843597, + -0.014777785167098045, + 0.9718601703643799, + 70.09503173828125 + ], + [ + -0.9719724059104919, + -0.003921902272850275, + 0.2350624054670334, + 0.4961213171482086 + ], + [ + 0.0003378387482371181, + -0.9998831152915955, + -0.015285620465874672, + -9.840402603149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1698, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594336_938469886", + "mask_path": "../../mask/hdr_right_01698.png" + }, + { + "file_path": "../../rgb/hdr_right_01699.png", + "transform_matrix": [ + [ + 0.23839935660362244, + -0.007420605514198542, + 0.9711388349533081, + 70.07953643798828 + ], + [ + -0.9711571931838989, + -0.006371042691171169, + 0.23835517466068268, + 0.5823764801025391 + ], + [ + 0.004418428521603346, + -0.9999521970748901, + -0.008725427091121674, + -9.848237037658691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1699, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_38468122", + "mask_path": "../../mask/hdr_right_01699.png" + }, + { + "file_path": "../../rgb/hdr_right_01700.png", + "transform_matrix": [ + [ + 0.23758096992969513, + -0.0075139617547392845, + 0.97133868932724, + 70.07774353027344 + ], + [ + -0.9713606834411621, + -0.005660438444465399, + 0.2375425547361374, + 0.6656643748283386 + ], + [ + 0.0037133172154426575, + -0.9999557733535767, + -0.00864358153194189, + -9.850325584411621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1700, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_138468027", + "mask_path": "../../mask/hdr_right_01700.png" + }, + { + "file_path": "../../rgb/hdr_right_01701.png", + "transform_matrix": [ + [ + 0.23043182492256165, + -0.014339608140289783, + 0.9729828238487244, + 70.08303833007812 + ], + [ + -0.97307288646698, + -0.009056023322045803, + 0.23031967878341675, + 0.7519170045852661 + ], + [ + 0.0055086612701416016, + -0.999856173992157, + -0.01604028046131134, + -9.850196838378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1701, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_238469362", + "mask_path": "../../mask/hdr_right_01701.png" + }, + { + "file_path": "../../rgb/hdr_right_01702.png", + "transform_matrix": [ + [ + 0.21745766699314117, + -0.015932247042655945, + 0.9759397506713867, + 70.08975219726562 + ], + [ + -0.9760512709617615, + -0.009705914184451103, + 0.21732406318187714, + 0.83088219165802 + ], + [ + 0.0060099270194768906, + -0.9998259544372559, + -0.01766131818294525, + -9.838888168334961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1702, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_338469743", + "mask_path": "../../mask/hdr_right_01702.png" + }, + { + "file_path": "../../rgb/hdr_right_01703.png", + "transform_matrix": [ + [ + 0.20468804240226746, + -0.016838010400533676, + 0.9786823987960815, + 70.0877456665039 + ], + [ + -0.9788264632225037, + -0.004825741983950138, + 0.2046351432800293, + 0.9026884436607361 + ], + [ + 0.001277219969779253, + -0.9998465776443481, + -0.017469262704253197, + -9.833852767944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1703, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_438469409", + "mask_path": "../../mask/hdr_right_01703.png" + }, + { + "file_path": "../../rgb/hdr_right_01704.png", + "transform_matrix": [ + [ + 0.19625359773635864, + -0.012815720401704311, + 0.9804694056510925, + 70.0844955444336 + ], + [ + -0.9805514812469482, + -0.0006683708052150905, + 0.19626127183437347, + 0.99805748462677 + ], + [ + -0.0018599122995510697, + -0.9999175667762756, + -0.012697643600404263, + -9.8397216796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1704, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_538470029", + "mask_path": "../../mask/hdr_right_01704.png" + }, + { + "file_path": "../../rgb/hdr_right_01705.png", + "transform_matrix": [ + [ + 0.2016838788986206, + -0.007004117593169212, + 0.9794256687164307, + 70.07968139648438 + ], + [ + -0.9794498085975647, + -0.002808094024658203, + 0.20166875422000885, + 1.0920002460479736 + ], + [ + 0.001337807858362794, + -0.9999715089797974, + -0.007426530122756958, + -9.845477104187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1705, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_638469219", + "mask_path": "../../mask/hdr_right_01705.png" + }, + { + "file_path": "../../rgb/hdr_right_01706.png", + "transform_matrix": [ + [ + 0.21488654613494873, + -0.004951490554958582, + 0.9766265153884888, + 70.06796264648438 + ], + [ + -0.9766362905502319, + 0.0012755958596244454, + 0.2148951292037964, + 1.1744861602783203 + ], + [ + -0.0023098322562873363, + -0.9999868869781494, + -0.004561697598546743, + -9.84919548034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1706, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_738470315", + "mask_path": "../../mask/hdr_right_01706.png" + }, + { + "file_path": "../../rgb/hdr_right_01707.png", + "transform_matrix": [ + [ + 0.2301209717988968, + -0.008052926510572433, + 0.9731287360191345, + 70.05842590332031 + ], + [ + -0.9731512665748596, + 0.0027810942847281694, + 0.23014932870864868, + 1.26419997215271 + ], + [ + -0.004559739027172327, + -0.9999637007713318, + -0.007196730002760887, + -9.847838401794434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1707, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_838469982", + "mask_path": "../../mask/hdr_right_01707.png" + }, + { + "file_path": "../../rgb/hdr_right_01708.png", + "transform_matrix": [ + [ + 0.23976926505565643, + -0.009900500066578388, + 0.9707794189453125, + 70.05535125732422 + ], + [ + -0.9708298444747925, + -0.0022220544051378965, + 0.23975905776023865, + 1.3493692874908447 + ], + [ + -0.00021661022037733346, + -0.9999485015869141, + -0.010144483298063278, + -9.836820602416992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1708, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594337_938471317", + "mask_path": "../../mask/hdr_right_01708.png" + }, + { + "file_path": "../../rgb/hdr_right_01709.png", + "transform_matrix": [ + [ + 0.25358039140701294, + -0.017792871221899986, + 0.9671505689620972, + 70.042724609375 + ], + [ + -0.9672861099243164, + 0.00297988741658628, + 0.25367069244384766, + 1.4180251359939575 + ], + [ + -0.0073955305851995945, + -0.9998372197151184, + -0.016455158591270447, + -9.830927848815918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1709, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_38470268", + "mask_path": "../../mask/hdr_right_01709.png" + }, + { + "file_path": "../../rgb/hdr_right_01710.png", + "transform_matrix": [ + [ + 0.272161066532135, + -0.02471209689974785, + 0.9619343876838684, + 70.02210998535156 + ], + [ + -0.9621482491493225, + 0.007672230713069439, + 0.27241867780685425, + 1.4998672008514404 + ], + [ + -0.014112219214439392, + -0.9996652007102966, + -0.021688619628548622, + -9.832513809204102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1710, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_138470649", + "mask_path": "../../mask/hdr_right_01710.png" + }, + { + "file_path": "../../rgb/hdr_right_01711.png", + "transform_matrix": [ + [ + 0.3009567856788635, + -0.02410028874874115, + 0.9533331990242004, + 69.99845123291016 + ], + [ + -0.9535201191902161, + 0.008099223487079144, + 0.30122053623199463, + 1.5960569381713867 + ], + [ + -0.014980760402977467, + -0.9996767640113831, + -0.020542597398161888, + -9.837063789367676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1711, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_238469839", + "mask_path": "../../mask/hdr_right_01711.png" + }, + { + "file_path": "../../rgb/hdr_right_01712.png", + "transform_matrix": [ + [ + 0.33679303526878357, + -0.018423493951559067, + 0.9413985013961792, + 69.97241973876953 + ], + [ + -0.9414595365524292, + 0.009321480989456177, + 0.33699724078178406, + 1.6677026748657227 + ], + [ + -0.014983894303441048, + -0.9997867941856384, + -0.014205565676093102, + -9.839981079101562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1712, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_338473558", + "mask_path": "../../mask/hdr_right_01712.png" + }, + { + "file_path": "../../rgb/hdr_right_01713.png", + "transform_matrix": [ + [ + 0.3700445294380188, + -0.022329062223434448, + 0.9287455677986145, + 69.94391632080078 + ], + [ + -0.9288761615753174, + 0.008327226154506207, + 0.37029674649238586, + 1.7413957118988037 + ], + [ + -0.01600225456058979, + -0.9997159838676453, + -0.017659492790699005, + -9.841815948486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1713, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_438469886", + "mask_path": "../../mask/hdr_right_01713.png" + }, + { + "file_path": "../../rgb/hdr_right_01714.png", + "transform_matrix": [ + [ + 0.38885682821273804, + -0.028459375724196434, + 0.9208585619926453, + 69.92460632324219 + ], + [ + -0.9212085008621216, + 0.001934058964252472, + 0.38906440138816833, + 1.8285380601882935 + ], + [ + -0.012853525578975677, + -0.9995930790901184, + -0.025464950129389763, + -9.838726997375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1714, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_538470029", + "mask_path": "../../mask/hdr_right_01714.png" + }, + { + "file_path": "../../rgb/hdr_right_01715.png", + "transform_matrix": [ + [ + 0.3786510229110718, + -0.031694792211055756, + 0.9249967336654663, + 69.92002868652344 + ], + [ + -0.925432562828064, + 0.002228749915957451, + 0.3789058029651642, + 1.9006669521331787 + ], + [ + -0.014070926234126091, + -0.9994950890541077, + -0.028487475588917732, + -9.829235076904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1715, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_638470172", + "mask_path": "../../mask/hdr_right_01715.png" + }, + { + "file_path": "../../rgb/hdr_right_01716.png", + "transform_matrix": [ + [ + 0.3630158305168152, + -0.035052452236413956, + 0.9311234951019287, + 69.9072265625 + ], + [ + -0.9316282272338867, + 0.004554654937237501, + 0.3633841276168823, + 1.978765606880188 + ], + [ + -0.016978450119495392, + -0.99937504529953, + -0.03100244514644146, + -9.82316780090332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1716, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_738471269", + "mask_path": "../../mask/hdr_right_01716.png" + }, + { + "file_path": "../../rgb/hdr_right_01717.png", + "transform_matrix": [ + [ + 0.3519187271595001, + -0.031879011541604996, + 0.9354875683784485, + 69.8847427368164 + ], + [ + -0.9358633160591125, + 0.0069050258025527, + 0.3522953987121582, + 2.0806899070739746 + ], + [ + -0.017690395936369896, + -0.9994678497314453, + -0.02740439586341381, + -9.824484825134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1717, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_838469505", + "mask_path": "../../mask/hdr_right_01717.png" + }, + { + "file_path": "../../rgb/hdr_right_01718.png", + "transform_matrix": [ + [ + 0.3548029959201813, + -0.029441148042678833, + 0.9344775080680847, + 69.85872650146484 + ], + [ + -0.9348195195198059, + 0.0049440604634583, + 0.35508865118026733, + 2.1752636432647705 + ], + [ + -0.015074331313371658, + -0.9995542764663696, + -0.025767996907234192, + -9.833786010742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1718, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594338_938470125", + "mask_path": "../../mask/hdr_right_01718.png" + }, + { + "file_path": "../../rgb/hdr_right_01719.png", + "transform_matrix": [ + [ + 0.3572927415370941, + -0.027037018910050392, + 0.9336010217666626, + 69.8353271484375 + ], + [ + -0.9338590502738953, + 0.006551099009811878, + 0.357581228017807, + 2.249269723892212 + ], + [ + -0.015784045681357384, + -0.9996129870414734, + -0.022908110171556473, + -9.839345932006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1719, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_38470029", + "mask_path": "../../mask/hdr_right_01719.png" + }, + { + "file_path": "../../rgb/hdr_right_01720.png", + "transform_matrix": [ + [ + 0.35552462935447693, + -0.02846483327448368, + 0.9342334270477295, + 69.81575775146484 + ], + [ + -0.9345586895942688, + 0.004383716266602278, + 0.35578200221061707, + 2.339129686355591 + ], + [ + -0.014222689904272556, + -0.9995851516723633, + -0.025043541565537453, + -9.841031074523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1720, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_138470888", + "mask_path": "../../mask/hdr_right_01720.png" + }, + { + "file_path": "../../rgb/hdr_right_01721.png", + "transform_matrix": [ + [ + 0.3435332775115967, + -0.028581034392118454, + 0.938705563545227, + 69.80485534667969 + ], + [ + -0.9391090273857117, + -0.0022557000629603863, + 0.3436122536659241, + 2.428988218307495 + ], + [ + -0.007703355047851801, + -0.9995888471603394, + -0.027615614235401154, + -9.827078819274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1721, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_238470077", + "mask_path": "../../mask/hdr_right_01721.png" + }, + { + "file_path": "../../rgb/hdr_right_01722.png", + "transform_matrix": [ + [ + 0.32945290207862854, + -0.0340699702501297, + 0.9435571432113647, + 69.79218292236328 + ], + [ + -0.944101095199585, + 0.0003632767766248435, + 0.3296559154987335, + 2.510200023651123 + ], + [ + -0.011574139818549156, + -0.9994193911552429, + -0.03204581141471863, + -9.81972885131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1722, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_338471651", + "mask_path": "../../mask/hdr_right_01722.png" + }, + { + "file_path": "../../rgb/hdr_right_01723.png", + "transform_matrix": [ + [ + 0.31997284293174744, + -0.03021562471985817, + 0.9469448328018188, + 69.77223205566406 + ], + [ + -0.9473159313201904, + 0.00508379191160202, + 0.3202604055404663, + 2.6160449981689453 + ], + [ + -0.014490940608084202, + -0.9995304942131042, + -0.026997068896889687, + -9.824467658996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1723, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_438470840", + "mask_path": "../../mask/hdr_right_01723.png" + }, + { + "file_path": "../../rgb/hdr_right_01724.png", + "transform_matrix": [ + [ + 0.32381707429885864, + -0.021541597321629524, + 0.9458743929862976, + 69.74679565429688 + ], + [ + -0.9460694193840027, + 0.0029351208359003067, + 0.3239506483078003, + 2.7203481197357178 + ], + [ + -0.009754670783877373, + -0.9997636675834656, + -0.0194294061511755, + -9.835532188415527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1724, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_538470029", + "mask_path": "../../mask/hdr_right_01724.png" + }, + { + "file_path": "../../rgb/hdr_right_01725.png", + "transform_matrix": [ + [ + 0.32862788438796997, + -0.01714821718633175, + 0.9443038105964661, + 69.7258529663086 + ], + [ + -0.9443833827972412, + 0.006724538281559944, + 0.3287777006626129, + 2.8022069931030273 + ], + [ + -0.011987959034740925, + -0.9998303055763245, + -0.013984622433781624, + -9.83927059173584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1725, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_638470649", + "mask_path": "../../mask/hdr_right_01725.png" + }, + { + "file_path": "../../rgb/hdr_right_01726.png", + "transform_matrix": [ + [ + 0.3283877968788147, + -0.017356842756271362, + 0.9443835616111755, + 69.7125473022461 + ], + [ + -0.9444584846496582, + 0.00734175369143486, + 0.3285488188266754, + 2.8952834606170654 + ], + [ + -0.012636001221835613, + -0.9998223781585693, + -0.013981874100863934, + -9.835347175598145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1726, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_738471508", + "mask_path": "../../mask/hdr_right_01726.png" + }, + { + "file_path": "../../rgb/hdr_right_01727.png", + "transform_matrix": [ + [ + 0.31864628195762634, + -0.016990086063742638, + 0.9477214217185974, + 69.70512390136719 + ], + [ + -0.9478590488433838, + -0.00016562263772357255, + 0.31868961453437805, + 2.9825124740600586 + ], + [ + -0.005257599987089634, + -0.999855637550354, + -0.016156984493136406, + -9.82517147064209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1727, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_838469266", + "mask_path": "../../mask/hdr_right_01727.png" + }, + { + "file_path": "../../rgb/hdr_right_01728.png", + "transform_matrix": [ + [ + 0.3070388436317444, + -0.020736007019877434, + 0.9514710903167725, + 69.69892883300781 + ], + [ + -0.9516496062278748, + 0.003290576161816716, + 0.3071680963039398, + 3.059279441833496 + ], + [ + -0.00950032938271761, + -0.9997795820236206, + -0.018723079934716225, + -9.816672325134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1728, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594339_938469409", + "mask_path": "../../mask/hdr_right_01728.png" + }, + { + "file_path": "../../rgb/hdr_right_01729.png", + "transform_matrix": [ + [ + 0.2981593906879425, + -0.01772157847881317, + 0.9543516039848328, + 69.69086456298828 + ], + [ + -0.9544438719749451, + 0.006769637577235699, + 0.2983139157295227, + 3.1445584297180176 + ], + [ + -0.01174720749258995, + -0.9998199939727783, + -0.014895821921527386, + -9.816886901855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1729, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_38470745", + "mask_path": "../../mask/hdr_right_01729.png" + }, + { + "file_path": "../../rgb/hdr_right_01730.png", + "transform_matrix": [ + [ + 0.2956250011920929, + -0.006724976934492588, + 0.9552804827690125, + 69.68023681640625 + ], + [ + -0.9552984237670898, + 0.0013554111355915666, + 0.29564008116722107, + 3.2420687675476074 + ], + [ + -0.003282970516011119, + -0.9999764561653137, + -0.006023667752742767, + -9.823583602905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1730, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_138468980", + "mask_path": "../../mask/hdr_right_01730.png" + }, + { + "file_path": "../../rgb/hdr_right_01731.png", + "transform_matrix": [ + [ + 0.2976277768611908, + 0.0036587021313607693, + 0.954675018787384, + 69.6686019897461 + ], + [ + -0.9546781778335571, + -0.0016800683224573731, + 0.29763516783714294, + 3.3288087844848633 + ], + [ + 0.002692877547815442, + -0.9999918937683105, + 0.0029928479343652725, + -9.832357406616211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1731, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_238470077", + "mask_path": "../../mask/hdr_right_01731.png" + }, + { + "file_path": "../../rgb/hdr_right_01732.png", + "transform_matrix": [ + [ + 0.29758310317993164, + 0.006986364256590605, + 0.9546704292297363, + 69.6578598022461 + ], + [ + -0.9546893239021301, + -0.0015579257160425186, + 0.2976003587245941, + 3.419050931930542 + ], + [ + 0.003566450672224164, + -0.9999743700027466, + 0.00620619673281908, + -9.832469940185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1732, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_338469505", + "mask_path": "../../mask/hdr_right_01732.png" + }, + { + "file_path": "../../rgb/hdr_right_01733.png", + "transform_matrix": [ + [ + 0.29142823815345764, + 0.004424321930855513, + 0.9565824866294861, + 69.65196990966797 + ], + [ + -0.9565639495849609, + -0.006410541012883186, + 0.29145222902297974, + 3.5220139026641846 + ], + [ + 0.007421689108014107, + -0.9999696612358093, + 0.002363933250308037, + -9.828081130981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1733, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_438470363", + "mask_path": "../../mask/hdr_right_01733.png" + }, + { + "file_path": "../../rgb/hdr_right_01734.png", + "transform_matrix": [ + [ + 0.2786705791950226, + -0.0006494656554423273, + 0.9603866338729858, + 69.64399719238281 + ], + [ + -0.9603666067123413, + -0.00667088758200407, + 0.27866029739379883, + 3.6125097274780273 + ], + [ + 0.0062256501987576485, + -0.9999775290489197, + -0.0024827062152326107, + -9.820510864257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1734, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_538470268", + "mask_path": "../../mask/hdr_right_01734.png" + }, + { + "file_path": "../../rgb/hdr_right_01735.png", + "transform_matrix": [ + [ + 0.26787829399108887, + -0.006020601838827133, + 0.9634340405464172, + 69.62932586669922 + ], + [ + -0.9634518027305603, + -0.003075430868193507, + 0.26786404848098755, + 3.7062182426452637 + ], + [ + 0.001350271631963551, + -0.9999771118164062, + -0.006624402478337288, + -9.820966720581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1735, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_638470172", + "mask_path": "../../mask/hdr_right_01735.png" + }, + { + "file_path": "../../rgb/hdr_right_01736.png", + "transform_matrix": [ + [ + 0.2654517590999603, + -0.0027155594434589148, + 0.9641203284263611, + 69.61042785644531 + ], + [ + -0.9641228318214417, + 0.0009137183078564703, + 0.2654549777507782, + 3.8194966316223145 + ], + [ + -0.0016017935704439878, + -0.9999958872795105, + -0.0023755861911922693, + -9.822030067443848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1736, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_738469839", + "mask_path": "../../mask/hdr_right_01736.png" + }, + { + "file_path": "../../rgb/hdr_right_01737.png", + "transform_matrix": [ + [ + 0.27385571599006653, + 0.0025050677359104156, + 0.9617674946784973, + 69.59127044677734 + ], + [ + -0.961767315864563, + 0.003427305957302451, + 0.27384671568870544, + 3.9186296463012695 + ], + [ + -0.0026102671399712563, + -0.9999909996986389, + 0.0033478790428489447, + -9.825165748596191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1737, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_838470220", + "mask_path": "../../mask/hdr_right_01737.png" + }, + { + "file_path": "../../rgb/hdr_right_01738.png", + "transform_matrix": [ + [ + 0.27857840061187744, + 0.0019556160550564528, + 0.9604114890098572, + 69.57789611816406 + ], + [ + -0.9604051113128662, + 0.004744932055473328, + 0.2785668969154358, + 4.00740385055542 + ], + [ + -0.0040123178623616695, + -0.9999868869781494, + 0.00320001901127398, + -9.826395034790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1738, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594340_938469409", + "mask_path": "../../mask/hdr_right_01738.png" + }, + { + "file_path": "../../rgb/hdr_right_01739.png", + "transform_matrix": [ + [ + 0.27279743552207947, + -0.001017233356833458, + 0.9620710015296936, + 69.57151794433594 + ], + [ + -0.9620714783668518, + -0.00043492636177688837, + 0.2727971076965332, + 4.1048903465271 + ], + [ + 0.00014093072968535125, + -0.9999994039535522, + -0.0010973004391416907, + -9.820590019226074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1739, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_38469552", + "mask_path": "../../mask/hdr_right_01739.png" + }, + { + "file_path": "../../rgb/hdr_right_01740.png", + "transform_matrix": [ + [ + 0.25680065155029297, + -0.0026989670004695654, + 0.966460645198822, + 69.56619262695312 + ], + [ + -0.9664623141288757, + 0.001400910085067153, + 0.2568049728870392, + 4.189429759979248 + ], + [ + -0.0020470325835049152, + -0.9999954104423523, + -0.002248696517199278, + -9.808500289916992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1740, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_138471364", + "mask_path": "../../mask/hdr_right_01740.png" + }, + { + "file_path": "../../rgb/hdr_right_01741.png", + "transform_matrix": [ + [ + 0.2451642006635666, + -0.0049302722327411175, + 0.9694690704345703, + 69.5561294555664 + ], + [ + -0.9694710373878479, + 0.0034171966835856438, + 0.2451820820569992, + 4.271964073181152 + ], + [ + -0.0045216805301606655, + -0.9999819397926331, + -0.003941982518881559, + -9.80674934387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1741, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_238470077", + "mask_path": "../../mask/hdr_right_01741.png" + }, + { + "file_path": "../../rgb/hdr_right_01742.png", + "transform_matrix": [ + [ + 0.24168723821640015, + -0.00047222012653946877, + 0.9703540802001953, + 69.54141235351562 + ], + [ + -0.9703494310379028, + 0.0030363458208739758, + 0.24168753623962402, + 4.381146430969238 + ], + [ + -0.0030604603234678507, + -0.999995231628418, + 0.0002756258472800255, + -9.811105728149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1742, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_338470458", + "mask_path": "../../mask/hdr_right_01742.png" + }, + { + "file_path": "../../rgb/hdr_right_01743.png", + "transform_matrix": [ + [ + 0.2460615038871765, + 0.002185720717534423, + 0.9692518711090088, + 69.52640533447266 + ], + [ + -0.9692472219467163, + 0.004357608966529369, + 0.24605049192905426, + 4.475607872009277 + ], + [ + -0.003685822244733572, + -0.9999880790710449, + 0.0031907418742775917, + -9.8211088180542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1743, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_438470840", + "mask_path": "../../mask/hdr_right_01743.png" + }, + { + "file_path": "../../rgb/hdr_right_01744.png", + "transform_matrix": [ + [ + 0.24570897221565247, + 0.0030342082027345896, + 0.9693388938903809, + 69.5215835571289 + ], + [ + -0.9693264365196228, + 0.006723438855260611, + 0.24568478763103485, + 4.562581539154053 + ], + [ + -0.005771832540631294, + -0.9999727606773376, + 0.004593146964907646, + -9.819679260253906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1744, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_538469552", + "mask_path": "../../mask/hdr_right_01744.png" + }, + { + "file_path": "../../rgb/hdr_right_01745.png", + "transform_matrix": [ + [ + 0.23807644844055176, + 0.003113900311291218, + 0.9712414145469666, + 69.52558898925781 + ], + [ + -0.9712430238723755, + 0.0034197610802948475, + 0.23806585371494293, + 4.649961948394775 + ], + [ + -0.00258010090328753, + -0.9999893307685852, + 0.003838515607640147, + -9.810420036315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1745, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_638470649", + "mask_path": "../../mask/hdr_right_01745.png" + }, + { + "file_path": "../../rgb/hdr_right_01746.png", + "transform_matrix": [ + [ + 0.22699515521526337, + -9.852176299318671e-05, + 0.9738958477973938, + 69.5259780883789 + ], + [ + -0.9738460183143616, + 0.010100957937538624, + 0.22698453068733215, + 4.72737979888916 + ], + [ + -0.009859643876552582, + -0.9999489784240723, + 0.002196923131123185, + -9.800524711608887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1746, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_738471269", + "mask_path": "../../mask/hdr_right_01746.png" + }, + { + "file_path": "../../rgb/hdr_right_01747.png", + "transform_matrix": [ + [ + 0.22779464721679688, + -0.0045073069632053375, + 0.9736988544464111, + 69.51696014404297 + ], + [ + -0.9736146926879883, + 0.012880638241767883, + 0.2278345674276352, + 4.812107563018799 + ], + [ + -0.013568783178925514, + -0.9999068975448608, + -0.0014542404096573591, + -9.801445007324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1747, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_838469266", + "mask_path": "../../mask/hdr_right_01747.png" + }, + { + "file_path": "../../rgb/hdr_right_01748.png", + "transform_matrix": [ + [ + 0.24168014526367188, + -0.0010587783763185143, + 0.9703554511070251, + 69.50050354003906 + ], + [ + -0.9703136086463928, + 0.009076249785721302, + 0.2416796237230301, + 4.913415431976318 + ], + [ + -0.009063073433935642, + -0.9999582171440125, + 0.0011662016622722149, + -9.808773040771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1748, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594341_938470363", + "mask_path": "../../mask/hdr_right_01748.png" + }, + { + "file_path": "../../rgb/hdr_right_01749.png", + "transform_matrix": [ + [ + 0.2585437595844269, + 0.007273154333233833, + 0.9659722447395325, + 69.4805908203125 + ], + [ + -0.9659597277641296, + 0.011024970561265945, + 0.25845739245414734, + 5.000057697296143 + ], + [ + -0.008770015090703964, + -0.9999127388000488, + 0.0098760100081563, + -9.816489219665527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1749, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_38469791", + "mask_path": "../../mask/hdr_right_01749.png" + }, + { + "file_path": "../../rgb/hdr_right_01750.png", + "transform_matrix": [ + [ + 0.2674004137516022, + 0.009711490012705326, + 0.9635365605354309, + 69.4760513305664 + ], + [ + -0.9635172486305237, + 0.014592913910746574, + 0.2672479450702667, + 5.089814186096191 + ], + [ + -0.011465431191027164, + -0.999846339225769, + 0.013259339146316051, + -9.814058303833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1750, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_138469696", + "mask_path": "../../mask/hdr_right_01750.png" + }, + { + "file_path": "../../rgb/hdr_right_01751.png", + "transform_matrix": [ + [ + 0.26858657598495483, + 0.010843981057405472, + 0.9631944894790649, + 69.47847747802734 + ], + [ + -0.9632118940353394, + 0.012537033297121525, + 0.2684502601623535, + 5.173980236053467 + ], + [ + -0.009164532646536827, + -0.9998626112937927, + 0.013812330551445484, + -9.798420906066895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1751, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_238470792", + "mask_path": "../../mask/hdr_right_01751.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/78ce14c6/mesh.ply b/2024-11-14-15-22-43/splats/78ce14c6/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..069e5bc7954cf1cf9859d1de2318242b4f8410d8 --- /dev/null +++ b/2024-11-14-15-22-43/splats/78ce14c6/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26cea80e39e1d84e47b4e33428f9841fb36bb861ab2030458205aa00bfef4109 +size 83248539 diff --git a/2024-11-14-15-22-43/splats/78ce14c6/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/78ce14c6/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..2240c127378ccda373ddccf3ff92d51288e2fce8 --- /dev/null +++ b/2024-11-14-15-22-43/splats/78ce14c6/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e0c4be0b4e886fc8457cc8405ae2baf53a678c3dd82623080aa24e69da7720d +size 1568463 diff --git a/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/config.yml b/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..00c5e368b6234724c448491e3b72682d2cf741e9 --- /dev/null +++ b/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_78ce14c6 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_78ce14c6 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..20f1e981bada0766231015cb971c5af097c8e5d8 --- /dev/null +++ b/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9394155740737915, + -0.3126141428947449, + 0.1406080722808838, + 61.357154846191406 + ], + [ + -0.3126141428947449, + 0.9496097564697266, + 0.022664599120616913, + 6.6294450759887695 + ], + [ + -0.1406080722808838, + -0.022664599120616913, + -0.9898058176040649, + 0.616358757019043 + ] + ], + "scale": 0.1807855991647052 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..b982b129a9395dd98e063fda8eb99771c1a0e144 --- /dev/null +++ b/2024-11-14-15-22-43/splats/78ce14c6/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4ad40cbdd0a6fba8f60b205658d681b35a10ff51f227e3f1ea5609945e0ac61 +size 351936410 diff --git a/2024-11-14-15-22-43/splats/78ce14c6/transforms.json b/2024-11-14-15-22-43/splats/78ce14c6/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8a9ed82dc17acbee3f6ce8e77b3fb4947a20c19d --- /dev/null +++ b/2024-11-14-15-22-43/splats/78ce14c6/transforms.json @@ -0,0 +1,18780 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01854.png", + "transform_matrix": [ + [ + -0.6788930296897888, + -0.08174627274274826, + 0.7296724915504456, + 64.72138977050781 + ], + [ + -0.7317676544189453, + -0.006107456050813198, + -0.6815268397331238, + 13.110705375671387 + ], + [ + 0.060168713331222534, + -0.9966344237327576, + -0.05567297339439392, + -9.184392929077148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1854, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_838469982", + "mask_path": "../../mask/hdr_front_01854.png" + }, + { + "file_path": "../../rgb/hdr_front_01855.png", + "transform_matrix": [ + [ + -0.6733109354972839, + -0.08716722577810287, + 0.7342031002044678, + 64.66986083984375 + ], + [ + -0.7368195652961731, + -0.0031307516619563103, + -0.676082193851471, + 13.147828102111816 + ], + [ + 0.06123081594705582, + -0.9961888790130615, + -0.062118545174598694, + -9.178568840026855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1855, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_938471078", + "mask_path": "../../mask/hdr_front_01855.png" + }, + { + "file_path": "../../rgb/hdr_front_01856.png", + "transform_matrix": [ + [ + -0.6636556386947632, + -0.09170018881559372, + 0.7423962354660034, + 64.5953140258789 + ], + [ + -0.7457004189491272, + 0.002700944896787405, + -0.6662759184837341, + 13.195509910583496 + ], + [ + 0.0590924434363842, + -0.9957830309867859, + -0.07017336785793304, + -9.16843032836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1856, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_38470029", + "mask_path": "../../mask/hdr_front_01856.png" + }, + { + "file_path": "../../rgb/hdr_front_01857.png", + "transform_matrix": [ + [ + -0.645254373550415, + -0.0882071778178215, + 0.7588585615158081, + 64.52191925048828 + ], + [ + -0.7622594237327576, + 0.007943708449602127, + -0.6472228169441223, + 13.239288330078125 + ], + [ + 0.051061540842056274, + -0.9960705041885376, + -0.07236247509717941, + -9.160926818847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1857, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_138470411", + "mask_path": "../../mask/hdr_front_01857.png" + }, + { + "file_path": "../../rgb/hdr_front_01858.png", + "transform_matrix": [ + [ + -0.6264725923538208, + -0.08451581746339798, + 0.7748478651046753, + 64.46768188476562 + ], + [ + -0.7783275842666626, + 0.01465549599379301, + -0.627687394618988, + 13.26292896270752 + ], + [ + 0.04169372841715813, + -0.9963144063949585, + -0.07496225833892822, + -9.160613059997559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1858, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_238470792", + "mask_path": "../../mask/hdr_front_01858.png" + }, + { + "file_path": "../../rgb/hdr_front_01859.png", + "transform_matrix": [ + [ + -0.609537661075592, + -0.08322889357805252, + 0.788375973701477, + 64.40536499023438 + ], + [ + -0.7917745113372803, + 0.014418373815715313, + -0.610643208026886, + 13.29793643951416 + ], + [ + 0.03945605829358101, + -0.9964261054992676, + -0.07468706369400024, + -9.153643608093262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1859, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_338469982", + "mask_path": "../../mask/hdr_front_01859.png" + }, + { + "file_path": "../../rgb/hdr_front_01860.png", + "transform_matrix": [ + [ + -0.5979481339454651, + -0.08134516328573227, + 0.7973963618278503, + 64.3478012084961 + ], + [ + -0.8005530834197998, + 0.011386396363377571, + -0.5991536974906921, + 13.336690902709961 + ], + [ + 0.03965878114104271, + -0.9966210126876831, + -0.07192959636449814, + -9.144038200378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1860, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_438469886", + "mask_path": "../../mask/hdr_front_01860.png" + }, + { + "file_path": "../../rgb/hdr_front_01861.png", + "transform_matrix": [ + [ + -0.5908607840538025, + -0.08754409849643707, + 0.8020097613334656, + 64.30060577392578 + ], + [ + -0.8057205080986023, + 0.013256845064461231, + -0.5921475291252136, + 13.373359680175781 + ], + [ + 0.04120690003037453, + -0.9960724115371704, + -0.07836902141571045, + -9.128329277038574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1861, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_538470268", + "mask_path": "../../mask/hdr_front_01861.png" + }, + { + "file_path": "../../rgb/hdr_front_01862.png", + "transform_matrix": [ + [ + -0.5818306803703308, + -0.0938955619931221, + 0.8078716397285461, + 64.23817443847656 + ], + [ + -0.8121406435966492, + 0.013829933479428291, + -0.583297848701477, + 13.4020357131958 + ], + [ + 0.04359625652432442, + -0.9954860210418701, + -0.08430306613445282, + -9.121126174926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1862, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_638470172", + "mask_path": "../../mask/hdr_front_01862.png" + }, + { + "file_path": "../../rgb/hdr_front_01863.png", + "transform_matrix": [ + [ + -0.5677222609519958, + -0.09810908138751984, + 0.8173531293869019, + 64.15740203857422 + ], + [ + -0.8220570683479309, + 0.014805746264755726, + -0.5692124366760254, + 13.439743041992188 + ], + [ + 0.04374339431524277, + -0.9950655698776245, + -0.0890568196773529, + -9.108691215515137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1863, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_738469839", + "mask_path": "../../mask/hdr_front_01863.png" + }, + { + "file_path": "../../rgb/hdr_front_01864.png", + "transform_matrix": [ + [ + -0.5458695888519287, + -0.0955367460846901, + 0.8324056267738342, + 64.08988189697266 + ], + [ + -0.8369761109352112, + 0.016291901469230652, + -0.5469969511032104, + 13.46562385559082 + ], + [ + 0.038696836680173874, + -0.9952926635742188, + -0.08885521441698074, + -9.101762771606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1864, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_838470220", + "mask_path": "../../mask/hdr_front_01864.png" + }, + { + "file_path": "../../rgb/hdr_front_01865.png", + "transform_matrix": [ + [ + -0.5243105888366699, + -0.09315931797027588, + 0.8464159369468689, + 64.03694152832031 + ], + [ + -0.8509981632232666, + 0.02229195088148117, + -0.5246955156326294, + 13.483773231506348 + ], + [ + 0.03001200221478939, + -0.9954016208648682, + -0.09096629172563553, + -9.099213600158691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1865, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_938470602", + "mask_path": "../../mask/hdr_front_01865.png" + }, + { + "file_path": "../../rgb/hdr_front_01866.png", + "transform_matrix": [ + [ + -0.5002095699310303, + -0.0929049625992775, + 0.8609059453010559, + 63.97466278076172 + ], + [ + -0.8654263019561768, + 0.02060931921005249, + -0.5006120204925537, + 13.511451721191406 + ], + [ + 0.028766660019755363, + -0.9954617619514465, + -0.09071138501167297, + -9.089239120483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1866, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_38471460", + "mask_path": "../../mask/hdr_front_01866.png" + }, + { + "file_path": "../../rgb/hdr_front_01867.png", + "transform_matrix": [ + [ + -0.47962486743927, + -0.09219589084386826, + 0.8726167678833008, + 63.910953521728516 + ], + [ + -0.8769766688346863, + 0.016897892579436302, + -0.48023590445518494, + 13.54058837890625 + ], + [ + 0.029530389234423637, + -0.9955975413322449, + -0.08895828574895859, + -9.07226848602295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1867, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_138470649", + "mask_path": "../../mask/hdr_front_01867.png" + }, + { + "file_path": "../../rgb/hdr_front_01868.png", + "transform_matrix": [ + [ + -0.46369075775146484, + -0.10168822109699249, + 0.8801422715187073, + 63.85833740234375 + ], + [ + -0.8853570818901062, + 0.015430874191224575, + -0.46465539932250977, + 13.567732810974121 + ], + [ + 0.03366860747337341, + -0.9946966767311096, + -0.09718554466962814, + -9.058920860290527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1868, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_238470554", + "mask_path": "../../mask/hdr_front_01868.png" + }, + { + "file_path": "../../rgb/hdr_front_01869.png", + "transform_matrix": [ + [ + -0.44730493426322937, + -0.11100418120622635, + 0.887466311454773, + 63.80122375488281 + ], + [ + -0.8934835195541382, + 0.011006847023963928, + -0.4489610493183136, + 13.586832046508789 + ], + [ + 0.04006834700703621, + -0.9937590956687927, + -0.10410382598638535, + -9.048349380493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1869, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_338469982", + "mask_path": "../../mask/hdr_front_01869.png" + }, + { + "file_path": "../../rgb/hdr_front_01870.png", + "transform_matrix": [ + [ + -0.4275067448616028, + -0.11316923052072525, + 0.8969005942344666, + 63.72463607788086 + ], + [ + -0.9032236933708191, + 0.012043055146932602, + -0.4290010631084442, + 13.613112449645996 + ], + [ + 0.037748292088508606, + -0.9935027956962585, + -0.10736560821533203, + -9.0389404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1870, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_438470363", + "mask_path": "../../mask/hdr_front_01870.png" + }, + { + "file_path": "../../rgb/hdr_front_01871.png", + "transform_matrix": [ + [ + -0.4011811316013336, + -0.11162738502025604, + 0.9091717004776001, + 63.6527099609375 + ], + [ + -0.9154888987541199, + 0.015749281272292137, + -0.4020349383354187, + 13.626839637756348 + ], + [ + 0.03055931068956852, + -0.9936254024505615, + -0.10851195454597473, + -9.036149024963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1871, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_538470506", + "mask_path": "../../mask/hdr_front_01871.png" + }, + { + "file_path": "../../rgb/hdr_front_01872.png", + "transform_matrix": [ + [ + -0.37779730558395386, + -0.1124715656042099, + 0.9190317392349243, + 63.5982666015625 + ], + [ + -0.9253929257392883, + 0.013401863165199757, + -0.37877216935157776, + 13.63771915435791 + ], + [ + 0.030284365639090538, + -0.9935645461082458, + -0.10914358496665955, + -9.033355712890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1872, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_638469457", + "mask_path": "../../mask/hdr_front_01872.png" + }, + { + "file_path": "../../rgb/hdr_front_01873.png", + "transform_matrix": [ + [ + -0.3608878552913666, + -0.11038286983966827, + 0.9260538220405579, + 63.53656005859375 + ], + [ + -0.932011067867279, + 0.00712987408041954, + -0.3623596131801605, + 13.65723705291748 + ], + [ + 0.03339565172791481, + -0.9938636422157288, + -0.10545114427804947, + -9.024529457092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1873, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_738470077", + "mask_path": "../../mask/hdr_front_01873.png" + }, + { + "file_path": "../../rgb/hdr_front_01874.png", + "transform_matrix": [ + [ + -0.3534493148326874, + -0.10658632963895798, + 0.9293615818023682, + 63.478939056396484 + ], + [ + -0.9348965287208557, + 0.00596557417884469, + -0.3548702001571655, + 13.675629615783691 + ], + [ + 0.03228013589978218, + -0.9942855834960938, + -0.10175572335720062, + -9.005417823791504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1874, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_838470697", + "mask_path": "../../mask/hdr_front_01874.png" + }, + { + "file_path": "../../rgb/hdr_front_01875.png", + "transform_matrix": [ + [ + -0.3518849015235901, + -0.11440823972225189, + 0.9290252327919006, + 63.42268371582031 + ], + [ + -0.9352330565452576, + 0.0016861488111317158, + -0.3540285527706146, + 13.693448066711426 + ], + [ + 0.03893730789422989, + -0.9934324026107788, + -0.10759168863296509, + -8.989048957824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1875, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_938469648", + "mask_path": "../../mask/hdr_front_01875.png" + }, + { + "file_path": "../../rgb/hdr_front_01876.png", + "transform_matrix": [ + [ + -0.3485887348651886, + -0.12234807014465332, + 0.9292560815811157, + 63.355072021484375 + ], + [ + -0.9360575079917908, + -0.005088804755359888, + -0.3518102169036865, + 13.711986541748047 + ], + [ + 0.04777209833264351, + -0.9924742579460144, + -0.11275092512369156, + -8.978548049926758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1876, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_38469791", + "mask_path": "../../mask/hdr_front_01876.png" + }, + { + "file_path": "../../rgb/hdr_front_01877.png", + "transform_matrix": [ + [ + -0.34339210391044617, + -0.12964479625225067, + 0.9302011132240295, + 63.26908493041992 + ], + [ + -0.9377418756484985, + -0.0076899174600839615, + -0.3472476005554199, + 13.730485916137695 + ], + [ + 0.052172016352415085, + -0.99153071641922, + -0.11893272399902344, + -8.957622528076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1877, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_138470411", + "mask_path": "../../mask/hdr_front_01877.png" + }, + { + "file_path": "../../rgb/hdr_front_01878.png", + "transform_matrix": [ + [ + -0.333734929561615, + -0.1293327957391739, + 0.933752715587616, + 63.20292282104492 + ], + [ + -0.9415242671966553, + -0.0030233613215386868, + -0.33693140745162964, + 13.74379825592041 + ], + [ + 0.046399347484111786, + -0.9915966391563416, + -0.120760977268219, + -8.944437980651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1878, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_238470315", + "mask_path": "../../mask/hdr_front_01878.png" + }, + { + "file_path": "../../rgb/hdr_front_01880.png", + "transform_matrix": [ + [ + -0.31734520196914673, + -0.12615478038787842, + 0.9398813843727112, + 63.09748458862305 + ], + [ + -0.9474825859069824, + 0.0007851896807551384, + -0.3198063373565674, + 13.762325286865234 + ], + [ + 0.039607103914022446, + -0.9920102953910828, + -0.11977863311767578, + -8.939940452575684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1880, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_438469886", + "mask_path": "../../mask/hdr_front_01880.png" + }, + { + "file_path": "../../rgb/hdr_front_01881.png", + "transform_matrix": [ + [ + -0.3080791234970093, + -0.12523624300956726, + 0.9430816769599915, + 63.03972244262695 + ], + [ + -0.9508458971977234, + 0.007928118109703064, + -0.3095627725124359, + 13.78380012512207 + ], + [ + 0.03129160404205322, + -0.9920952916145325, + -0.12152285873889923, + -8.914676666259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1881, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_538469314", + "mask_path": "../../mask/hdr_front_01881.png" + }, + { + "file_path": "../../rgb/hdr_front_01882.png", + "transform_matrix": [ + [ + -0.29058170318603516, + -0.13306045532226562, + 0.947553277015686, + 62.98147964477539 + ], + [ + -0.9563524127006531, + 0.00845099426805973, + -0.292093425989151, + 13.793007850646973 + ], + [ + 0.030858317390084267, + -0.991071879863739, + -0.129708394408226, + -8.897870063781738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1882, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_638469219", + "mask_path": "../../mask/hdr_front_01882.png" + }, + { + "file_path": "../../rgb/hdr_front_01883.png", + "transform_matrix": [ + [ + -0.2707495391368866, + -0.1410953849554062, + 0.952253520488739, + 62.91958236694336 + ], + [ + -0.9620596170425415, + 0.005027031525969505, + -0.2727928161621094, + 13.802741050720215 + ], + [ + 0.033702801913022995, + -0.9899832010269165, + -0.13710325956344604, + -8.88603687286377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1883, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_738469123", + "mask_path": "../../mask/hdr_front_01883.png" + }, + { + "file_path": "../../rgb/hdr_front_01884.png", + "transform_matrix": [ + [ + -0.24975398182868958, + -0.14859648048877716, + 0.9568396210670471, + 62.84619140625 + ], + [ + -0.9676876664161682, + 0.002897346392273903, + -0.25213557481765747, + 13.813806533813477 + ], + [ + 0.034694164991378784, + -0.9888936877250671, + -0.14451859891414642, + -8.869423866271973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1884, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_838468313", + "mask_path": "../../mask/hdr_front_01884.png" + }, + { + "file_path": "../../rgb/hdr_front_01885.png", + "transform_matrix": [ + [ + -0.22126659750938416, + -0.15111158788204193, + 0.9634346961975098, + 62.770320892333984 + ], + [ + -0.9748126864433289, + 0.005956827662885189, + -0.2229454219341278, + 13.821233749389648 + ], + [ + 0.027950620278716087, + -0.988498866558075, + -0.1486235409975052, + -8.846077919006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1885, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_938468933", + "mask_path": "../../mask/hdr_front_01885.png" + }, + { + "file_path": "../../rgb/hdr_front_01886.png", + "transform_matrix": [ + [ + -0.1900862157344818, + -0.1529393494129181, + 0.9697818756103516, + 62.71270751953125 + ], + [ + -0.9815343618392944, + 0.008085516281425953, + -0.19111470878124237, + 13.818466186523438 + ], + [ + 0.021387768909335136, + -0.9882024526596069, + -0.15165218710899353, + -8.841324806213379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1886, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_38469552", + "mask_path": "../../mask/hdr_front_01886.png" + }, + { + "file_path": "../../rgb/hdr_front_01887.png", + "transform_matrix": [ + [ + -0.15739460289478302, + -0.15378756821155548, + 0.9754877090454102, + 62.648223876953125 + ], + [ + -0.987407386302948, + 0.008578079752624035, + -0.1579654961824417, + 13.817889213562012 + ], + [ + 0.015925318002700806, + -0.9880667328834534, + -0.1532011330127716, + -8.832990646362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1887, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_138469219", + "mask_path": "../../mask/hdr_front_01887.png" + }, + { + "file_path": "../../rgb/hdr_front_01888.png", + "transform_matrix": [ + [ + -0.1279638111591339, + -0.15841136872768402, + 0.9790460467338562, + 62.57352828979492 + ], + [ + -0.9917269945144653, + 0.010343372821807861, + -0.12794768810272217, + 13.818489074707031 + ], + [ + 0.010141728445887566, + -0.9873190522193909, + -0.15842439234256744, + -8.804996490478516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1888, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_238469123", + "mask_path": "../../mask/hdr_front_01888.png" + }, + { + "file_path": "../../rgb/hdr_front_01889.png", + "transform_matrix": [ + [ + -0.1051301658153534, + -0.16837333142757416, + 0.9801011085510254, + 62.50956344604492 + ], + [ + -0.994317889213562, + 0.0012256838381290436, + -0.10644456744194031, + 13.818090438842773 + ], + [ + 0.016721131280064583, + -0.985722541809082, + -0.16754546761512756, + -8.78280258178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1889, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_338469028", + "mask_path": "../../mask/hdr_front_01889.png" + }, + { + "file_path": "../../rgb/hdr_front_01890.png", + "transform_matrix": [ + [ + -0.08359453082084656, + -0.17627568542957306, + 0.9807848334312439, + 62.45124053955078 + ], + [ + -0.9962157607078552, + -0.00871678814291954, + -0.0864764153957367, + 13.812874794006348 + ], + [ + 0.02379298396408558, + -0.984302282333374, + -0.17487993836402893, + -8.770345687866211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1890, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_438469171", + "mask_path": "../../mask/hdr_front_01890.png" + }, + { + "file_path": "../../rgb/hdr_front_01891.png", + "transform_matrix": [ + [ + -0.06831159442663193, + -0.17865055799484253, + 0.9815382957458496, + 62.37636184692383 + ], + [ + -0.9973510503768921, + -0.012408885173499584, + -0.07167068123817444, + 13.807967185974121 + ], + [ + 0.024983800947666168, + -0.9838343262672424, + -0.1773296594619751, + -8.751031875610352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1891, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_538469314", + "mask_path": "../../mask/hdr_front_01891.png" + }, + { + "file_path": "../../rgb/hdr_front_01892.png", + "transform_matrix": [ + [ + -0.05192853882908821, + -0.17352178692817688, + 0.9834600687026978, + 62.30130386352539 + ], + [ + -0.9985355734825134, + -0.005929936189204454, + -0.053770843893289566, + 13.802825927734375 + ], + [ + 0.015162268653512001, + -0.9848122000694275, + -0.17295975983142853, + -8.735953330993652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1892, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_638468980", + "mask_path": "../../mask/hdr_front_01892.png" + }, + { + "file_path": "../../rgb/hdr_front_01893.png", + "transform_matrix": [ + [ + -0.03703149035573006, + -0.17281781136989594, + 0.9842574000358582, + 62.244178771972656 + ], + [ + -0.9992638230323792, + -0.0034710634499788284, + -0.03820554539561272, + 13.791126251220703 + ], + [ + 0.010019022971391678, + -0.984947681427002, + -0.17256206274032593, + -8.72990608215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1893, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_738469123", + "mask_path": "../../mask/hdr_front_01893.png" + }, + { + "file_path": "../../rgb/hdr_front_01894.png", + "transform_matrix": [ + [ + -0.024315988644957542, + -0.1726304292678833, + 0.984686553478241, + 62.18064880371094 + ], + [ + -0.9996886253356934, + -0.001316371955908835, + -0.024917228147387505, + 13.778830528259277 + ], + [ + 0.0055976868607103825, + -0.9849858283996582, + -0.17254464328289032, + -8.72037124633789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1894, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_838470458", + "mask_path": "../../mask/hdr_front_01894.png" + }, + { + "file_path": "../../rgb/hdr_front_01895.png", + "transform_matrix": [ + [ + -0.015490454621613026, + -0.17594608664512634, + 0.9842779636383057, + 62.10489273071289 + ], + [ + -0.999877393245697, + 0.0005109822377562523, + -0.01564461924135685, + 13.774694442749023 + ], + [ + 0.0022496625315397978, + -0.9843997955322266, + -0.17593245208263397, + -8.700950622558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1895, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_938469886", + "mask_path": "../../mask/hdr_front_01895.png" + }, + { + "file_path": "../../rgb/hdr_front_01896.png", + "transform_matrix": [ + [ + -0.013696905225515366, + -0.18172676861286163, + 0.9832537770271301, + 62.03905487060547 + ], + [ + -0.9998605847358704, + -0.0069012693129479885, + -0.0152037488296628, + 13.774296760559082 + ], + [ + 0.009548626840114594, + -0.9833248257637024, + -0.18160691857337952, + -8.676948547363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1896, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_38470745", + "mask_path": "../../mask/hdr_front_01896.png" + }, + { + "file_path": "../../rgb/hdr_front_01897.png", + "transform_matrix": [ + [ + -0.011755592189729214, + -0.18672418594360352, + 0.9823420643806458, + 61.98043441772461 + ], + [ + -0.9998288750648499, + -0.011843126267194748, + -0.014216003008186817, + 13.77116584777832 + ], + [ + 0.014288472943007946, + -0.9823409914970398, + -0.1865530163049698, + -8.661824226379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1897, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_138470649", + "mask_path": "../../mask/hdr_front_01897.png" + }, + { + "file_path": "../../rgb/hdr_front_01898.png", + "transform_matrix": [ + [ + -0.011171631515026093, + -0.1892588883638382, + 0.9818637371063232, + 61.898685455322266 + ], + [ + -0.9997790455818176, + -0.015368267893791199, + -0.014337779022753239, + 13.768187522888184 + ], + [ + 0.017803095281124115, + -0.9818069934844971, + -0.18904538452625275, + -8.641237258911133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1898, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_238473415", + "mask_path": "../../mask/hdr_front_01898.png" + }, + { + "file_path": "../../rgb/hdr_front_01899.png", + "transform_matrix": [ + [ + -0.005844684783369303, + -0.1882881224155426, + 0.9820964336395264, + 61.821807861328125 + ], + [ + -0.9999099969863892, + -0.010759171098470688, + -0.008013453334569931, + 13.759754180908203 + ], + [ + 0.012075381353497505, + -0.9820549488067627, + -0.18820828199386597, + -8.613720893859863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_338470458", + "mask_path": "../../mask/hdr_front_01899.png" + }, + { + "file_path": "../../rgb/hdr_front_01900.png", + "transform_matrix": [ + [ + -0.002001224784180522, + -0.18586485087871552, + 0.9825732707977295, + 61.75729751586914 + ], + [ + -0.9999949336051941, + -0.0020446935668587685, + -0.002423485042527318, + 13.754837036132812 + ], + [ + 0.0024595027789473534, + -0.9825732111930847, + -0.185859814286232, + -8.604230880737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1900, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_438470840", + "mask_path": "../../mask/hdr_front_01900.png" + }, + { + "file_path": "../../rgb/hdr_front_01901.png", + "transform_matrix": [ + [ + -0.001602553646080196, + -0.18501049280166626, + 0.9827352166175842, + 61.682342529296875 + ], + [ + -0.999984622001648, + 0.0055119688622653484, + -0.0005929939798079431, + 13.755762100219727 + ], + [ + -0.0053070951253175735, + -0.9827211499214172, + -0.185016468167305, + -8.587320327758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1901, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_538470268", + "mask_path": "../../mask/hdr_front_01901.png" + }, + { + "file_path": "../../rgb/hdr_front_01902.png", + "transform_matrix": [ + [ + -0.007099775597453117, + -0.18840716779232025, + 0.9820654392242432, + 61.6104850769043 + ], + [ + -0.9999266862869263, + 0.010965670458972454, + -0.005125163123011589, + 13.764931678771973 + ], + [ + -0.009803387336432934, + -0.9820298552513123, + -0.1884712129831314, + -8.55704116821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1902, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_638470411", + "mask_path": "../../mask/hdr_front_01902.png" + }, + { + "file_path": "../../rgb/hdr_front_01903.png", + "transform_matrix": [ + [ + -0.01487288624048233, + -0.1972011774778366, + 0.9802501797676086, + 61.55074691772461 + ], + [ + -0.9998883008956909, + 0.0043253726325929165, + -0.014300692826509476, + 13.768426895141602 + ], + [ + -0.001419832929968834, + -0.9803535342216492, + -0.19724349677562714, + -8.535594940185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1903, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_738470792", + "mask_path": "../../mask/hdr_front_01903.png" + }, + { + "file_path": "../../rgb/hdr_front_01904.png", + "transform_matrix": [ + [ + -0.0185362808406353, + -0.20218390226364136, + 0.9791721105575562, + 61.491539001464844 + ], + [ + -0.9998181462287903, + -0.000656419899314642, + -0.01906266249716282, + 13.76897144317627 + ], + [ + 0.0044969115406274796, + -0.9793473482131958, + -0.20213495194911957, + -8.516439437866211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_838469743", + "mask_path": "../../mask/hdr_front_01904.png" + }, + { + "file_path": "../../rgb/hdr_front_01905.png", + "transform_matrix": [ + [ + -0.018862124532461166, + -0.2025829702615738, + 0.9790834188461304, + 61.41948318481445 + ], + [ + -0.9998078346252441, + -0.0014156406978145242, + -0.019554292783141136, + 13.767333984375 + ], + [ + 0.005347397178411484, + -0.9792640805244446, + -0.20251736044883728, + -8.496514320373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1905, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_938470125", + "mask_path": "../../mask/hdr_front_01905.png" + }, + { + "file_path": "../../rgb/hdr_front_01906.png", + "transform_matrix": [ + [ + -0.015866823494434357, + -0.20105791091918945, + 0.9794508218765259, + 61.35328674316406 + ], + [ + -0.9998732209205627, + 0.004479702096432447, + -0.015278080478310585, + 13.763647079467773 + ], + [ + -0.0013158678775653243, + -0.979569137096405, + -0.20110350847244263, + -8.482215881347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_38469791", + "mask_path": "../../mask/hdr_front_01906.png" + }, + { + "file_path": "../../rgb/hdr_front_01907.png", + "transform_matrix": [ + [ + -0.014505927450954914, + -0.20021416246891022, + 0.979644775390625, + 61.291038513183594 + ], + [ + -0.9998772740364075, + 0.008695135824382305, + -0.013028453104197979, + 13.76004695892334 + ], + [ + -0.0059096612967550755, + -0.9797135591506958, + -0.20031572878360748, + -8.471532821655273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1907, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_138470172", + "mask_path": "../../mask/hdr_front_01907.png" + }, + { + "file_path": "../../rgb/hdr_front_01908.png", + "transform_matrix": [ + [ + -0.016474226489663124, + -0.20174600183963776, + 0.9792993664741516, + 61.22307586669922 + ], + [ + -0.9997995495796204, + 0.014467943459749222, + -0.013838541693985462, + 13.76507568359375 + ], + [ + -0.011376576498150826, + -0.9793310761451721, + -0.20194393396377563, + -8.450432777404785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_238469600", + "mask_path": "../../mask/hdr_front_01908.png" + }, + { + "file_path": "../../rgb/hdr_front_01909.png", + "transform_matrix": [ + [ + -0.02116871066391468, + -0.20712421834468842, + 0.9780856370925903, + 61.1632080078125 + ], + [ + -0.9997586011886597, + 0.010135159827768803, + -0.019491510465741158, + 13.773229598999023 + ], + [ + -0.005875888280570507, + -0.9782622456550598, + -0.20728877186775208, + -8.427453994750977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1909, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_338469743", + "mask_path": "../../mask/hdr_front_01909.png" + }, + { + "file_path": "../../rgb/hdr_front_01910.png", + "transform_matrix": [ + [ + -0.011694373562932014, + -0.2123495638370514, + 0.9771237969398499, + 61.10965347290039 + ], + [ + -0.9999240040779114, + 0.0063089849427342415, + -0.010596174746751785, + 13.766839981079102 + ], + [ + -0.00391456438228488, + -0.977173388004303, + -0.2124072015285492, + -8.403773307800293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1910, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_438470840", + "mask_path": "../../mask/hdr_front_01910.png" + }, + { + "file_path": "../../rgb/hdr_front_01911.png", + "transform_matrix": [ + [ + 0.005213199183344841, + -0.2123883068561554, + 0.9771714806556702, + 61.045814514160156 + ], + [ + -0.9999613165855408, + 0.005810271017253399, + 0.00659764651209116, + 13.751596450805664 + ], + [ + -0.007078894414007664, + -0.977168083190918, + -0.2123498171567917, + -8.387774467468262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_538470029", + "mask_path": "../../mask/hdr_front_01911.png" + }, + { + "file_path": "../../rgb/hdr_front_01912.png", + "transform_matrix": [ + [ + 0.023842111229896545, + -0.21249890327453613, + 0.9768704175949097, + 60.98875045776367 + ], + [ + -0.999584436416626, + 0.010767558589577675, + 0.026738757267594337, + 13.740620613098145 + ], + [ + -0.016200464218854904, + -0.9771019816398621, + -0.2121538519859314, + -8.379877090454102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_638470888", + "mask_path": "../../mask/hdr_front_01912.png" + }, + { + "file_path": "../../rgb/hdr_front_01913.png", + "transform_matrix": [ + [ + 0.040465567260980606, + -0.21073457598686218, + 0.9767053723335266, + 60.93198776245117 + ], + [ + -0.9989202618598938, + 0.013791532255709171, + 0.044361621141433716, + 13.737982749938965 + ], + [ + -0.02281878888607025, + -0.9774460792541504, + -0.20994897186756134, + -8.367410659790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_738471031", + "mask_path": "../../mask/hdr_front_01913.png" + }, + { + "file_path": "../../rgb/hdr_front_01914.png", + "transform_matrix": [ + [ + 0.05296054109930992, + -0.2071729153394699, + 0.9768697619438171, + 60.87560272216797 + ], + [ + -0.9980856776237488, + 0.020308416336774826, + 0.05841772258281708, + 13.73984146118164 + ], + [ + -0.0319412462413311, + -0.9780935049057007, + -0.20570077002048492, + -8.348691940307617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1914, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_838470458", + "mask_path": "../../mask/hdr_front_01914.png" + }, + { + "file_path": "../../rgb/hdr_front_01917.png", + "transform_matrix": [ + [ + 0.1013592854142189, + -0.2085292488336563, + 0.9727497100830078, + 60.739418029785156 + ], + [ + -0.9944169521331787, + 0.0076028634794056416, + 0.10524684190750122, + 13.712274551391602 + ], + [ + -0.02934272587299347, + -0.9779866337776184, + -0.20659442245960236, + -8.302762985229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_138469934", + "mask_path": "../../mask/hdr_front_01917.png" + }, + { + "file_path": "../../rgb/hdr_front_01918.png", + "transform_matrix": [ + [ + 0.11868999898433685, + -0.20833253860473633, + 0.9708297252655029, + 60.68647003173828 + ], + [ + -0.9921586513519287, + 0.013682905584573746, + 0.12423384189605713, + 13.698001861572266 + ], + [ + -0.03916572034358978, + -0.9779623746871948, + -0.20507487654685974, + -8.296651840209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1918, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_238469600", + "mask_path": "../../mask/hdr_front_01918.png" + }, + { + "file_path": "../../rgb/hdr_front_01920.png", + "transform_matrix": [ + [ + 0.15320079028606415, + -0.20263490080833435, + 0.9671962857246399, + 60.598236083984375 + ], + [ + -0.9873251914978027, + 0.0096708033233881, + 0.1584152728319168, + 13.674920082092285 + ], + [ + -0.04145402833819389, + -0.9792066216468811, + -0.19858498871326447, + -8.278694152832031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1920, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_438469886", + "mask_path": "../../mask/hdr_front_01920.png" + }, + { + "file_path": "../../rgb/hdr_front_01922.png", + "transform_matrix": [ + [ + 0.17033600807189941, + -0.20217816531658173, + 0.9644219279289246, + 60.50747299194336 + ], + [ + -0.9848727583885193, + -0.003342778654769063, + 0.17324727773666382, + 13.653776168823242 + ], + [ + -0.03180296719074249, + -0.979343056678772, + -0.19968916475772858, + -8.24440860748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_638470649", + "mask_path": "../../mask/hdr_front_01922.png" + }, + { + "file_path": "../../rgb/hdr_front_01923.png", + "transform_matrix": [ + [ + 0.1844664216041565, + -0.19951258599758148, + 0.9623757004737854, + 60.44779586791992 + ], + [ + -0.9823641777038574, + -0.007001159247010946, + 0.18684637546539307, + 13.630234718322754 + ], + [ + -0.030540453270077705, + -0.9798703193664551, + -0.1972854733467102, + -8.227783203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_738470315", + "mask_path": "../../mask/hdr_front_01923.png" + }, + { + "file_path": "../../rgb/hdr_front_01924.png", + "transform_matrix": [ + [ + 0.20035859942436218, + -0.19998936355113983, + 0.9590936303138733, + 60.401405334472656 + ], + [ + -0.9790928959846497, + -0.005777005106210709, + 0.2033318728208542, + 13.608316421508789 + ], + [ + -0.035123519599437714, + -0.9797811508178711, + -0.19696561992168427, + -8.221250534057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1924, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_838470935", + "mask_path": "../../mask/hdr_front_01924.png" + }, + { + "file_path": "../../rgb/hdr_front_01926.png", + "transform_matrix": [ + [ + 0.2247460037469864, + -0.1925918012857437, + 0.9551951289176941, + 60.30830383300781 + ], + [ + -0.9739140272140503, + -0.012895005755126476, + 0.2265504151582718, + 13.581382751464844 + ], + [ + -0.03131450340151787, + -0.9811943173408508, + -0.19046597182750702, + -8.196065902709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1926, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_38468837", + "mask_path": "../../mask/hdr_front_01926.png" + }, + { + "file_path": "../../rgb/hdr_front_01928.png", + "transform_matrix": [ + [ + 0.235369473695755, + -0.19618622958660126, + 0.9518992900848389, + 60.21706008911133 + ], + [ + -0.9716939330101013, + -0.02704366110265255, + 0.23469027876853943, + 13.555145263671875 + ], + [ + -0.020300159230828285, + -0.9801936745643616, + -0.1969982236623764, + -8.159126281738281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_238472700", + "mask_path": "../../mask/hdr_front_01928.png" + }, + { + "file_path": "../../rgb/hdr_front_01929.png", + "transform_matrix": [ + [ + 0.2482815831899643, + -0.19471482932567596, + 0.9489164352416992, + 60.163753509521484 + ], + [ + -0.9683783054351807, + -0.025125131011009216, + 0.24821814894676208, + 13.52954387664795 + ], + [ + -0.024490097537636757, + -0.9805380702018738, + -0.19479571282863617, + -8.14731502532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_338468790", + "mask_path": "../../mask/hdr_front_01929.png" + }, + { + "file_path": "../../rgb/hdr_front_01931.png", + "transform_matrix": [ + [ + 0.27255794405937195, + -0.19371864199638367, + 0.9424358606338501, + 60.06687927246094 + ], + [ + -0.9615190029144287, + -0.019674407318234444, + 0.2740328013896942, + 13.491205215454102 + ], + [ + -0.034543395042419434, + -0.9808598756790161, + -0.19162657856941223, + -8.133932113647461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_538470268", + "mask_path": "../../mask/hdr_front_01931.png" + }, + { + "file_path": "../../rgb/hdr_front_01932.png", + "transform_matrix": [ + [ + 0.2731173634529114, + -0.1904296875, + 0.9429439902305603, + 60.00830078125 + ], + [ + -0.9614117741584778, + -0.020328108221292496, + 0.27436116337776184, + 13.480324745178223 + ], + [ + -0.033078234642744064, + -0.9814903140068054, + -0.18863330781459808, + -8.111187934875488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1932, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_638470172", + "mask_path": "../../mask/hdr_front_01932.png" + }, + { + "file_path": "../../rgb/hdr_front_01933.png", + "transform_matrix": [ + [ + 0.27003374695777893, + -0.19110840559005737, + 0.943694531917572, + 59.95307159423828 + ], + [ + -0.9625651240348816, + -0.029707401990890503, + 0.269417405128479, + 13.468194961547852 + ], + [ + -0.023453224450349808, + -0.9811192750930786, + -0.19197630882263184, + -8.094791412353516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1933, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_738470315", + "mask_path": "../../mask/hdr_front_01933.png" + }, + { + "file_path": "../../rgb/hdr_front_01934.png", + "transform_matrix": [ + [ + 0.2709941267967224, + -0.18973852694034576, + 0.943695604801178, + 59.88560104370117 + ], + [ + -0.9624512195587158, + -0.03731229528784752, + 0.26887810230255127, + 13.450528144836426 + ], + [ + -0.01580508053302765, + -0.9811254143714905, + -0.1927255094051361, + -8.084920883178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_838470220", + "mask_path": "../../mask/hdr_front_01934.png" + }, + { + "file_path": "../../rgb/hdr_front_01935.png", + "transform_matrix": [ + [ + 0.2740418016910553, + -0.19496122002601624, + 0.941749095916748, + 59.822776794433594 + ], + [ + -0.961618185043335, + -0.04145362973213196, + 0.27124184370040894, + 13.42776107788086 + ], + [ + -0.013842727057635784, + -0.979934573173523, + -0.1988382637500763, + -8.070930480957031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_938470363", + "mask_path": "../../mask/hdr_front_01935.png" + }, + { + "file_path": "../../rgb/hdr_front_01936.png", + "transform_matrix": [ + [ + 0.2766737639904022, + -0.19742396473884583, + 0.9404654502868652, + 59.76969909667969 + ], + [ + -0.9608086347579956, + -0.03923755884170532, + 0.2744216322898865, + 13.404666900634766 + ], + [ + -0.01727583073079586, + -0.9795327186584473, + -0.2005426585674286, + -8.058475494384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_38470029", + "mask_path": "../../mask/hdr_front_01936.png" + }, + { + "file_path": "../../rgb/hdr_front_01937.png", + "transform_matrix": [ + [ + 0.2779695689678192, + -0.20316307246685028, + 0.938859760761261, + 59.71327590942383 + ], + [ + -0.9603755474090576, + -0.03812858462333679, + 0.27608898282051086, + 13.391528129577637 + ], + [ + -0.020293688401579857, + -0.978402316570282, + -0.20571142435073853, + -8.042887687683105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_138470172", + "mask_path": "../../mask/hdr_front_01937.png" + }, + { + "file_path": "../../rgb/hdr_front_01938.png", + "transform_matrix": [ + [ + 0.27456676959991455, + -0.2048688530921936, + 0.9394902586936951, + 59.65958786010742 + ], + [ + -0.9614584445953369, + -0.04373889043927193, + 0.27144917845726013, + 13.380446434020996 + ], + [ + -0.014519212767481804, + -0.9778116941452026, + -0.20898212492465973, + -8.023028373718262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_238471984", + "mask_path": "../../mask/hdr_front_01938.png" + }, + { + "file_path": "../../rgb/hdr_front_01939.png", + "transform_matrix": [ + [ + 0.2768285870552063, + -0.2065906673669815, + 0.9384488463401794, + 59.60544204711914 + ], + [ + -0.9607734680175781, + -0.042493127286434174, + 0.274059534072876, + 13.359350204467773 + ], + [ + -0.016740519553422928, + -0.977504312992096, + -0.2102501541376114, + -8.001933097839355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1939, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_338470935", + "mask_path": "../../mask/hdr_front_01939.png" + }, + { + "file_path": "../../rgb/hdr_front_01940.png", + "transform_matrix": [ + [ + 0.28111594915390015, + -0.20374047756195068, + 0.9377972483634949, + 59.55552673339844 + ], + [ + -0.9594936966896057, + -0.040737614035606384, + 0.27876928448677063, + 13.340471267700195 + ], + [ + -0.018592972308397293, + -0.978177011013031, + -0.206939697265625, + -7.993491172790527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_438471317", + "mask_path": "../../mask/hdr_front_01940.png" + }, + { + "file_path": "../../rgb/hdr_front_01942.png", + "transform_matrix": [ + [ + 0.2780405282974243, + -0.19113247096538544, + 0.9413617849349976, + 59.444637298583984 + ], + [ + -0.9604948163032532, + -0.043113600462675095, + 0.27493801712989807, + 13.326275825500488 + ], + [ + -0.011964087374508381, + -0.9806169867515564, + -0.19556909799575806, + -7.973073482513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1942, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_638470411", + "mask_path": "../../mask/hdr_front_01942.png" + }, + { + "file_path": "../../rgb/hdr_front_01943.png", + "transform_matrix": [ + [ + 0.26857224106788635, + -0.189284086227417, + 0.9444790482521057, + 59.39350891113281 + ], + [ + -0.9632444381713867, + -0.04728838801383972, + 0.26443126797676086, + 13.319141387939453 + ], + [ + -0.005389745347201824, + -0.9807831048965454, + -0.1950271725654602, + -7.9590253829956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1943, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_738470792", + "mask_path": "../../mask/hdr_front_01943.png" + }, + { + "file_path": "../../rgb/hdr_front_01945.png", + "transform_matrix": [ + [ + 0.2661948502063751, + -0.18611925840377808, + 0.9457800388336182, + 59.264408111572266 + ], + [ + -0.9639120697975159, + -0.0551920123398304, + 0.2604369819164276, + 13.279888153076172 + ], + [ + 0.0037271648179739714, + -0.9809758067131042, + -0.19409441947937012, + -7.928390979766846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_938470363", + "mask_path": "../../mask/hdr_front_01945.png" + }, + { + "file_path": "../../rgb/hdr_front_01946.png", + "transform_matrix": [ + [ + 0.2702885866165161, + -0.18366310000419617, + 0.945098876953125, + 59.20077896118164 + ], + [ + -0.9627791047096252, + -0.050890807062387466, + 0.2654552459716797, + 13.255867958068848 + ], + [ + -0.0006574811995960772, + -0.9816710352897644, + -0.19058221578598022, + -7.922336578369141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1946, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_38469314", + "mask_path": "../../mask/hdr_front_01946.png" + }, + { + "file_path": "../../rgb/hdr_front_01947.png", + "transform_matrix": [ + [ + 0.2711883783340454, + -0.18536587059497833, + 0.9445085525512695, + 59.133243560791016 + ], + [ + -0.962520182132721, + -0.04873083531856537, + 0.26679617166519165, + 13.241816520690918 + ], + [ + -0.003428211435675621, + -0.9814605712890625, + -0.1916336566209793, + -7.912577152252197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1947, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_138469696", + "mask_path": "../../mask/hdr_front_01947.png" + }, + { + "file_path": "../../rgb/hdr_front_01948.png", + "transform_matrix": [ + [ + 0.2686364948749542, + -0.1903008371591568, + 0.9442563652992249, + 59.063201904296875 + ], + [ + -0.9632189869880676, + -0.04634499177336693, + 0.26469114422798157, + 13.231223106384277 + ], + [ + -0.006609385833144188, + -0.9806312918663025, + -0.19575132429599762, + -7.884427070617676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_238471031", + "mask_path": "../../mask/hdr_front_01948.png" + }, + { + "file_path": "../../rgb/hdr_front_01949.png", + "transform_matrix": [ + [ + 0.26593706011772156, + -0.18940462172031403, + 0.9452000856399536, + 59.00382614135742 + ], + [ + -0.9639901518821716, + -0.05164139345288277, + 0.26087555289268494, + 13.215292930603027 + ], + [ + -0.0005995850660838187, + -0.9805402159690857, + -0.19631755352020264, + -7.850785732269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1949, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_338470458", + "mask_path": "../../mask/hdr_front_01949.png" + }, + { + "file_path": "../../rgb/hdr_front_01950.png", + "transform_matrix": [ + [ + 0.27428704500198364, + -0.188066303730011, + 0.9430787563323975, + 58.93571090698242 + ], + [ + -0.9616149663925171, + -0.0455297976732254, + 0.27059873938560486, + 13.18825626373291 + ], + [ + -0.007952312938869, + -0.9811004996299744, + -0.19333559274673462, + -7.835106372833252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_438470840", + "mask_path": "../../mask/hdr_front_01950.png" + }, + { + "file_path": "../../rgb/hdr_front_01951.png", + "transform_matrix": [ + [ + 0.28853529691696167, + -0.1873357594013214, + 0.9389636516571045, + 58.87343978881836 + ], + [ + -0.9572515487670898, + -0.03552829474210739, + 0.28706663846969604, + 13.162094116210938 + ], + [ + -0.020418068394064903, + -0.9816532135009766, + -0.1895785927772522, + -7.826366424560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1951, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_538470268", + "mask_path": "../../mask/hdr_front_01951.png" + }, + { + "file_path": "../../rgb/hdr_front_01952.png", + "transform_matrix": [ + [ + 0.2993605136871338, + -0.18055450916290283, + 0.9369009137153625, + 58.809932708740234 + ], + [ + -0.9539130330085754, + -0.035219427198171616, + 0.2980090081691742, + 13.151165962219238 + ], + [ + -0.020809752866625786, + -0.9829342365264893, + -0.18277662992477417, + -7.819118022918701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_638469696", + "mask_path": "../../mask/hdr_front_01952.png" + }, + { + "file_path": "../../rgb/hdr_front_01953.png", + "transform_matrix": [ + [ + 0.3048444986343384, + -0.17515794932842255, + 0.9361567497253418, + 58.74550247192383 + ], + [ + -0.9522814154624939, + -0.040403954684734344, + 0.3025355041027069, + 13.146039962768555 + ], + [ + -0.015167064033448696, + -0.9837110042572021, + -0.17911659181118011, + -7.803821563720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1953, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_738471746", + "mask_path": "../../mask/hdr_front_01953.png" + }, + { + "file_path": "../../rgb/hdr_front_01955.png", + "transform_matrix": [ + [ + 0.31393569707870483, + -0.17501574754714966, + 0.9331741333007812, + 58.656429290771484 + ], + [ + -0.9493715763092041, + -0.04570489376783371, + 0.31081292033195496, + 13.111607551574707 + ], + [ + -0.01174653135240078, + -0.9835042357444763, + -0.18050336837768555, + -7.777541160583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1955, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_938470840", + "mask_path": "../../mask/hdr_front_01955.png" + }, + { + "file_path": "../../rgb/hdr_front_01956.png", + "transform_matrix": [ + [ + 0.33385029435157776, + -0.16586320102214813, + 0.9279188513755798, + 58.60114669799805 + ], + [ + -0.9425042867660522, + -0.04290483146905899, + 0.33142873644828796, + 13.081513404846191 + ], + [ + -0.015159626491367817, + -0.9852150082588196, + -0.17065055668354034, + -7.789920330047607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_38470745", + "mask_path": "../../mask/hdr_front_01956.png" + }, + { + "file_path": "../../rgb/hdr_front_01957.png", + "transform_matrix": [ + [ + 0.36274221539497375, + -0.1651792973279953, + 0.9171335101127625, + 58.55723190307617 + ], + [ + -0.9315276145935059, + -0.036846987903118134, + 0.361799031496048, + 13.053511619567871 + ], + [ + -0.02596810832619667, + -0.9855751395225525, + -0.16723504662513733, + -7.790453910827637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1957, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_138470411", + "mask_path": "../../mask/hdr_front_01957.png" + }, + { + "file_path": "../../rgb/hdr_front_01958.png", + "transform_matrix": [ + [ + 0.3910541236400604, + -0.15819871425628662, + 0.9066696763038635, + 58.50934600830078 + ], + [ + -0.9198185205459595, + -0.03314993903040886, + 0.39094123244285583, + 13.028908729553223 + ], + [ + -0.0317903533577919, + -0.9868507385253906, + -0.1584775149822235, + -7.781970024108887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1958, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_238471031", + "mask_path": "../../mask/hdr_front_01958.png" + }, + { + "file_path": "../../rgb/hdr_front_01959.png", + "transform_matrix": [ + [ + 0.41563406586647034, + -0.1441739797592163, + 0.8980324864387512, + 58.456565856933594 + ], + [ + -0.9090830683708191, + -0.034833867102861404, + 0.41515618562698364, + 13.005764961242676 + ], + [ + -0.028572777286171913, + -0.988939106464386, + -0.14554426074028015, + -7.775637149810791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1959, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_338469505", + "mask_path": "../../mask/hdr_front_01959.png" + }, + { + "file_path": "../../rgb/hdr_front_01961.png", + "transform_matrix": [ + [ + 0.4333789646625519, + -0.14072991907596588, + 0.8901559710502625, + 58.377830505371094 + ], + [ + -0.9009215235710144, + -0.04258425161242485, + 0.43188777565956116, + 12.968982696533203 + ], + [ + -0.02287290431559086, + -0.9891318082809448, + -0.14524173736572266, + -7.765696048736572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_538469314", + "mask_path": "../../mask/hdr_front_01961.png" + }, + { + "file_path": "../../rgb/hdr_front_01962.png", + "transform_matrix": [ + [ + 0.43701454997062683, + -0.13459907472133636, + 0.8893264532089233, + 58.32193374633789 + ], + [ + -0.8992604613304138, + -0.044850289821624756, + 0.43510809540748596, + 12.943520545959473 + ], + [ + -0.01867859624326229, + -0.989884614944458, + -0.14063984155654907, + -7.7588982582092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_638469219", + "mask_path": "../../mask/hdr_front_01962.png" + }, + { + "file_path": "../../rgb/hdr_front_01963.png", + "transform_matrix": [ + [ + 0.44774478673934937, + -0.13533568382263184, + 0.8838602304458618, + 58.27466583251953 + ], + [ + -0.8938969969749451, + -0.043713755905628204, + 0.4461357891559601, + 12.912989616394043 + ], + [ + -0.021741244941949844, + -0.9898350834846497, + -0.14054878056049347, + -7.746371269226074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1963, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_738469123", + "mask_path": "../../mask/hdr_front_01963.png" + }, + { + "file_path": "../../rgb/hdr_front_01965.png", + "transform_matrix": [ + [ + 0.4493074119091034, + -0.12850317358970642, + 0.8840869069099426, + 58.214317321777344 + ], + [ + -0.8932650685310364, + -0.048941753804683685, + 0.44685816764831543, + 12.877910614013672 + ], + [ + -0.014153927564620972, + -0.9905007481575012, + -0.13677729666233063, + -7.739841461181641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_938469409", + "mask_path": "../../mask/hdr_front_01965.png" + }, + { + "file_path": "../../rgb/hdr_front_02087.png", + "transform_matrix": [ + [ + 0.4787748456001282, + -0.08144915103912354, + 0.8741514086723328, + 58.161685943603516 + ], + [ + -0.8776046633720398, + -0.07182152569293976, + 0.4739743173122406, + 12.839399337768555 + ], + [ + 0.02417808398604393, + -0.9940863847732544, + -0.10586649924516678, + -7.76116418838501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594377_138468980", + "mask_path": "../../mask/hdr_front_02087.png" + }, + { + "file_path": "../../rgb/hdr_front_02089.png", + "transform_matrix": [ + [ + 0.4877162575721741, + -0.08922544866800308, + 0.8684306144714355, + 58.100181579589844 + ], + [ + -0.8728087544441223, + -0.07077459990978241, + 0.48290348052978516, + 12.810088157653809 + ], + [ + 0.01837555132806301, + -0.9934937357902527, + -0.11239468306303024, + -7.742740154266357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594377_338469266", + "mask_path": "../../mask/hdr_front_02089.png" + }, + { + "file_path": "../../rgb/hdr_front_02103.png", + "transform_matrix": [ + [ + 0.697282075881958, + -0.07817435264587402, + 0.7125211954116821, + 57.818668365478516 + ], + [ + -0.7166133522987366, + -0.05353958532214165, + 0.6954126954078674, + 12.497725486755371 + ], + [ + -0.01621534861624241, + -0.9955010414123535, + -0.09335297346115112, + -7.697693824768066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_738470554", + "mask_path": "../../mask/hdr_front_02103.png" + }, + { + "file_path": "../../rgb/hdr_front_02104.png", + "transform_matrix": [ + [ + 0.6984351277351379, + -0.07799998670816422, + 0.7114102840423584, + 57.77260971069336 + ], + [ + -0.715372622013092, + -0.047274619340896606, + 0.6971420049667358, + 12.450034141540527 + ], + [ + -0.020745430141687393, + -0.9958319067955017, + -0.08881731331348419, + -7.696761131286621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_838470697", + "mask_path": "../../mask/hdr_front_02104.png" + }, + { + "file_path": "../../rgb/hdr_front_02105.png", + "transform_matrix": [ + [ + 0.7019985914230347, + -0.08508741110563278, + 0.7070772051811218, + 57.72932052612305 + ], + [ + -0.7113651037216187, + -0.036342110484838486, + 0.7018824815750122, + 12.411304473876953 + ], + [ + -0.0340246818959713, + -0.9957104921340942, + -0.08604034036397934, + -7.694282531738281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2105, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_938470602", + "mask_path": "../../mask/hdr_front_02105.png" + }, + { + "file_path": "../../rgb/hdr_front_02106.png", + "transform_matrix": [ + [ + 0.7037956118583679, + -0.08559762686491013, + 0.7052268385887146, + 57.67728805541992 + ], + [ + -0.7092908024787903, + -0.029151421040296555, + 0.7043129801750183, + 12.377655982971191 + ], + [ + -0.039729148149490356, + -0.9959031939506531, + -0.08123026043176651, + -7.693419933319092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_38469314", + "mask_path": "../../mask/hdr_front_02106.png" + }, + { + "file_path": "../../rgb/hdr_front_02107.png", + "transform_matrix": [ + [ + 0.7025793790817261, + -0.0794069766998291, + 0.707161009311676, + 57.616825103759766 + ], + [ + -0.7105090618133545, + -0.02313818596303463, + 0.7033075094223022, + 12.345048904418945 + ], + [ + -0.03948510065674782, + -0.9965737462043762, + -0.07267578691244125, + -7.688614845275879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2107, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_138470649", + "mask_path": "../../mask/hdr_front_02107.png" + }, + { + "file_path": "../../rgb/hdr_front_02108.png", + "transform_matrix": [ + [ + 0.6960131525993347, + -0.07712002098560333, + 0.7138755321502686, + 57.568965911865234 + ], + [ + -0.7169928550720215, + -0.021255789324641228, + 0.6967563629150391, + 12.319790840148926 + ], + [ + -0.03855987265706062, + -0.9967952966690063, + -0.07008881866931915, + -7.678922653198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_238470554", + "mask_path": "../../mask/hdr_front_02108.png" + }, + { + "file_path": "../../rgb/hdr_front_02110.png", + "transform_matrix": [ + [ + 0.6870426535606384, + -0.07747779786586761, + 0.7224746346473694, + 57.4881706237793 + ], + [ + -0.7258105874061584, + -0.02634424902498722, + 0.6873900294303894, + 12.268548965454102 + ], + [ + -0.034224409610033035, + -0.996645987033844, + -0.07433382421731949, + -7.670452117919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2110, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_438469409", + "mask_path": "../../mask/hdr_front_02110.png" + }, + { + "file_path": "../../rgb/hdr_front_02111.png", + "transform_matrix": [ + [ + 0.6880671381950378, + -0.07513770461082458, + 0.7217465043067932, + 57.44561767578125 + ], + [ + -0.7247081995010376, + -0.02057865634560585, + 0.6887484192848206, + 12.237151145935059 + ], + [ + -0.03689838945865631, + -0.9969608187675476, + -0.06861241161823273, + -7.658657550811768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2111, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_538468599", + "mask_path": "../../mask/hdr_front_02111.png" + }, + { + "file_path": "../../rgb/hdr_front_02112.png", + "transform_matrix": [ + [ + 0.6938576698303223, + -0.07783536612987518, + 0.7158933281898499, + 57.41222381591797 + ], + [ + -0.7189211249351501, + -0.01771748997271061, + 0.6948659420013428, + 12.199544906616211 + ], + [ + -0.04140130430459976, + -0.9968087673187256, + -0.06825090199708939, + -7.649774074554443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2112, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_638470172", + "mask_path": "../../mask/hdr_front_02112.png" + }, + { + "file_path": "../../rgb/hdr_front_02114.png", + "transform_matrix": [ + [ + 0.7030430436134338, + -0.08336539566516876, + 0.7062440514564514, + 57.351348876953125 + ], + [ + -0.7094682455062866, + -0.014017356559634209, + 0.7045979499816895, + 12.131487846374512 + ], + [ + -0.04883941262960434, + -0.9964205026626587, + -0.06899991631507874, + -7.64109468460083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2114, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_838470458", + "mask_path": "../../mask/hdr_front_02114.png" + }, + { + "file_path": "../../rgb/hdr_front_02118.png", + "transform_matrix": [ + [ + 0.6949407458305359, + -0.09895006567239761, + 0.7122263312339783, + 57.21244430541992 + ], + [ + -0.7171491384506226, + -0.023079387843608856, + 0.6965376138687134, + 12.007986068725586 + ], + [ + -0.05248468741774559, + -0.9948247671127319, + -0.08700075000524521, + -7.609320640563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2118, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_238470077", + "mask_path": "../../mask/hdr_front_02118.png" + }, + { + "file_path": "../../rgb/hdr_front_02120.png", + "transform_matrix": [ + [ + 0.6958671808242798, + -0.09475316107273102, + 0.711892306804657, + 57.15250778198242 + ], + [ + -0.7161322236061096, + -0.01692012883722782, + 0.6977595090866089, + 11.962545394897461 + ], + [ + -0.05406961217522621, + -0.9953570365905762, + -0.07962995022535324, + -7.613560199737549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_438470125", + "mask_path": "../../mask/hdr_front_02120.png" + }, + { + "file_path": "../../rgb/hdr_front_02122.png", + "transform_matrix": [ + [ + 0.6823699474334717, + -0.0981404110789299, + 0.7243892550468445, + 57.092044830322266 + ], + [ + -0.7290325164794922, + -0.018577290698885918, + 0.6842269897460938, + 11.938549041748047 + ], + [ + -0.053693123161792755, + -0.9949992299079895, + -0.08422412723302841, + -7.603562831878662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2122, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_638469696", + "mask_path": "../../mask/hdr_front_02122.png" + }, + { + "file_path": "../../rgb/hdr_front_02124.png", + "transform_matrix": [ + [ + 0.6939301490783691, + -0.09244799613952637, + 0.7140828371047974, + 57.04386520385742 + ], + [ + -0.7182532548904419, + -0.01900925487279892, + 0.6955219507217407, + 11.880171775817871 + ], + [ + -0.05072542652487755, + -0.9955360889434814, + -0.07959217578172684, + -7.618216514587402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_838470458", + "mask_path": "../../mask/hdr_front_02124.png" + }, + { + "file_path": "../../rgb/hdr_front_02126.png", + "transform_matrix": [ + [ + 0.6876172423362732, + -0.08586056530475616, + 0.720978856086731, + 56.98580551147461 + ], + [ + -0.7241604328155518, + -0.009065286256372929, + 0.6895719766616821, + 11.852395057678223 + ], + [ + -0.0526711568236351, + -0.9962660074234009, + -0.06841026246547699, + -7.603889465332031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2126, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_38470029", + "mask_path": "../../mask/hdr_front_02126.png" + }, + { + "file_path": "../../rgb/hdr_front_02128.png", + "transform_matrix": [ + [ + 0.6739081740379333, + -0.07116598635911942, + 0.7353795170783997, + 56.933624267578125 + ], + [ + -0.7381371259689331, + -0.022222688421607018, + 0.6742846369743347, + 11.81710147857666 + ], + [ + -0.03164400905370712, + -0.9972169399261475, + -0.06750629842281342, + -7.610099792480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2128, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_238470077", + "mask_path": "../../mask/hdr_front_02128.png" + }, + { + "file_path": "../../rgb/hdr_front_02134.png", + "transform_matrix": [ + [ + 0.55921471118927, + -0.06498156487941742, + 0.8264721632003784, + 56.7214241027832 + ], + [ + -0.8288142085075378, + -0.021453501656651497, + 0.559112548828125, + 11.705462455749512 + ], + [ + -0.01860128343105316, + -0.9976558685302734, + -0.0658547654747963, + -7.57356071472168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_838469266", + "mask_path": "../../mask/hdr_front_02134.png" + }, + { + "file_path": "../../rgb/hdr_front_02136.png", + "transform_matrix": [ + [ + 0.488914430141449, + -0.08069628477096558, + 0.86859130859375, + 56.63623046875 + ], + [ + -0.871804416179657, + -0.010584013536572456, + 0.4897397458553314, + 11.700268745422363 + ], + [ + -0.03032699041068554, + -0.9966825842857361, + -0.07552603632211685, + -7.5615692138671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2136, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_38469314", + "mask_path": "../../mask/hdr_front_02136.png" + }, + { + "file_path": "../../rgb/hdr_front_02138.png", + "transform_matrix": [ + [ + 0.4185255765914917, + -0.08670210093259811, + 0.9040570259094238, + 56.55624008178711 + ], + [ + -0.9080200791358948, + -0.019860291853547096, + 0.4184556007385254, + 11.707778930664062 + ], + [ + -0.018326139077544212, + -0.9960362911224365, + -0.0870392918586731, + -7.54835844039917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_238470077", + "mask_path": "../../mask/hdr_front_02138.png" + }, + { + "file_path": "../../rgb/hdr_front_02140.png", + "transform_matrix": [ + [ + 0.4098774194717407, + -0.09284550696611404, + 0.9074030518531799, + 56.47991180419922 + ], + [ + -0.9120041728019714, + -0.024506868794560432, + 0.4094482660293579, + 11.661702156066895 + ], + [ + -0.015777815133333206, + -0.9953789710998535, + -0.09472029656171799, + -7.531729698181152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2140, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_438470363", + "mask_path": "../../mask/hdr_front_02140.png" + }, + { + "file_path": "../../rgb/hdr_front_02142.png", + "transform_matrix": [ + [ + 0.4184175133705139, + -0.09551621973514557, + 0.9032184481620789, + 56.41816711425781 + ], + [ + -0.9079670310020447, + -0.018952729180455208, + 0.4186130464076996, + 11.634530067443848 + ], + [ + -0.02286587841808796, + -0.995247483253479, + -0.09465572237968445, + -7.520963668823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2142, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_638470411", + "mask_path": "../../mask/hdr_front_02142.png" + }, + { + "file_path": "../../rgb/hdr_front_02144.png", + "transform_matrix": [ + [ + 0.40226009488105774, + -0.0965733677148819, + 0.9104176163673401, + 56.35720443725586 + ], + [ + -0.9154916405677795, + -0.03388150781393051, + 0.4009079337120056, + 11.613094329833984 + ], + [ + -0.00787070021033287, + -0.9947490692138672, + -0.10204127430915833, + -7.5116047859191895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2144, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_838470220", + "mask_path": "../../mask/hdr_front_02144.png" + }, + { + "file_path": "../../rgb/hdr_front_02146.png", + "transform_matrix": [ + [ + 0.4098333418369293, + -0.10597675293684006, + 0.9059832096099854, + 56.27659225463867 + ], + [ + -0.9121401309967041, + -0.04099573194980621, + 0.4078230857849121, + 11.567999839782715 + ], + [ + -0.006078318227082491, + -0.9935231804847717, + -0.11346706748008728, + -7.495421886444092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2146, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_38470029", + "mask_path": "../../mask/hdr_front_02146.png" + }, + { + "file_path": "../../rgb/hdr_front_02148.png", + "transform_matrix": [ + [ + 0.4167368412017822, + -0.11231156438589096, + 0.9020623564720154, + 56.1984977722168 + ], + [ + -0.9089337587356567, + -0.03725482523441315, + 0.41527289152145386, + 11.530830383300781 + ], + [ + -0.01303376629948616, + -0.9929744005203247, + -0.11760924011468887, + -7.482513904571533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2148, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_238470554", + "mask_path": "../../mask/hdr_front_02148.png" + }, + { + "file_path": "../../rgb/hdr_front_02150.png", + "transform_matrix": [ + [ + 0.40848731994628906, + -0.11714477092027664, + 0.9052155613899231, + 56.11260223388672 + ], + [ + -0.9127601981163025, + -0.04958285018801689, + 0.405475378036499, + 11.497623443603516 + ], + [ + -0.0026161526329815388, + -0.9918763637542725, + -0.1271790713071823, + -7.456151008605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2150, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_438470602", + "mask_path": "../../mask/hdr_front_02150.png" + }, + { + "file_path": "../../rgb/hdr_front_02151.png", + "transform_matrix": [ + [ + 0.4139563739299774, + -0.11554647982120514, + 0.9029337167739868, + 56.06147003173828 + ], + [ + -0.9102898240089417, + -0.04867558181285858, + 0.41109997034072876, + 11.466660499572754 + ], + [ + -0.0035503311082720757, + -0.9921087026596069, + -0.1253303587436676, + -7.453127384185791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2151, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_538470268", + "mask_path": "../../mask/hdr_front_02151.png" + }, + { + "file_path": "../../rgb/hdr_front_02152.png", + "transform_matrix": [ + [ + 0.42041489481925964, + -0.12186087667942047, + 0.8991113901138306, + 56.01360321044922 + ], + [ + -0.9073203206062317, + -0.05145968496799469, + 0.41727882623672485, + 11.437129020690918 + ], + [ + -0.004581973887979984, + -0.9912123084068298, + -0.13220128417015076, + -7.445009708404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2152, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_638471126", + "mask_path": "../../mask/hdr_front_02152.png" + }, + { + "file_path": "../../rgb/hdr_front_02153.png", + "transform_matrix": [ + [ + 0.4219060242176056, + -0.12134085595607758, + 0.8984830379486084, + 55.96604919433594 + ], + [ + -0.9066380262374878, + -0.05462947115302086, + 0.4183576703071594, + 11.414018630981445 + ], + [ + -0.0016802254831418395, + -0.9911065101623535, + -0.1330607533454895, + -7.432641983032227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2153, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_738470792", + "mask_path": "../../mask/hdr_front_02153.png" + }, + { + "file_path": "../../rgb/hdr_front_02154.png", + "transform_matrix": [ + [ + 0.41581520438194275, + -0.11977910995483398, + 0.9015268683433533, + 55.91579818725586 + ], + [ + -0.909446656703949, + -0.05707588419318199, + 0.4118848145008087, + 11.392220497131348 + ], + [ + 0.0021202517673373222, + -0.991158664226532, + -0.1326657086610794, + -7.416689872741699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2154, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_838469505", + "mask_path": "../../mask/hdr_front_02154.png" + }, + { + "file_path": "../../rgb/hdr_front_02155.png", + "transform_matrix": [ + [ + 0.40465807914733887, + -0.12870386242866516, + 0.9053658246994019, + 55.869773864746094 + ], + [ + -0.9144649505615234, + -0.05951808765530586, + 0.40026408433914185, + 11.37303352355957 + ], + [ + 0.00237010489217937, + -0.9898954629898071, + -0.14177963137626648, + -7.396524429321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2155, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_938470602", + "mask_path": "../../mask/hdr_front_02155.png" + }, + { + "file_path": "../../rgb/hdr_front_02156.png", + "transform_matrix": [ + [ + 0.40239474177360535, + -0.13207142055034637, + 0.9058893918991089, + 55.822818756103516 + ], + [ + -0.9154647588729858, + -0.056277334690093994, + 0.3984433114528656, + 11.349112510681152 + ], + [ + -0.0016419347375631332, + -0.9896414279937744, + -0.14355243742465973, + -7.382741928100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2156, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_38470029", + "mask_path": "../../mask/hdr_front_02156.png" + }, + { + "file_path": "../../rgb/hdr_front_02157.png", + "transform_matrix": [ + [ + 0.40611329674720764, + -0.13223855197429657, + 0.9042040109634399, + 55.771278381347656 + ], + [ + -0.9138057231903076, + -0.05272451788187027, + 0.40271490812301636, + 11.320401191711426 + ], + [ + -0.005580713041126728, + -0.9898146986961365, + -0.14225244522094727, + -7.388096809387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2157, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_138470411", + "mask_path": "../../mask/hdr_front_02157.png" + }, + { + "file_path": "../../rgb/hdr_front_02159.png", + "transform_matrix": [ + [ + 0.40557724237442017, + -0.12047018855810165, + 0.9060872793197632, + 55.678653717041016 + ], + [ + -0.9140278100967407, + -0.0618598498404026, + 0.4009069502353668, + 11.284112930297852 + ], + [ + 0.007753083482384682, + -0.99078768491745, + -0.1352020651102066, + -7.385361671447754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2159, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_338470458", + "mask_path": "../../mask/hdr_front_02159.png" + }, + { + "file_path": "../../rgb/hdr_front_02161.png", + "transform_matrix": [ + [ + 0.38624322414398193, + -0.11305422335863113, + 0.9154425263404846, + 55.585777282714844 + ], + [ + -0.9223511815071106, + -0.05722164735198021, + 0.3820915222167969, + 11.256795883178711 + ], + [ + 0.009186065755784512, + -0.9919397234916687, + -0.1263771653175354, + -7.362340927124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2161, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_538470983", + "mask_path": "../../mask/hdr_front_02161.png" + }, + { + "file_path": "../../rgb/hdr_front_02162.png", + "transform_matrix": [ + [ + 0.3838222324848175, + -0.10932724177837372, + 0.916912317276001, + 55.52083969116211 + ], + [ + -0.9233909249305725, + -0.05129372701048851, + 0.3804182708263397, + 11.22556209564209 + ], + [ + 0.005441771354526281, + -0.9926815032958984, + -0.12063946574926376, + -7.367669582366943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2162, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_638470649", + "mask_path": "../../mask/hdr_front_02162.png" + }, + { + "file_path": "../../rgb/hdr_front_02163.png", + "transform_matrix": [ + [ + 0.3879561722278595, + -0.11064399778842926, + 0.915012538433075, + 55.46162033081055 + ], + [ + -0.9216744303703308, + -0.04387208819389343, + 0.38547569513320923, + 11.196836471557617 + ], + [ + -0.0025070649571716785, + -0.9928914308547974, + -0.11899818480014801, + -7.372185707092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2163, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_738470554", + "mask_path": "../../mask/hdr_front_02163.png" + }, + { + "file_path": "../../rgb/hdr_front_02164.png", + "transform_matrix": [ + [ + 0.3881930410861969, + -0.11053236573934555, + 0.9149255752563477, + 55.409461975097656 + ], + [ + -0.9215486645698547, + -0.03861570730805397, + 0.3863379657268524, + 11.178362846374512 + ], + [ + -0.007372347638010979, + -0.9931220412254333, + -0.11685128509998322, + -7.3710713386535645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2164, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_838469982", + "mask_path": "../../mask/hdr_front_02164.png" + }, + { + "file_path": "../../rgb/hdr_front_02165.png", + "transform_matrix": [ + [ + 0.38525426387786865, + -0.10864277184009552, + 0.9163929224014282, + 55.34272384643555 + ], + [ + -0.9227617383003235, + -0.03514600917696953, + 0.3837650418281555, + 11.158973693847656 + ], + [ + -0.009485743939876556, + -0.9934594035148621, + -0.11379153281450272, + -7.363004207611084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2165, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_938470363", + "mask_path": "../../mask/hdr_front_02165.png" + }, + { + "file_path": "../../rgb/hdr_front_02166.png", + "transform_matrix": [ + [ + 0.3760123550891876, + -0.10682446509599686, + 0.920436441898346, + 55.28205871582031 + ], + [ + -0.9265612363815308, + -0.032681822776794434, + 0.3747214376926422, + 11.142464637756348 + ], + [ + -0.009947876445949078, + -0.9937406778335571, + -0.11126818507909775, + -7.345795154571533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2166, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_38471937", + "mask_path": "../../mask/hdr_front_02166.png" + }, + { + "file_path": "../../rgb/hdr_front_02167.png", + "transform_matrix": [ + [ + 0.3671794831752777, + -0.11213823407888412, + 0.9233657121658325, + 55.228546142578125 + ], + [ + -0.9301188588142395, + -0.036126621067523956, + 0.3654775023460388, + 11.126978874206543 + ], + [ + -0.007625918369740248, + -0.9930357336997986, + -0.11756684631109238, + -7.33753776550293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2167, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_138470411", + "mask_path": "../../mask/hdr_front_02167.png" + }, + { + "file_path": "../../rgb/hdr_front_02168.png", + "transform_matrix": [ + [ + 0.36258822679519653, + -0.11306677013635635, + 0.9250652194023132, + 55.16300964355469 + ], + [ + -0.9319038987159729, + -0.0341765470802784, + 0.3610914647579193, + 11.10162353515625 + ], + [ + -0.009211909957230091, + -0.9929994344711304, + -0.11775938421487808, + -7.329465389251709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2168, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_238471508", + "mask_path": "../../mask/hdr_front_02168.png" + }, + { + "file_path": "../../rgb/hdr_front_02169.png", + "transform_matrix": [ + [ + 0.3669264316558838, + -0.1041850596666336, + 0.9243972897529602, + 55.095436096191406 + ], + [ + -0.9299811124801636, + -0.017195891588926315, + 0.36720478534698486, + 11.072837829589844 + ], + [ + -0.02236141264438629, + -0.9944092631340027, + -0.10319976508617401, + -7.321148872375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2169, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_338469982", + "mask_path": "../../mask/hdr_front_02169.png" + }, + { + "file_path": "../../rgb/hdr_front_02170.png", + "transform_matrix": [ + [ + 0.37109118700027466, + -0.10381711274385452, + 0.9227747917175293, + 55.04881286621094 + ], + [ + -0.928157389163971, + -0.010913360863924026, + 0.3720279633998871, + 11.05196475982666 + ], + [ + -0.02855229750275612, + -0.9945365786552429, + -0.10040846467018127, + -7.325077533721924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2170, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_438469886", + "mask_path": "../../mask/hdr_front_02170.png" + }, + { + "file_path": "../../rgb/hdr_front_02171.png", + "transform_matrix": [ + [ + 0.370784193277359, + -0.10655674338340759, + 0.9225859642028809, + 54.993370056152344 + ], + [ + -0.9281330704689026, + -0.007233151234686375, + 0.37217819690704346, + 11.0316801071167 + ], + [ + -0.0329848937690258, + -0.9942802786827087, + -0.10158078372478485, + -7.3225226402282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2171, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_538470029", + "mask_path": "../../mask/hdr_front_02171.png" + }, + { + "file_path": "../../rgb/hdr_front_02172.png", + "transform_matrix": [ + [ + 0.36842668056488037, + -0.10733887553215027, + 0.9234393239021301, + 54.92584991455078 + ], + [ + -0.9291428923606873, + -0.00949282106012106, + 0.3695988655090332, + 11.009943962097168 + ], + [ + -0.030906276777386665, + -0.9941772222518921, + -0.1032305657863617, + -7.307925224304199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2172, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_638470172", + "mask_path": "../../mask/hdr_front_02172.png" + }, + { + "file_path": "../../rgb/hdr_front_02173.png", + "transform_matrix": [ + [ + 0.35821980237960815, + -0.10122109204530716, + 0.9281341433525085, + 54.8742561340332 + ], + [ + -0.9333938956260681, + -0.016125986352562904, + 0.35849112272262573, + 10.994580268859863 + ], + [ + -0.021319786086678505, + -0.9947332739830017, + -0.10025579482316971, + -7.295106887817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2173, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_738469600", + "mask_path": "../../mask/hdr_front_02173.png" + }, + { + "file_path": "../../rgb/hdr_front_02175.png", + "transform_matrix": [ + [ + 0.3415970504283905, + -0.10815125703811646, + 0.9336031675338745, + 54.75371170043945 + ], + [ + -0.9394415616989136, + -0.01013237051665783, + 0.3425595164299011, + 10.940655708312988 + ], + [ + -0.027588633820414543, + -0.9940828084945679, + -0.10506297647953033, + -7.281346797943115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2175, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_938470363", + "mask_path": "../../mask/hdr_front_02175.png" + }, + { + "file_path": "../../rgb/hdr_front_02176.png", + "transform_matrix": [ + [ + 0.33603110909461975, + -0.10790100693702698, + 0.9356498122215271, + 54.703609466552734 + ], + [ + -0.941242516040802, + -0.002771544037386775, + 0.33772003650665283, + 10.917972564697266 + ], + [ + -0.0338471420109272, + -0.9941577911376953, + -0.10249235481023788, + -7.277008056640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2176, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_38470029", + "mask_path": "../../mask/hdr_front_02176.png" + }, + { + "file_path": "../../rgb/hdr_left_01880.png", + "transform_matrix": [ + [ + -0.5950056314468384, + -0.0897037535905838, + -0.7986999154090881, + 64.8486099243164 + ], + [ + 0.8027183413505554, + -0.016687268391251564, + -0.5961247682571411, + 13.131916999816895 + ], + [ + 0.040146514773368835, + -0.9958286881446838, + 0.08193586021661758, + -9.196088790893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1880, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_838469982", + "mask_path": "../../mask/hdr_left_01880.png" + }, + { + "file_path": "../../rgb/hdr_left_01881.png", + "transform_matrix": [ + [ + -0.6004921197891235, + -0.09504442662000656, + -0.7939620614051819, + 64.79686737060547 + ], + [ + 0.79828941822052, + -0.013770075514912605, + -0.602116584777832, + 13.169992446899414 + ], + [ + 0.04629490524530411, + -0.9953778982162476, + 0.08414178341627121, + -9.190882682800293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1881, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_938471078", + "mask_path": "../../mask/hdr_left_01881.png" + }, + { + "file_path": "../../rgb/hdr_left_01882.png", + "transform_matrix": [ + [ + -0.610314667224884, + -0.09943848103284836, + -0.7858930230140686, + 64.72196960449219 + ], + [ + 0.7902747392654419, + -0.008042724803090096, + -0.6126998662948608, + 13.219367027282715 + ], + [ + 0.05460521951317787, + -0.9950112104415894, + 0.08349230885505676, + -9.181160926818848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1882, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_38470029", + "mask_path": "../../mask/hdr_left_01882.png" + }, + { + "file_path": "../../rgb/hdr_left_01883.png", + "transform_matrix": [ + [ + -0.6298233270645142, + -0.09568063169717789, + -0.7708228230476379, + 64.64799499511719 + ], + [ + 0.7745541334152222, + -0.0029929836746305227, + -0.6325005888938904, + 13.266355514526367 + ], + [ + 0.058210987597703934, + -0.9954076409339905, + 0.07599487155675888, + -9.173007011413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1883, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_138470411", + "mask_path": "../../mask/hdr_left_01883.png" + }, + { + "file_path": "../../rgb/hdr_left_01884.png", + "transform_matrix": [ + [ + -0.6489347815513611, + -0.0917200818657875, + -0.7552953362464905, + 64.59309387207031 + ], + [ + 0.7582756876945496, + 0.003532784292474389, + -0.6519245505332947, + 13.293195724487305 + ], + [ + 0.06246286258101463, + -0.9957786202430725, + 0.06725656241178513, + -9.171937942504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1884, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_238470792", + "mask_path": "../../mask/hdr_left_01884.png" + }, + { + "file_path": "../../rgb/hdr_left_01885.png", + "transform_matrix": [ + [ + -0.6653004288673401, + -0.09019146859645844, + -0.741107702255249, + 64.53011322021484 + ], + [ + 0.7439468502998352, + 0.0031414474360644817, + -0.6682313680648804, + 13.33092975616455 + ], + [ + 0.06259690970182419, + -0.9959194660186768, + 0.06500765681266785, + -9.164716720581055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1885, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_338469982", + "mask_path": "../../mask/hdr_left_01885.png" + }, + { + "file_path": "../../rgb/hdr_left_01886.png", + "transform_matrix": [ + [ + -0.6762629151344299, + -0.0881427451968193, + -0.7313680648803711, + 64.4720687866211 + ], + [ + 0.7342252135276794, + 9.54049846768612e-06, + -0.6789059638977051, + 13.371489524841309 + ], + [ + 0.05984760820865631, + -0.9961079359054565, + 0.06471017748117447, + -9.154914855957031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1886, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_438469886", + "mask_path": "../../mask/hdr_left_01886.png" + }, + { + "file_path": "../../rgb/hdr_left_01887.png", + "transform_matrix": [ + [ + -0.6821061968803406, + -0.09424135833978653, + -0.7251549959182739, + 64.42450714111328 + ], + [ + 0.7282774448394775, + 0.001821174519136548, + -0.6852799654006958, + 13.4092435836792 + ], + [ + 0.06590235233306885, + -0.9955477118492126, + 0.06739161908626556, + -9.139873504638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1887, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_538470268", + "mask_path": "../../mask/hdr_left_01887.png" + }, + { + "file_path": "../../rgb/hdr_left_01888.png", + "transform_matrix": [ + [ + -0.6895297169685364, + -0.10046517103910446, + -0.7172555327415466, + 64.36160278320312 + ], + [ + 0.7207384705543518, + 0.0023215427063405514, + -0.6932032108306885, + 13.439278602600098 + ], + [ + 0.07130790501832962, + -0.9949378967285156, + 0.07080832868814468, + -9.133382797241211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1888, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_638470172", + "mask_path": "../../mask/hdr_left_01888.png" + }, + { + "file_path": "../../rgb/hdr_left_01889.png", + "transform_matrix": [ + [ + -0.7014243006706238, + -0.10447929799556732, + -0.705044686794281, + 64.2801284790039 + ], + [ + 0.7086848616600037, + 0.003185589099302888, + -0.7055178880691528, + 13.479117393493652 + ], + [ + 0.07595799118280411, + -0.9945220351219177, + 0.07180845737457275, + -9.121338844299316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1889, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_738469839", + "mask_path": "../../mask/hdr_left_01889.png" + }, + { + "file_path": "../../rgb/hdr_left_01890.png", + "transform_matrix": [ + [ + -0.7201746702194214, + -0.10159843415021896, + -0.6863135099411011, + 64.21156311035156 + ], + [ + 0.6895430684089661, + 0.004504987504333258, + -0.7242306470870972, + 13.508286476135254 + ], + [ + 0.0766725167632103, + -0.9948154091835022, + 0.06681212037801743, + -9.113876342773438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1890, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_838470220", + "mask_path": "../../mask/hdr_left_01890.png" + }, + { + "file_path": "../../rgb/hdr_left_01891.png", + "transform_matrix": [ + [ + -0.7378475666046143, + -0.09891774505376816, + -0.6676797866821289, + 64.15751647949219 + ], + [ + 0.670171320438385, + 0.01034983154386282, + -0.7421343922615051, + 13.529644012451172 + ], + [ + 0.08032061904668808, + -0.9950417876243591, + 0.05865522846579552, + -9.110603332519531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1891, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_938470602", + "mask_path": "../../mask/hdr_left_01891.png" + }, + { + "file_path": "../../rgb/hdr_left_01892.png", + "transform_matrix": [ + [ + -0.7564604878425598, + -0.09832576662302017, + -0.6466062068939209, + 64.09391021728516 + ], + [ + 0.6490918397903442, + 0.008509735576808453, + -0.7606624364852905, + 13.560704231262207 + ], + [ + 0.0802951529622078, + -0.9951179623603821, + 0.05738518014550209, + -9.100481033325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1892, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_38471460", + "mask_path": "../../mask/hdr_left_01892.png" + }, + { + "file_path": "../../rgb/hdr_left_01893.png", + "transform_matrix": [ + [ + -0.7717016935348511, + -0.0973292738199234, + -0.628493070602417, + 64.02901458740234 + ], + [ + 0.6311298608779907, + 0.004673950839787722, + -0.7756631374359131, + 13.592632293701172 + ], + [ + 0.07843226939439774, + -0.9952412843704224, + 0.057820506393909454, + -9.083450317382812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1893, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_138470649", + "mask_path": "../../mask/hdr_left_01893.png" + }, + { + "file_path": "../../rgb/hdr_left_01894.png", + "transform_matrix": [ + [ + -0.7820229530334473, + -0.106600321829319, + -0.6140655279159546, + 63.97534942626953 + ], + [ + 0.6173186302185059, + 0.0031176775228232145, + -0.7867069840431213, + 13.621865272521973 + ], + [ + 0.08577767759561539, + -0.9942970871925354, + 0.06336826831102371, + -9.071176528930664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1894, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_238470554", + "mask_path": "../../mask/hdr_left_01894.png" + }, + { + "file_path": "../../rgb/hdr_left_01895.png", + "transform_matrix": [ + [ + -0.7922270894050598, + -0.11568933725357056, + -0.5991595387458801, + 63.9171257019043 + ], + [ + 0.6033385396003723, + -0.0013918381882831454, + -0.7974839210510254, + 13.643033981323242 + ], + [ + 0.09142643958330154, + -0.9932845830917358, + 0.07090248912572861, + -9.061807632446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1895, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_338469982", + "mask_path": "../../mask/hdr_left_01895.png" + }, + { + "file_path": "../../rgb/hdr_left_01896.png", + "transform_matrix": [ + [ + -0.8050978183746338, + -0.11758018285036087, + -0.581371009349823, + 63.8392448425293 + ], + [ + 0.585475742816925, + -0.0004570909368339926, + -0.8106898069381714, + 13.671892166137695 + ], + [ + 0.09505529701709747, + -0.9930633902549744, + 0.06920834630727768, + -9.052417755126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1896, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_438470363", + "mask_path": "../../mask/hdr_left_01896.png" + }, + { + "file_path": "../../rgb/hdr_left_01897.png", + "transform_matrix": [ + [ + -0.8219262957572937, + -0.11567448824644089, + -0.5577243566513062, + 63.765594482421875 + ], + [ + 0.5611897706985474, + 0.003123651025816798, + -0.827681303024292, + 13.68901252746582 + ], + [ + 0.09748373925685883, + -0.9932823181152344, + 0.06234792619943619, + -9.048979759216309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1897, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_538470506", + "mask_path": "../../mask/hdr_left_01897.png" + }, + { + "file_path": "../../rgb/hdr_left_01898.png", + "transform_matrix": [ + [ + -0.835860013961792, + -0.11619669198989868, + -0.5365037322044373, + 63.709529876708984 + ], + [ + 0.540095865726471, + 0.000677397008985281, + -0.8416032195091248, + 13.702744483947754 + ], + [ + 0.0981549322605133, + -0.9932259917259216, + 0.06219114735722542, + -9.046207427978516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1898, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_638469457", + "mask_path": "../../mask/hdr_left_01898.png" + }, + { + "file_path": "../../rgb/hdr_left_01899.png", + "transform_matrix": [ + [ + -0.8458195924758911, + -0.11387555301189423, + -0.521173357963562, + 63.646644592285156 + ], + [ + 0.525129497051239, + -0.005659043323248625, + -0.8510035276412964, + 13.724230766296387 + ], + [ + 0.09395914524793625, + -0.9934789538383484, + 0.06458593904972076, + -9.037409782409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1899, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_738470077", + "mask_path": "../../mask/hdr_left_01899.png" + }, + { + "file_path": "../../rgb/hdr_left_01900.png", + "transform_matrix": [ + [ + -0.8504051566123962, + -0.10997671633958817, + -0.5145056247711182, + 63.588523864746094 + ], + [ + 0.5182818174362183, + -0.00685112876817584, + -0.8551823496818542, + 13.743510246276855 + ], + [ + 0.09052520990371704, + -0.993910551071167, + 0.06282518059015274, + -9.017891883850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1900, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_838470697", + "mask_path": "../../mask/hdr_left_01900.png" + }, + { + "file_path": "../../rgb/hdr_left_01901.png", + "transform_matrix": [ + [ + -0.8503867387771606, + -0.1177777498960495, + -0.5128067135810852, + 63.532073974609375 + ], + [ + 0.5174991488456726, + -0.011133473366498947, + -0.855611264705658, + 13.761425018310547 + ], + [ + 0.09506264328956604, + -0.9929776191711426, + 0.07041764259338379, + -9.002665519714355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1901, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_938469648", + "mask_path": "../../mask/hdr_left_01901.png" + }, + { + "file_path": "../../rgb/hdr_left_01902.png", + "transform_matrix": [ + [ + -0.8512402176856995, + -0.1256730854511261, + -0.509506106376648, + 63.46413040161133 + ], + [ + 0.5154415369033813, + -0.017915694043040276, + -0.8567374348640442, + 13.7802152633667 + ], + [ + 0.09854067862033844, + -0.9919099807739258, + 0.08002768456935883, + -8.993478775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1902, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_38469791", + "mask_path": "../../mask/hdr_left_01902.png" + }, + { + "file_path": "../../rgb/hdr_left_01903.png", + "transform_matrix": [ + [ + -0.8531376123428345, + -0.13289932906627655, + -0.5044739842414856, + 63.37767791748047 + ], + [ + 0.5112495422363281, + -0.020532596856355667, + -0.8591868877410889, + 13.799245834350586 + ], + [ + 0.10382721573114395, + -0.9909168481826782, + 0.08546186238527298, + -8.973491668701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1903, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_138470411", + "mask_path": "../../mask/hdr_left_01903.png" + }, + { + "file_path": "../../rgb/hdr_left_01904.png", + "transform_matrix": [ + [ + -0.8583776354789734, + -0.13245512545108795, + -0.4956243634223938, + 63.31081008911133 + ], + [ + 0.5018060803413391, + -0.015902329236268997, + -0.8648338913917542, + 13.813766479492188 + ], + [ + 0.10667010396718979, + -0.9910614490509033, + 0.08011698722839355, + -8.959858894348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1904, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_238470315", + "mask_path": "../../mask/hdr_left_01904.png" + }, + { + "file_path": "../../rgb/hdr_left_01906.png", + "transform_matrix": [ + [ + -0.8673604130744934, + -0.12905283272266388, + -0.48065710067749023, + 63.20417404174805 + ], + [ + 0.48605698347091675, + -0.012149443849921227, + -0.8738425970077515, + 13.834261894226074 + ], + [ + 0.1069321408867836, + -0.9915633201599121, + 0.0732649713754654, + -8.954587936401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1906, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_438469886", + "mask_path": "../../mask/hdr_left_01906.png" + }, + { + "file_path": "../../rgb/hdr_left_01907.png", + "transform_matrix": [ + [ + -0.8721818923950195, + -0.12800778448581696, + -0.4721361994743347, + 63.145713806152344 + ], + [ + 0.47661828994750977, + -0.0050375922583043575, + -0.8790958523750305, + 13.856900215148926 + ], + [ + 0.11015267670154572, + -0.9917604327201843, + 0.06540454179048538, + -8.928608894348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1907, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_538469314", + "mask_path": "../../mask/hdr_left_01907.png" + }, + { + "file_path": "../../rgb/hdr_left_01908.png", + "transform_matrix": [ + [ + -0.8797765374183655, + -0.13559439778327942, + -0.4556395411491394, + 63.086021423339844 + ], + [ + 0.46043661236763, + -0.00456366129219532, + -0.8876808285713196, + 13.868053436279297 + ], + [ + 0.1182851642370224, + -0.9907539486885071, + 0.06644763052463531, + -8.912403106689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1908, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_638469219", + "mask_path": "../../mask/hdr_left_01908.png" + }, + { + "file_path": "../../rgb/hdr_left_01909.png", + "transform_matrix": [ + [ + -0.8880194425582886, + -0.14336058497428894, + -0.43688568472862244, + 63.02245330810547 + ], + [ + 0.4424755573272705, + -0.008036383427679539, + -0.8967444896697998, + 13.879894256591797 + ], + [ + 0.12504683434963226, + -0.9896379113197327, + 0.07057002931833267, + -8.901445388793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1909, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_738469123", + "mask_path": "../../mask/hdr_left_01909.png" + }, + { + "file_path": "../../rgb/hdr_left_01910.png", + "transform_matrix": [ + [ + -0.8963587284088135, + -0.15057779848575592, + -0.41697388887405396, + 62.947261810302734 + ], + [ + 0.423170804977417, + -0.010212051682174206, + -0.9059923887252808, + 13.893166542053223 + ], + [ + 0.13216416537761688, + -0.9885454773902893, + 0.0728737935423851, + -8.885519027709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1910, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_838468313", + "mask_path": "../../mask/hdr_left_01910.png" + }, + { + "file_path": "../../rgb/hdr_left_01911.png", + "transform_matrix": [ + [ + -0.9080115556716919, + -0.15270788967609406, + -0.3901219666004181, + 62.868988037109375 + ], + [ + 0.39576455950737, + -0.007207164540886879, + -0.9183236360549927, + 13.903635025024414 + ], + [ + 0.13742360472679138, + -0.9882451891899109, + 0.06698056310415268, + -8.861804962158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1911, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_938468933", + "mask_path": "../../mask/hdr_left_01911.png" + }, + { + "file_path": "../../rgb/hdr_left_01912.png", + "transform_matrix": [ + [ + -0.9199056029319763, + -0.15411552786827087, + -0.36058562994003296, + 62.80867385864258 + ], + [ + 0.3656849265098572, + -0.005124073941260576, + -0.930724561214447, + 13.904075622558594 + ], + [ + 0.141591414809227, + -0.9880395531654358, + 0.06107138469815254, + -8.856616973876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1912, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_38469552", + "mask_path": "../../mask/hdr_left_01912.png" + }, + { + "file_path": "../../rgb/hdr_left_01913.png", + "transform_matrix": [ + [ + -0.9314389824867249, + -0.15452460944652557, + -0.329459547996521, + 62.74128723144531 + ], + [ + 0.3341488242149353, + -0.004663980100303888, + -0.9425087571144104, + 13.906720161437988 + ], + [ + 0.14410419762134552, + -0.9879779815673828, + 0.055978428572416306, + -8.847845077514648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1913, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_138469219", + "mask_path": "../../mask/hdr_left_01913.png" + }, + { + "file_path": "../../rgb/hdr_left_01914.png", + "transform_matrix": [ + [ + -0.9402837753295898, + -0.15875490009784698, + -0.3011031448841095, + 62.663848876953125 + ], + [ + 0.3054158687591553, + -0.0029150289483368397, + -0.9522146582603455, + 13.910137176513672 + ], + [ + 0.15029098093509674, + -0.9873137474060059, + 0.05122721567749977, + -8.819669723510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1914, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_238469123", + "mask_path": "../../mask/hdr_left_01914.png" + }, + { + "file_path": "../../rgb/hdr_left_01915.png", + "transform_matrix": [ + [ + -0.9454923868179321, + -0.16841331124305725, + -0.2787131071090698, + 62.59761428833008 + ], + [ + 0.2847033441066742, + -0.012036869302392006, + -0.9585400819778442, + 13.911694526672363 + ], + [ + 0.15807606279850006, + -0.9856430292129517, + 0.0593285970389843, + -8.798870086669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1915, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_338469028", + "mask_path": "../../mask/hdr_left_01915.png" + }, + { + "file_path": "../../rgb/hdr_left_01916.png", + "transform_matrix": [ + [ + -0.950093150138855, + -0.17602992057800293, + -0.2575584650039673, + 62.53712463378906 + ], + [ + 0.2653718590736389, + -0.02197636477649212, + -0.9638956189155579, + 13.908239364624023 + ], + [ + 0.16401426494121552, + -0.9841395020484924, + 0.06759298592805862, + -8.78771686553955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1916, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_438469171", + "mask_path": "../../mask/hdr_left_01916.png" + }, + { + "file_path": "../../rgb/hdr_left_01917.png", + "transform_matrix": [ + [ + -0.9536099433898926, + -0.17820194363594055, + -0.24263565242290497, + 62.46073532104492 + ], + [ + 0.2510026693344116, + -0.025662990286946297, + -0.967646062374115, + 13.904614448547363 + ], + [ + 0.1662096530199051, + -0.9836592674255371, + 0.06920164078474045, + -8.768717765808105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1917, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_538469314", + "mask_path": "../../mask/hdr_left_01917.png" + }, + { + "file_path": "../../rgb/hdr_left_01918.png", + "transform_matrix": [ + [ + -0.9584468007087708, + -0.17285487055778503, + -0.22693802416324615, + 62.3841552734375 + ], + [ + 0.23363734781742096, + -0.019175907596945763, + -0.9721346497535706, + 13.901016235351562 + ], + [ + 0.16368646919727325, + -0.9847607016563416, + 0.05876444652676582, + -8.752287864685059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1918, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_638468980", + "mask_path": "../../mask/hdr_left_01918.png" + }, + { + "file_path": "../../rgb/hdr_left_01919.png", + "transform_matrix": [ + [ + -0.9619253873825073, + -0.17195335030555725, + -0.2124418169260025, + 62.325565338134766 + ], + [ + 0.21847036480903625, + -0.016705702990293503, + -0.9757005572319031, + 13.890625 + ], + [ + 0.1642259806394577, + -0.9849634170532227, + 0.05363635718822479, + -8.745680809020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1919, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_738469123", + "mask_path": "../../mask/hdr_left_01919.png" + }, + { + "file_path": "../../rgb/hdr_left_01920.png", + "transform_matrix": [ + [ + -0.9646487832069397, + -0.1715976446866989, + -0.20001766085624695, + 62.260765075683594 + ], + [ + 0.20548667013645172, + -0.014538743533194065, + -0.9785519242286682, + 13.879425048828125 + ], + [ + 0.16500917077064514, + -0.9850598573684692, + 0.049285802990198135, + -8.73569107055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1920, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_838470458", + "mask_path": "../../mask/hdr_left_01920.png" + }, + { + "file_path": "../../rgb/hdr_left_01921.png", + "transform_matrix": [ + [ + -0.9658570289611816, + -0.17479713261127472, + -0.19122253358364105, + 62.18406677246094 + ], + [ + 0.19640833139419556, + -0.012701435945928097, + -0.9804398417472839, + 13.876043319702148 + ], + [ + 0.16894927620887756, + -0.9845227003097534, + 0.04659939184784889, + -8.716194152832031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1921, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_938469886", + "mask_path": "../../mask/hdr_left_01921.png" + }, + { + "file_path": "../../rgb/hdr_left_01922.png", + "transform_matrix": [ + [ + -0.9651960134506226, + -0.18055503070354462, + -0.18919974565505981, + 62.11795425415039 + ], + [ + 0.19594408571720123, + -0.020112214609980583, + -0.980408787727356, + 13.875670433044434 + ], + [ + 0.17321249842643738, + -0.9833592176437378, + 0.0547909215092659, + -8.693387985229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1922, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_38470745", + "mask_path": "../../mask/hdr_left_01922.png" + }, + { + "file_path": "../../rgb/hdr_left_01923.png", + "transform_matrix": [ + [ + -0.9646695256233215, + -0.18552763760089874, + -0.18706199526786804, + 62.059059143066406 + ], + [ + 0.19494850933551788, + -0.025051875039935112, + -0.9804934859275818, + 13.872608184814453 + ], + [ + 0.17722240090370178, + -0.9823196530342102, + 0.06033511459827423, + -8.679140090942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1923, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_138470649", + "mask_path": "../../mask/hdr_left_01923.png" + }, + { + "file_path": "../../rgb/hdr_left_01924.png", + "transform_matrix": [ + [ + -0.9643142223358154, + -0.18805506825447083, + -0.18636885285377502, + 61.977210998535156 + ], + [ + 0.19504612684249878, + -0.028576217591762543, + -0.9803776741027832, + 13.869611740112305 + ], + [ + 0.17903925478458405, + -0.9817427396774292, + 0.0642358660697937, + -8.659110069274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_238473415", + "mask_path": "../../mask/hdr_left_01924.png" + }, + { + "file_path": "../../rgb/hdr_left_01925.png", + "transform_matrix": [ + [ + -0.9655038714408875, + -0.18701379001140594, + -0.18118490278720856, + 61.89980697631836 + ], + [ + 0.1888672262430191, + -0.0239606574177742, + -0.9817102551460266, + 13.861696243286133 + ], + [ + 0.179252028465271, + -0.9820650815963745, + 0.058454882353544235, + -8.630939483642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_338470458", + "mask_path": "../../mask/hdr_left_01925.png" + }, + { + "file_path": "../../rgb/hdr_left_01926.png", + "transform_matrix": [ + [ + -0.966659665107727, + -0.18453937768936157, + -0.1775224804878235, + 61.83494186401367 + ], + [ + 0.18341752886772156, + -0.015240469016134739, + -0.9829169511795044, + 13.857239723205566 + ], + [ + 0.17868134379386902, + -0.9827070236206055, + 0.048580102622509, + -8.620279312133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1926, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_438470840", + "mask_path": "../../mask/hdr_left_01926.png" + }, + { + "file_path": "../../rgb/hdr_left_01927.png", + "transform_matrix": [ + [ + -0.966887891292572, + -0.18367961049079895, + -0.17717064917087555, + 61.75996017456055 + ], + [ + 0.18164359033107758, + -0.007681846618652344, + -0.9833344221115112, + 13.858316421508789 + ], + [ + 0.17925748229026794, + -0.9829562306404114, + 0.04079170525074005, + -8.60250473022461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_538470268", + "mask_path": "../../mask/hdr_left_01927.png" + }, + { + "file_path": "../../rgb/hdr_left_01928.png", + "transform_matrix": [ + [ + -0.9652466177940369, + -0.18714942038059235, + -0.18241199851036072, + 61.6886100769043 + ], + [ + 0.18611066043376923, + -0.0022340198047459126, + -0.9825262427330017, + 13.867128372192383 + ], + [ + 0.1834716945886612, + -0.9823289513587952, + 0.036986883729696274, + -8.572036743164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1928, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_638470411", + "mask_path": "../../mask/hdr_left_01928.png" + }, + { + "file_path": "../../rgb/hdr_left_01929.png", + "transform_matrix": [ + [ + -0.9620869159698486, + -0.19604767858982086, + -0.18961535394191742, + 61.6295166015625 + ], + [ + 0.19510281085968018, + -0.008885698392987251, + -0.9807424545288086, + 13.86988639831543 + ], + [ + 0.19058743119239807, + -0.9805541038513184, + 0.04679827392101288, + -8.552142143249512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_738470792", + "mask_path": "../../mask/hdr_left_01929.png" + }, + { + "file_path": "../../rgb/hdr_left_01930.png", + "transform_matrix": [ + [ + -0.9603819847106934, + -0.20107977092266083, + -0.1929592490196228, + 61.57059097290039 + ], + [ + 0.19975478947162628, + -0.01387260016053915, + -0.9797477722167969, + 13.87004280090332 + ], + [ + 0.1943305879831314, + -0.9794766306877136, + 0.05348963662981987, + -8.533978462219238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1930, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_838469743", + "mask_path": "../../mask/hdr_left_01930.png" + }, + { + "file_path": "../../rgb/hdr_left_01931.png", + "transform_matrix": [ + [ + -0.9602372646331787, + -0.20148321986198425, + -0.19325855374336243, + 61.49856185913086 + ], + [ + 0.200233593583107, + -0.014632285572588444, + -0.979638934135437, + 13.868364334106445 + ], + [ + 0.19455298781394958, + -0.9793826341629028, + 0.05439417436718941, + -8.51417064666748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1931, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_938470125", + "mask_path": "../../mask/hdr_left_01931.png" + }, + { + "file_path": "../../rgb/hdr_left_01932.png", + "transform_matrix": [ + [ + -0.9611351490020752, + -0.19991827011108398, + -0.1903989315032959, + 61.432090759277344 + ], + [ + 0.1960618793964386, + -0.008732511661946774, + -0.980552613735199, + 13.865028381347656 + ], + [ + 0.19436772167682648, + -0.9797737002372742, + 0.04758948087692261, + -8.499076843261719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1932, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_38469791", + "mask_path": "../../mask/hdr_left_01932.png" + }, + { + "file_path": "../../rgb/hdr_left_01933.png", + "transform_matrix": [ + [ + -0.9615691304206848, + -0.19905638694763184, + -0.1891065239906311, + 61.36971664428711 + ], + [ + 0.19386588037014008, + -0.0045144460164010525, + -0.9810175895690918, + 13.861612319946289 + ], + [ + 0.1944240927696228, + -0.9799776673316956, + 0.04293119162321091, + -8.487860679626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1933, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_138470172", + "mask_path": "../../mask/hdr_left_01933.png" + }, + { + "file_path": "../../rgb/hdr_left_01934.png", + "transform_matrix": [ + [ + -0.9608787298202515, + -0.20061452686786652, + -0.19096006453037262, + 61.30192947387695 + ], + [ + 0.19467002153396606, + 0.0012577796587720513, + -0.9808680415153503, + 13.86657428741455 + ], + [ + 0.19701653718948364, + -0.9796695113182068, + 0.03784506022930145, + -8.466327667236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_238469600", + "mask_path": "../../mask/hdr_left_01934.png" + }, + { + "file_path": "../../rgb/hdr_left_01935.png", + "transform_matrix": [ + [ + -0.9588552713394165, + -0.20605584979057312, + -0.19528833031654358, + 61.24243927001953 + ], + [ + 0.2002059817314148, + -0.0030817671213299036, + -0.9797489643096924, + 13.874272346496582 + ], + [ + 0.20128114521503448, + -0.9785354733467102, + 0.0442085787653923, + -8.444334983825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1935, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_338469743", + "mask_path": "../../mask/hdr_left_01935.png" + }, + { + "file_path": "../../rgb/hdr_left_01936.png", + "transform_matrix": [ + [ + -0.959644079208374, + -0.21115705370903015, + -0.1857307255268097, + 61.18783187866211 + ], + [ + 0.1914733648300171, + -0.006897696293890476, + -0.9814735651016235, + 13.868598937988281 + ], + [ + 0.20596395432949066, + -0.9774278402328491, + 0.04705028608441353, + -8.421258926391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1936, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_438470840", + "mask_path": "../../mask/hdr_left_01936.png" + }, + { + "file_path": "../../rgb/hdr_left_01937.png", + "transform_matrix": [ + [ + -0.962752103805542, + -0.21097266674041748, + -0.1691121608018875, + 61.12226104736328 + ], + [ + 0.17456871271133423, + -0.007373488042503595, + -0.9846173524856567, + 13.854718208312988 + ], + [ + 0.20648041367530823, + -0.9774641394615173, + 0.04392806813120842, + -8.404930114746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_538470029", + "mask_path": "../../mask/hdr_left_01937.png" + }, + { + "file_path": "../../rgb/hdr_left_01938.png", + "transform_matrix": [ + [ + -0.9658290147781372, + -0.21083790063858032, + -0.15073682367801666, + 61.063262939453125 + ], + [ + 0.1547108143568039, + -0.0023842891678214073, + -0.9879568815231323, + 13.845300674438477 + ], + [ + 0.20793931186199188, + -0.9775181412696838, + 0.034921713173389435, + -8.396081924438477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_638470888", + "mask_path": "../../mask/hdr_left_01938.png" + }, + { + "file_path": "../../rgb/hdr_left_01939.png", + "transform_matrix": [ + [ + -0.9686697721481323, + -0.20885463058948517, + -0.13438211381435394, + 61.004783630371094 + ], + [ + 0.13727030158042908, + 0.0006721336976625025, + -0.9905333518981934, + 13.843990325927734 + ], + [ + 0.2069678157567978, + -0.9779465198516846, + 0.028018468990921974, + -8.382762908935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_738471031", + "mask_path": "../../mask/hdr_left_01939.png" + }, + { + "file_path": "../../rgb/hdr_left_01940.png", + "transform_matrix": [ + [ + -0.9710803031921387, + -0.20512822270393372, + -0.12216982245445251, + 60.94713592529297 + ], + [ + 0.12331974506378174, + 0.007218559738248587, + -0.9923407435417175, + 13.846880912780762 + ], + [ + 0.2044389694929123, + -0.9787085056304932, + 0.018286559730768204, + -8.362772941589355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1940, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_838470458", + "mask_path": "../../mask/hdr_left_01940.png" + }, + { + "file_path": "../../rgb/hdr_left_01943.png", + "transform_matrix": [ + [ + -0.975795567035675, + -0.20585153996944427, + -0.07381182909011841, + 60.80565643310547 + ], + [ + 0.07655328512191772, + -0.005373824387788773, + -0.997050940990448, + 13.822625160217285 + ], + [ + 0.20484782755374908, + -0.9785684943199158, + 0.02100236900150776, + -8.317181587219238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_138469934", + "mask_path": "../../mask/hdr_left_01943.png" + }, + { + "file_path": "../../rgb/hdr_left_01944.png", + "transform_matrix": [ + [ + -0.9770441651344299, + -0.205428808927536, + -0.05642387643456459, + 60.75077819824219 + ], + [ + 0.05749396234750748, + 0.0007612847839482129, + -0.9983456134796143, + 13.809627532958984 + ], + [ + 0.2051318734884262, + -0.9786718487739563, + 0.01106710359454155, + -8.309942245483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1944, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_238469600", + "mask_path": "../../mask/hdr_left_01944.png" + }, + { + "file_path": "../../rgb/hdr_left_01946.png", + "transform_matrix": [ + [ + -0.9796975255012512, + -0.19928131997585297, + -0.021901017054915428, + 60.658721923828125 + ], + [ + 0.0229876097291708, + -0.003140238579362631, + -0.9997308254241943, + 13.78874683380127 + ], + [ + 0.1991589069366455, + -0.9799373149871826, + 0.007657486479729414, + -8.291238784790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_438469886", + "mask_path": "../../mask/hdr_left_01946.png" + }, + { + "file_path": "../../rgb/hdr_left_01948.png", + "transform_matrix": [ + [ + -0.9800695776939392, + -0.1986023485660553, + -0.004553913604468107, + 60.565982818603516 + ], + [ + 0.007908347062766552, + -0.016100162640213966, + -0.999839186668396, + 13.768507957458496 + ], + [ + 0.19849705696105957, + -0.9799479246139526, + 0.017349889501929283, + -8.25802993774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1948, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_638470649", + "mask_path": "../../mask/hdr_left_01948.png" + }, + { + "file_path": "../../rgb/hdr_left_01949.png", + "transform_matrix": [ + [ + -0.98060542345047, + -0.19575335085391998, + 0.009678341448307037, + 60.504695892333984 + ], + [ + -0.005933726672083139, + -0.019706642255187035, + -0.9997881650924683, + 13.745779991149902 + ], + [ + 0.19590258598327637, + -0.980455219745636, + 0.018162887543439865, + -8.241344451904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_738470315", + "mask_path": "../../mask/hdr_left_01949.png" + }, + { + "file_path": "../../rgb/hdr_left_01950.png", + "transform_matrix": [ + [ + -0.9802565574645996, + -0.19602487981319427, + 0.025906866416335106, + 60.456417083740234 + ], + [ + -0.022734398022294044, + -0.018417030572891235, + -0.9995719194412231, + 13.724830627441406 + ], + [ + 0.19641807675361633, + -0.9804260730743408, + 0.013596909120678902, + -8.234315872192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1950, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_838470935", + "mask_path": "../../mask/hdr_left_01950.png" + }, + { + "file_path": "../../rgb/hdr_left_01952.png", + "transform_matrix": [ + [ + -0.9808101058006287, + -0.18831154704093933, + 0.05050089955329895, + 60.360511779785156 + ], + [ + -0.04653319716453552, + -0.025434523820877075, + -0.9985927939414978, + 13.69919204711914 + ], + [ + 0.18933100998401642, + -0.9817800521850586, + 0.016183704137802124, + -8.20901107788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_38468837", + "mask_path": "../../mask/hdr_left_01952.png" + }, + { + "file_path": "../../rgb/hdr_left_01954.png", + "transform_matrix": [ + [ + -0.9795054197311401, + -0.19176998734474182, + 0.06159040704369545, + 60.267913818359375 + ], + [ + -0.05499313026666641, + -0.0395415835082531, + -0.997703492641449, + 13.673354148864746 + ], + [ + 0.19376493990421295, + -0.9806430339813232, + 0.02818516083061695, + -8.17371654510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_238472700", + "mask_path": "../../mask/hdr_left_01954.png" + }, + { + "file_path": "../../rgb/hdr_left_01955.png", + "transform_matrix": [ + [ + -0.9789040684700012, + -0.19013242423534393, + 0.07480940967798233, + 60.213050842285156 + ], + [ + -0.06889047473669052, + -0.0375610888004303, + -0.9969169497489929, + 13.648484230041504 + ], + [ + 0.19235612452030182, + -0.9810397028923035, + 0.023670390248298645, + -8.161301612854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1955, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_338468790", + "mask_path": "../../mask/hdr_left_01955.png" + }, + { + "file_path": "../../rgb/hdr_left_01957.png", + "transform_matrix": [ + [ + -0.9769219756126404, + -0.1888248473405838, + 0.09984325617551804, + 60.11317443847656 + ], + [ + -0.0954999029636383, + -0.031985267996788025, + -0.9949153661727905, + 13.611488342285156 + ], + [ + 0.19105824828147888, + -0.9814897775650024, + 0.013214357197284698, + -8.146636962890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1957, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_538470268", + "mask_path": "../../mask/hdr_left_01957.png" + }, + { + "file_path": "../../rgb/hdr_left_01958.png", + "transform_matrix": [ + [ + -0.9775108098983765, + -0.18552811443805695, + 0.10025951266288757, + 60.05458068847656 + ], + [ + -0.09584466367959976, + -0.03263704851269722, + -0.9948610663414001, + 13.600622177124023 + ], + [ + 0.1878468543291092, + -0.982096791267395, + 0.014121188782155514, + -8.123807907104492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1958, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_638470172", + "mask_path": "../../mask/hdr_left_01958.png" + }, + { + "file_path": "../../rgb/hdr_left_01959.png", + "transform_matrix": [ + [ + -0.9776931405067444, + -0.18624643981456757, + 0.09709984809160233, + 59.999725341796875 + ], + [ + -0.09080880135297775, + -0.04203745350241661, + -0.9949806928634644, + 13.58820915222168 + ], + [ + 0.18939343094825745, + -0.9816033840179443, + 0.024186911061406136, + -8.108662605285645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1959, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_738470315", + "mask_path": "../../mask/hdr_left_01959.png" + }, + { + "file_path": "../../rgb/hdr_left_01960.png", + "transform_matrix": [ + [ + -0.9778629541397095, + -0.18486401438713074, + 0.09802664816379547, + 59.932159423828125 + ], + [ + -0.09032735973596573, + -0.04964090883731842, + -0.9946742057800293, + 13.570479393005371 + ], + [ + 0.18874560296535492, + -0.9815096259117126, + 0.03184373304247856, + -8.099635124206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_838470220", + "mask_path": "../../mask/hdr_left_01960.png" + }, + { + "file_path": "../../rgb/hdr_left_01961.png", + "transform_matrix": [ + [ + -0.976519763469696, + -0.1900486797094345, + 0.10144264250993729, + 59.868865966796875 + ], + [ + -0.09281826764345169, + -0.05376767739653587, + -0.994230329990387, + 13.547808647155762 + ], + [ + 0.1944064497947693, + -0.9803013205528259, + 0.034865204244852066, + -8.086328506469727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_938470363", + "mask_path": "../../mask/hdr_left_01961.png" + }, + { + "file_path": "../../rgb/hdr_left_01962.png", + "transform_matrix": [ + [ + -0.9757431745529175, + -0.1924782246351242, + 0.10429461300373077, + 59.81541061401367 + ], + [ + -0.09608376771211624, + -0.05153679847717285, + -0.9940382242202759, + 13.524885177612305 + ], + [ + 0.19670571386814117, + -0.979947030544281, + 0.031792640686035156, + -8.07365608215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_38470029", + "mask_path": "../../mask/hdr_left_01962.png" + }, + { + "file_path": "../../rgb/hdr_left_01963.png", + "transform_matrix": [ + [ + -0.974419891834259, + -0.19820192456245422, + 0.10593270510435104, + 59.758724212646484 + ], + [ + -0.09779784083366394, + -0.050419941544532776, + -0.9939282536506653, + 13.511835098266602 + ], + [ + 0.20233958959579468, + -0.9788635969161987, + 0.029746470972895622, + -8.058164596557617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1963, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_138470172", + "mask_path": "../../mask/hdr_left_01963.png" + }, + { + "file_path": "../../rgb/hdr_left_01964.png", + "transform_matrix": [ + [ + -0.9744302034378052, + -0.19995158910751343, + 0.1024940088391304, + 59.7054328918457 + ], + [ + -0.09305960685014725, + -0.05605034530162811, + -0.9940816760063171, + 13.500492095947266 + ], + [ + 0.20451299846172333, + -0.9782013297080994, + 0.03600974380970001, + -8.039155960083008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_238471984", + "mask_path": "../../mask/hdr_left_01964.png" + }, + { + "file_path": "../../rgb/hdr_left_01965.png", + "transform_matrix": [ + [ + -0.9738219976425171, + -0.20164482295513153, + 0.10492873191833496, + 59.65096664428711 + ], + [ + -0.09574618190526962, + -0.05479210615158081, + -0.9938966035842896, + 13.479532241821289 + ], + [ + 0.20616334676742554, + -0.9779250025749207, + 0.03405103459954262, + -8.017931938171387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1965, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_338470935", + "mask_path": "../../mask/hdr_left_01965.png" + }, + { + "file_path": "../../rgb/hdr_left_01966.png", + "transform_matrix": [ + [ + -0.9739466905593872, + -0.1987392157316208, + 0.10922662168741226, + 59.600563049316406 + ], + [ + -0.10060323029756546, + -0.05301346257328987, + -0.9935132265090942, + 13.460896492004395 + ], + [ + 0.2032405138015747, + -0.9786175489425659, + 0.03163847699761391, + -8.009039878845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_438471317", + "mask_path": "../../mask/hdr_left_01966.png" + }, + { + "file_path": "../../rgb/hdr_left_01968.png", + "transform_matrix": [ + [ + -0.9768485426902771, + -0.18616804480552673, + 0.1053963303565979, + 59.49028778076172 + ], + [ + -0.09666284918785095, + -0.05540765821933746, + -0.9937738180160522, + 13.44649887084961 + ], + [ + 0.19084866344928741, + -0.9809544086456299, + 0.03612934798002243, + -7.988406658172607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1968, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_638470411", + "mask_path": "../../mask/hdr_left_01968.png" + }, + { + "file_path": "../../rgb/hdr_left_01969.png", + "transform_matrix": [ + [ + -0.9781932234764099, + -0.1844404935836792, + 0.09549737721681595, + 59.44038009643555 + ], + [ + -0.08584759384393692, + -0.05963263288140297, + -0.9945220947265625, + 13.438811302185059 + ], + [ + 0.18912488222122192, + -0.9810330271720886, + 0.04249845817685127, + -7.974989891052246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1969, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_738470792", + "mask_path": "../../mask/hdr_left_01969.png" + }, + { + "file_path": "../../rgb/hdr_left_01971.png", + "transform_matrix": [ + [ + -0.9790306091308594, + -0.18130554258823395, + 0.09288359433412552, + 59.31163024902344 + ], + [ + -0.08182793110609055, + -0.06754979491233826, + -0.9943546652793884, + 13.399301528930664 + ], + [ + 0.18655627965927124, + -0.9811041951179504, + 0.05129745975136757, + -7.945217609405518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1971, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_938470363", + "mask_path": "../../mask/hdr_left_01971.png" + }, + { + "file_path": "../../rgb/hdr_left_01972.png", + "transform_matrix": [ + [ + -0.9790926575660706, + -0.17879651486873627, + 0.09700138866901398, + 59.247528076171875 + ], + [ + -0.08695229887962341, + -0.06322720646858215, + -0.9942039847373962, + 13.375566482543945 + ], + [ + 0.1838933378458023, + -0.9818524122238159, + 0.04635852947831154, + -7.938436985015869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1972, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_38469314", + "mask_path": "../../mask/hdr_left_01972.png" + }, + { + "file_path": "../../rgb/hdr_left_01973.png", + "transform_matrix": [ + [ + -0.9786813259124756, + -0.18048806488513947, + 0.09801480919122696, + 59.17985153198242 + ], + [ + -0.08830989897251129, + -0.06106218323111534, + -0.9942196607589722, + 13.361597061157227 + ], + [ + 0.18542979657649994, + -0.9816799759864807, + 0.0438215434551239, + -7.928475379943848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_138469696", + "mask_path": "../../mask/hdr_left_01973.png" + }, + { + "file_path": "../../rgb/hdr_left_01974.png", + "transform_matrix": [ + [ + -0.977989673614502, + -0.18545660376548767, + 0.09561381489038467, + 59.11004638671875 + ], + [ + -0.08610425144433975, + -0.058688629418611526, + -0.9945560097694397, + 13.350912094116211 + ], + [ + 0.19005842506885529, + -0.9808983206748962, + 0.04142827168107033, + -7.900323867797852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_238471031", + "mask_path": "../../mask/hdr_left_01974.png" + }, + { + "file_path": "../../rgb/hdr_left_01975.png", + "transform_matrix": [ + [ + -0.9784258008003235, + -0.18459481000900269, + 0.09277688711881638, + 59.051025390625 + ], + [ + -0.08223187178373337, + -0.06399992853403091, + -0.9945560693740845, + 13.334753036499023 + ], + [ + 0.18952761590480804, + -0.9807287454605103, + 0.04743960499763489, + -7.867343425750732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1975, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_338470458", + "mask_path": "../../mask/hdr_left_01975.png" + }, + { + "file_path": "../../rgb/hdr_left_01976.png", + "transform_matrix": [ + [ + -0.9778462052345276, + -0.1831493228673935, + 0.10135528445243835, + 58.98188400268555 + ], + [ + -0.09220156818628311, + -0.057844314724206924, + -0.9940587282180786, + 13.308247566223145 + ], + [ + 0.18792398273944855, + -0.981381893157959, + 0.03967619314789772, + -7.850675106048584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_438470840", + "mask_path": "../../mask/hdr_left_01976.png" + }, + { + "file_path": "../../rgb/hdr_left_01977.png", + "transform_matrix": [ + [ + -0.976375937461853, + -0.1822364628314972, + 0.1161026731133461, + 58.91782760620117 + ], + [ + -0.10914988815784454, + -0.04776374250650406, + -0.9928771257400513, + 13.282950401306152 + ], + [ + 0.18648388981819153, + -0.9820939302444458, + 0.02674427255988121, + -7.840359687805176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1977, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_538470268", + "mask_path": "../../mask/hdr_left_01977.png" + }, + { + "file_path": "../../rgb/hdr_left_01978.png", + "transform_matrix": [ + [ + -0.9762818813323975, + -0.17531579732894897, + 0.1270352154970169, + 58.85305404663086 + ], + [ + -0.1205146387219429, + -0.0473959855735302, + -0.9915794134140015, + 13.27254581451416 + ], + [ + 0.17986050248146057, + -0.9833707213401794, + 0.02514372579753399, + -7.8325347900390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_638469696", + "mask_path": "../../mask/hdr_left_01978.png" + }, + { + "file_path": "../../rgb/hdr_left_01979.png", + "transform_matrix": [ + [ + -0.9765228033065796, + -0.16984838247299194, + 0.13249415159225464, + 58.78800964355469 + ], + [ + -0.12528102099895477, + -0.05255237966775894, + -0.990728497505188, + 13.267603874206543 + ], + [ + 0.1752365082502365, + -0.9840680360794067, + 0.030039817094802856, + -7.817529201507568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1979, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_738471746", + "mask_path": "../../mask/hdr_left_01979.png" + }, + { + "file_path": "../../rgb/hdr_left_01981.png", + "transform_matrix": [ + [ + -0.9752347469329834, + -0.1695903092622757, + 0.141972616314888, + 58.69776916503906 + ], + [ + -0.13396815955638885, + -0.057803213596343994, + -0.989298403263092, + 13.2335205078125 + ], + [ + 0.17598187923431396, + -0.9838180541992188, + 0.03365200385451317, + -7.7917094230651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1981, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_938470840", + "mask_path": "../../mask/hdr_left_01981.png" + }, + { + "file_path": "../../rgb/hdr_left_01982.png", + "transform_matrix": [ + [ + -0.9736377000808716, + -0.16018298268318176, + 0.16239146888256073, + 58.640037536621094 + ], + [ + -0.15547601878643036, + -0.05488478019833565, + -0.9863138198852539, + 13.204355239868164 + ], + [ + 0.16690348088741302, + -0.9855602979660034, + 0.02853327803313732, + -7.802961349487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_38470745", + "mask_path": "../../mask/hdr_left_01982.png" + }, + { + "file_path": "../../rgb/hdr_left_01983.png", + "transform_matrix": [ + [ + -0.968258798122406, + -0.15913262963294983, + 0.19274765253067017, + 58.59230422973633 + ], + [ + -0.1873088926076889, + -0.048641372472047806, + -0.9810959696769714, + 13.177633285522461 + ], + [ + 0.16549989581108093, + -0.9860583543777466, + 0.017290478572249413, + -7.802116394042969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1983, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_138470411", + "mask_path": "../../mask/hdr_left_01983.png" + }, + { + "file_path": "../../rgb/hdr_left_01984.png", + "transform_matrix": [ + [ + -0.9630675315856934, + -0.15179337561130524, + 0.22239510715007782, + 58.54069519042969 + ], + [ + -0.21807537972927094, + -0.04475056752562523, + -0.9749054312705994, + 13.154136657714844 + ], + [ + 0.1579364687204361, + -0.9873987436294556, + 0.009995421394705772, + -7.792344570159912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1984, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_238471031", + "mask_path": "../../mask/hdr_left_01984.png" + }, + { + "file_path": "../../rgb/hdr_left_01985.png", + "transform_matrix": [ + [ + -0.9589709043502808, + -0.13745732605457306, + 0.2479521632194519, + 58.4847297668457 + ], + [ + -0.24383985996246338, + -0.0462598018348217, + -0.9687116146087646, + 13.131803512573242 + ], + [ + 0.14462672173976898, + -0.9894269108772278, + 0.010844223201274872, + -7.785322189331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1985, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_338469505", + "mask_path": "../../mask/hdr_left_01985.png" + }, + { + "file_path": "../../rgb/hdr_left_01987.png", + "transform_matrix": [ + [ + -0.9544245004653931, + -0.13379018008708954, + 0.26678466796875, + 58.4035530090332 + ], + [ + -0.2618013024330139, + -0.053879089653491974, + -0.963616669178009, + 13.09549617767334 + ], + [ + 0.14329655468463898, + -0.9895439743995667, + 0.01639707386493683, + -7.775942325592041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_538469314", + "mask_path": "../../mask/hdr_left_01987.png" + }, + { + "file_path": "../../rgb/hdr_left_01988.png", + "transform_matrix": [ + [ + -0.9542438983917236, + -0.12761303782463074, + 0.2704319953918457, + 58.347225189208984 + ], + [ + -0.26527759432792664, + -0.05611863732337952, + -0.9625375270843506, + 13.07011604309082 + ], + [ + 0.13800859451293945, + -0.9902351498603821, + 0.019697992131114006, + -7.769211769104004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_638469219", + "mask_path": "../../mask/hdr_left_01988.png" + }, + { + "file_path": "../../rgb/hdr_left_01989.png", + "transform_matrix": [ + [ + -0.9508134722709656, + -0.1282154619693756, + 0.2819831669330597, + 58.298423767089844 + ], + [ + -0.27708977460861206, + -0.054896458983421326, + -0.9592745304107666, + 13.039908409118652 + ], + [ + 0.13847368955612183, + -0.9902259111404419, + 0.016669103875756264, + -7.756363391876221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1989, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_738469123", + "mask_path": "../../mask/hdr_left_01989.png" + }, + { + "file_path": "../../rgb/hdr_left_01991.png", + "transform_matrix": [ + [ + -0.9512938261032104, + -0.12136261910200119, + 0.2833918333053589, + 58.237937927246094 + ], + [ + -0.2779340147972107, + -0.060114677995443344, + -0.9587172865867615, + 13.004815101623535 + ], + [ + 0.1333884447813034, + -0.9907862544059753, + 0.023455919697880745, + -7.750314712524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_938469409", + "mask_path": "../../mask/hdr_left_01991.png" + }, + { + "file_path": "../../rgb/hdr_left_02113.png", + "transform_matrix": [ + [ + -0.9466821551322937, + -0.07393748313188553, + 0.31356990337371826, + 58.181556701660156 + ], + [ + -0.30752235651016235, + -0.08274897933006287, + -0.947935938835144, + 12.966814041137695 + ], + [ + 0.09603557735681534, + -0.9938238859176636, + 0.055599551647901535, + -7.773131847381592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594377_138468980", + "mask_path": "../../mask/hdr_left_02113.png" + }, + { + "file_path": "../../rgb/hdr_left_02115.png", + "transform_matrix": [ + [ + -0.9427036046981812, + -0.08160290867090225, + 0.32349759340286255, + 58.11867141723633 + ], + [ + -0.3171682357788086, + -0.08162673562765121, + -0.9448498487472534, + 12.937718391418457 + ], + [ + 0.10350854694843292, + -0.9933167099952698, + 0.05106797069311142, + -7.754627704620361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2115, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594377_338469266", + "mask_path": "../../mask/hdr_left_02115.png" + }, + { + "file_path": "../../rgb/hdr_left_02129.png", + "transform_matrix": [ + [ + -0.8272709250450134, + -0.0679999589920044, + 0.5576726198196411, + 57.803348541259766 + ], + [ + -0.5543781518936157, + -0.062043748795986176, + -0.8299490213394165, + 12.626143455505371 + ], + [ + 0.0910365954041481, + -0.9957543015480042, + 0.01362929679453373, + -7.704529762268066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_738470554", + "mask_path": "../../mask/hdr_left_02129.png" + }, + { + "file_path": "../../rgb/hdr_left_02130.png", + "transform_matrix": [ + [ + -0.8263863921165466, + -0.06781190633773804, + 0.5590054392814636, + 57.757083892822266 + ], + [ + -0.5562801957130432, + -0.055760614573955536, + -0.8291218280792236, + 12.578468322753906 + ], + [ + 0.0873948186635971, + -0.9961386919021606, + 0.008357387967407703, + -7.7027740478515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2130, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_838470697", + "mask_path": "../../mask/hdr_left_02130.png" + }, + { + "file_path": "../../rgb/hdr_left_02131.png", + "transform_matrix": [ + [ + -0.8227965831756592, + -0.07485758513212204, + 0.5633845329284668, + 57.71308135986328 + ], + [ + -0.5616270303726196, + -0.04476975277066231, + -0.8261783719062805, + 12.539713859558105 + ], + [ + 0.08706831932067871, + -0.996188759803772, + -0.005205641034990549, + -7.698713302612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_938470602", + "mask_path": "../../mask/hdr_left_02131.png" + }, + { + "file_path": "../../rgb/hdr_left_02132.png", + "transform_matrix": [ + [ + -0.8213039636611938, + -0.07534656673669815, + 0.5654932260513306, + 57.66071701049805 + ], + [ + -0.5643661022186279, + -0.03754902631044388, + -0.8246701955795288, + 12.50605297088623 + ], + [ + 0.08336978405714035, + -0.9964501857757568, + -0.011683872900903225, + -7.69688606262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2132, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_38469314", + "mask_path": "../../mask/hdr_left_02132.png" + }, + { + "file_path": "../../rgb/hdr_left_02133.png", + "transform_matrix": [ + [ + -0.8229629993438721, + -0.06916987150907516, + 0.5638681650161743, + 57.60053634643555 + ], + [ + -0.5631343722343445, + -0.031553756445646286, + -0.8257626891136169, + 12.473498344421387 + ], + [ + 0.07491005212068558, + -0.9971057772636414, + -0.012984350323677063, + -7.691430568695068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2133, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_138470649", + "mask_path": "../../mask/hdr_left_02133.png" + }, + { + "file_path": "../../rgb/hdr_left_02134.png", + "transform_matrix": [ + [ + -0.8283692002296448, + -0.06696061789989471, + 0.5561661124229431, + 57.55388641357422 + ], + [ + -0.5555106401443481, + -0.02976597100496292, + -0.8309764862060547, + 12.448389053344727 + ], + [ + 0.07219751924276352, + -0.9973116517066956, + -0.012540115043520927, + -7.681628704071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2134, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_238470554", + "mask_path": "../../mask/hdr_left_02134.png" + }, + { + "file_path": "../../rgb/hdr_left_02136.png", + "transform_matrix": [ + [ + -0.8352034091949463, + -0.06742502003908157, + 0.5457921624183655, + 57.47468948364258 + ], + [ + -0.5447216629981995, + -0.03498304262757301, + -0.8378869295120239, + 12.397306442260742 + ], + [ + 0.07558801025152206, + -0.9971108436584473, + -0.007509909570217133, + -7.673938751220703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2136, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_438469409", + "mask_path": "../../mask/hdr_left_02136.png" + }, + { + "file_path": "../../rgb/hdr_left_02137.png", + "transform_matrix": [ + [ + -0.8346640467643738, + -0.06507260352373123, + 0.5469016432762146, + 57.431976318359375 + ], + [ + -0.5462357401847839, + -0.0292015690356493, + -0.8371222019195557, + 12.365909576416016 + ], + [ + 0.07044410705566406, + -0.9974532127380371, + -0.011171472258865833, + -7.661417484283447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2137, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_538468599", + "mask_path": "../../mask/hdr_left_02137.png" + }, + { + "file_path": "../../rgb/hdr_left_02138.png", + "transform_matrix": [ + [ + -0.8299660682678223, + -0.06770159304141998, + 0.5536901950836182, + 57.39752197265625 + ], + [ + -0.5532891154289246, + -0.02625599130988121, + -0.8325754404067993, + 12.32819652557373 + ], + [ + 0.07090435177087784, + -0.9973600506782532, + -0.01566697098314762, + -7.652043342590332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_638470172", + "mask_path": "../../mask/hdr_left_02138.png" + }, + { + "file_path": "../../rgb/hdr_left_02140.png", + "transform_matrix": [ + [ + -0.8221598267555237, + -0.07312307506799698, + 0.5645405650138855, + 57.334938049316406 + ], + [ + -0.5645579099655151, + -0.022418245673179626, + -0.8250889182090759, + 12.259943008422852 + ], + [ + 0.07298905402421951, + -0.9970709681510925, + -0.022850822657346725, + -7.642660140991211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_838470458", + "mask_path": "../../mask/hdr_left_02140.png" + }, + { + "file_path": "../../rgb/hdr_left_02144.png", + "transform_matrix": [ + [ + -0.8266344666481018, + -0.08880513906478882, + 0.5556879639625549, + 57.19731903076172 + ], + [ + -0.5552739500999451, + -0.03159176930785179, + -0.8310673236846924, + 12.136581420898438 + ], + [ + 0.09135819226503372, + -0.9955479502677917, + -0.023196332156658173, + -7.611932277679443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2144, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_238470077", + "mask_path": "../../mask/hdr_left_02144.png" + }, + { + "file_path": "../../rgb/hdr_left_02146.png", + "transform_matrix": [ + [ + -0.8264579772949219, + -0.08459682762622833, + 0.556606113910675, + 57.137264251708984 + ], + [ + -0.5566368699073792, + -0.025417974218726158, + -0.8303669095039368, + 12.091139793395996 + ], + [ + 0.08439420908689499, + -0.9960910677909851, + -0.026082824915647507, + -7.615427494049072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2146, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_438470125", + "mask_path": "../../mask/hdr_left_02146.png" + }, + { + "file_path": "../../rgb/hdr_left_02148.png", + "transform_matrix": [ + [ + -0.8363173604011536, + -0.08814486116170883, + 0.5411133766174316, + 57.07917022705078 + ], + [ + -0.5409986972808838, + -0.027263574302196503, + -0.8405814170837402, + 12.06739616394043 + ], + [ + 0.08884560316801071, + -0.9957345724105835, + -0.024885250255465508, + -7.605831623077393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2148, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_638469696", + "mask_path": "../../mask/hdr_left_02148.png" + }, + { + "file_path": "../../rgb/hdr_left_02150.png", + "transform_matrix": [ + [ + -0.8282530903816223, + -0.08231444656848907, + 0.5542752146720886, + 57.028995513916016 + ], + [ + -0.5540599822998047, + -0.027537940070033073, + -0.8320209980010986, + 12.008805274963379 + ], + [ + 0.08375094830989838, + -0.9962259531021118, + -0.02279875986278057, + -7.620424270629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2150, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_838470458", + "mask_path": "../../mask/hdr_left_02150.png" + }, + { + "file_path": "../../rgb/hdr_left_02152.png", + "transform_matrix": [ + [ + -0.8338676691055298, + -0.07580149918794632, + 0.5467346906661987, + 56.972137451171875 + ], + [ + -0.5471019148826599, + -0.01768086478114128, + -0.8368791937828064, + 11.981175422668457 + ], + [ + 0.07310342788696289, + -0.9969662427902222, + -0.026727646589279175, + -7.605014801025391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2152, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_38470029", + "mask_path": "../../mask/hdr_left_02152.png" + }, + { + "file_path": "../../rgb/hdr_left_02154.png", + "transform_matrix": [ + [ + -0.8454936146736145, + -0.061269503086805344, + 0.5304587483406067, + 56.922515869140625 + ], + [ + -0.5295859575271606, + -0.031042279675602913, + -0.8476880788803101, + 11.94609260559082 + ], + [ + 0.06840405613183975, + -0.997638463973999, + -0.006201410666108131, + -7.613312244415283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_238470077", + "mask_path": "../../mask/hdr_left_02154.png" + }, + { + "file_path": "../../rgb/hdr_left_02160.png", + "transform_matrix": [ + [ + -0.9142928719520569, + -0.05647493526339531, + 0.40109726786613464, + 56.72929000854492 + ], + [ + -0.39989855885505676, + -0.031625982373952866, + -0.9160135984420776, + 11.83465576171875 + ], + [ + 0.06441690772771835, + -0.997903048992157, + 0.006331165321171284, + -7.577980995178223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2160, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_838469266", + "mask_path": "../../mask/hdr_left_02160.png" + }, + { + "file_path": "../../rgb/hdr_left_02162.png", + "transform_matrix": [ + [ + -0.9430467486381531, + -0.07305847853422165, + 0.3245382308959961, + 56.65461730957031 + ], + [ + -0.323849081993103, + -0.021418901160359383, + -0.9458662867546082, + 11.82840347290039 + ], + [ + 0.07605478167533875, + -0.9970976710319519, + -0.003460890846326947, + -7.565549850463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2162, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_38469314", + "mask_path": "../../mask/hdr_left_02162.png" + }, + { + "file_path": "../../rgb/hdr_left_02164.png", + "transform_matrix": [ + [ + -0.9652052521705627, + -0.0799441710114479, + 0.24897323548793793, + 56.58464813232422 + ], + [ + -0.24722141027450562, + -0.03126903623342514, + -0.9684543013572693, + 11.833986282348633 + ], + [ + 0.08520743250846863, + -0.9963087439537048, + 0.010417129844427109, + -7.554479122161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2164, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_238470077", + "mask_path": "../../mask/hdr_left_02164.png" + }, + { + "file_path": "../../rgb/hdr_left_02166.png", + "transform_matrix": [ + [ + -0.9669532179832458, + -0.08619658648967743, + 0.23994101583957672, + 56.509464263916016 + ], + [ + -0.23765897750854492, + -0.03598000854253769, + -0.9706820845603943, + 11.78760051727295 + ], + [ + 0.09230254590511322, + -0.995628297328949, + 0.014305594377219677, + -7.538718223571777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2166, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_438470363", + "mask_path": "../../mask/hdr_left_02166.png" + }, + { + "file_path": "../../rgb/hdr_left_02168.png", + "transform_matrix": [ + [ + -0.9643937945365906, + -0.08876009285449982, + 0.2491309940814972, + 56.446510314941406 + ], + [ + -0.24738246202468872, + -0.030360639095306396, + -0.9684422016143799, + 11.760744094848633 + ], + [ + 0.09352277219295502, + -0.9955902695655823, + 0.0073219225741922855, + -7.527219772338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2168, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_638470411", + "mask_path": "../../mask/hdr_left_02168.png" + }, + { + "file_path": "../../rgb/hdr_left_02170.png", + "transform_matrix": [ + [ + -0.968552827835083, + -0.09002051502466202, + 0.23195183277130127, + 56.38776779174805 + ], + [ + -0.2286633849143982, + -0.04541144147515297, + -0.9724458456039429, + 11.738665580749512 + ], + [ + 0.0980733260512352, + -0.994904100894928, + 0.02339898608624935, + -7.519982814788818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2170, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_838470220", + "mask_path": "../../mask/hdr_left_02170.png" + }, + { + "file_path": "../../rgb/hdr_left_02172.png", + "transform_matrix": [ + [ + -0.9655978083610535, + -0.09932918846607208, + 0.24032190442085266, + 56.30602264404297 + ], + [ + -0.23609746992588043, + -0.052471425384283066, + -0.9703116416931152, + 11.693764686584473 + ], + [ + 0.10899029672145844, + -0.9936702251434326, + 0.02721492201089859, + -7.504885196685791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2172, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_38470029", + "mask_path": "../../mask/hdr_left_02172.png" + }, + { + "file_path": "../../rgb/hdr_left_02174.png", + "transform_matrix": [ + [ + -0.9630151987075806, + -0.10557769984006882, + 0.24790135025978088, + 56.22690200805664 + ], + [ + -0.2439906895160675, + -0.04867842048406601, + -0.9685551524162292, + 11.656859397888184 + ], + [ + 0.11432525515556335, + -0.9932188987731934, + 0.02111808769404888, + -7.4915900230407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2174, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_238470554", + "mask_path": "../../mask/hdr_left_02174.png" + }, + { + "file_path": "../../rgb/hdr_left_02176.png", + "transform_matrix": [ + [ + -0.9646406769752502, + -0.11051502823829651, + 0.2392793893814087, + 56.142093658447266 + ], + [ + -0.23370830714702606, + -0.06106915697455406, + -0.9703869223594666, + 11.623257637023926 + ], + [ + 0.12185495346784592, + -0.9919964671134949, + 0.03308151662349701, + -7.467051029205322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2176, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_438470602", + "mask_path": "../../mask/hdr_left_02176.png" + }, + { + "file_path": "../../rgb/hdr_left_02177.png", + "transform_matrix": [ + [ + -0.963380753993988, + -0.10884782671928406, + 0.24505044519901276, + 56.09022521972656 + ], + [ + -0.23968380689620972, + -0.06012173369526863, + -0.9689876437187195, + 11.592486381530762 + ], + [ + 0.12020505219697952, + -0.9922387003898621, + 0.031831059604883194, + -7.463785648345947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2177, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_538470268", + "mask_path": "../../mask/hdr_left_02177.png" + }, + { + "file_path": "../../rgb/hdr_left_02178.png", + "transform_matrix": [ + [ + -0.9608144760131836, + -0.11508166044950485, + 0.25217416882514954, + 56.041385650634766 + ], + [ + -0.24630849063396454, + -0.06285801529884338, + -0.967150866985321, + 11.563135147094727 + ], + [ + 0.1271524876356125, + -0.9913653135299683, + 0.032049305737018585, + -7.456104278564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2178, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_638471126", + "mask_path": "../../mask/hdr_left_02178.png" + }, + { + "file_path": "../../rgb/hdr_left_02179.png", + "transform_matrix": [ + [ + -0.9604644775390625, + -0.11454286426305771, + 0.25374770164489746, + 55.993629455566406 + ], + [ + -0.2475048303604126, + -0.06601706147193909, + -0.96663498878479, + 11.54003620147705 + ], + [ + 0.12747280299663544, + -0.9912223815917969, + 0.035057127475738525, + -7.4441022872924805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2179, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_738470792", + "mask_path": "../../mask/hdr_left_02179.png" + }, + { + "file_path": "../../rgb/hdr_left_02180.png", + "transform_matrix": [ + [ + -0.9623494744300842, + -0.11305747181177139, + 0.24718701839447021, + 55.944244384765625 + ], + [ + -0.2406396120786667, + -0.06850910931825638, + -0.9681937098503113, + 11.518012046813965 + ], + [ + 0.1263960748910904, + -0.9912238121032715, + 0.03872360289096832, + -7.428508758544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2180, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_838469505", + "mask_path": "../../mask/hdr_left_02180.png" + }, + { + "file_path": "../../rgb/hdr_left_02181.png", + "transform_matrix": [ + [ + -0.9641382694244385, + -0.12212341278791428, + 0.23563368618488312, + 55.899662017822266 + ], + [ + -0.22831158339977264, + -0.07103309780359268, + -0.9709933400154114, + 11.498418807983398 + ], + [ + 0.135318785905838, + -0.9899698495864868, + 0.04060353338718414, + -7.409088134765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2181, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_938470602", + "mask_path": "../../mask/hdr_left_02181.png" + }, + { + "file_path": "../../rgb/hdr_left_02182.png", + "transform_matrix": [ + [ + -0.9642560482025146, + -0.12551982700824738, + 0.23335601389408112, + 55.85297393798828 + ], + [ + -0.2263278067111969, + -0.06780829280614853, + -0.9716880917549133, + 11.47446060180664 + ], + [ + 0.13778957724571228, + -0.9897711277008057, + 0.0369759239256382, + -7.395033836364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2182, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_38470029", + "mask_path": "../../mask/hdr_left_02182.png" + }, + { + "file_path": "../../rgb/hdr_left_02183.png", + "transform_matrix": [ + [ + -0.9632723331451416, + -0.1256401687860489, + 0.23732012510299683, + 55.80091857910156 + ], + [ + -0.23081593215465546, + -0.06422809511423111, + -0.9708752632141113, + 11.44591999053955 + ], + [ + 0.1372235268354416, + -0.9899946451187134, + 0.03286939114332199, + -7.399881839752197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2183, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_138470411", + "mask_path": "../../mask/hdr_left_02183.png" + }, + { + "file_path": "../../rgb/hdr_left_02185.png", + "transform_matrix": [ + [ + -0.9649835824966431, + -0.11387735605239868, + 0.2363021820783615, + 55.70851135253906 + ], + [ + -0.22903165221214294, + -0.07336801290512085, + -0.9706500172615051, + 11.409502029418945 + ], + [ + 0.12787209451198578, + -0.9907820820808411, + 0.04471740126609802, + -7.397958278656006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2185, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_338470458", + "mask_path": "../../mask/hdr_left_02185.png" + }, + { + "file_path": "../../rgb/hdr_left_02187.png", + "transform_matrix": [ + [ + -0.970656156539917, + -0.10670439898967743, + 0.21550096571445465, + 55.61836624145508 + ], + [ + -0.20900313556194305, + -0.06886559724807739, + -0.9754871129989624, + 11.381556510925293 + ], + [ + 0.11892935633659363, + -0.9919030666351318, + 0.04454326629638672, + -7.374388694763184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2187, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_538470983", + "mask_path": "../../mask/hdr_left_02187.png" + }, + { + "file_path": "../../rgb/hdr_left_02188.png", + "transform_matrix": [ + [ + -0.9716495871543884, + -0.10300768911838531, + 0.2128065973520279, + 55.55379867553711 + ], + [ + -0.20714719593524933, + -0.06295419484376907, + -0.9762821197509766, + 11.35030460357666 + ], + [ + 0.11396163702011108, + -0.99268639087677, + 0.03983165696263313, + -7.378880500793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2188, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_638470649", + "mask_path": "../../mask/hdr_left_02188.png" + }, + { + "file_path": "../../rgb/hdr_left_02189.png", + "transform_matrix": [ + [ + -0.9705345034599304, + -0.10427237302064896, + 0.2172326147556305, + 55.49400329589844 + ], + [ + -0.21240416169166565, + -0.055503685027360916, + -0.9756042957305908, + 11.321809768676758 + ], + [ + 0.11378578096628189, + -0.9929988980293274, + 0.0317203551530838, + -7.38245153427124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2189, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_738470554", + "mask_path": "../../mask/hdr_left_02189.png" + }, + { + "file_path": "../../rgb/hdr_left_02190.png", + "transform_matrix": [ + [ + -0.9704914689064026, + -0.10415773838758469, + 0.21747986972332, + 55.441810607910156 + ], + [ + -0.2132553607225418, + -0.05024493485689163, + -0.9757036566734314, + 11.303397178649902 + ], + [ + 0.11255433410406113, + -0.9932908415794373, + 0.026550084352493286, + -7.380668640136719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2190, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_838469982", + "mask_path": "../../mask/hdr_left_02190.png" + }, + { + "file_path": "../../rgb/hdr_left_02191.png", + "transform_matrix": [ + [ + -0.9713954329490662, + -0.1023050919175148, + 0.21430017054080963, + 55.37549591064453 + ], + [ + -0.21049238741397858, + -0.04679504409432411, + -0.9764748215675354, + 11.283934593200684 + ], + [ + 0.10992652922868729, + -0.9936518669128418, + 0.023922044783830643, + -7.372143745422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2191, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_938470363", + "mask_path": "../../mask/hdr_left_02191.png" + }, + { + "file_path": "../../rgb/hdr_left_02192.png", + "transform_matrix": [ + [ + -0.9736921191215515, + -0.1006033793091774, + 0.20445646345615387, + 55.316097259521484 + ], + [ + -0.20090126991271973, + -0.04439349099993706, + -0.9786050915718079, + 11.267102241516113 + ], + [ + 0.10752750933170319, + -0.993935763835907, + 0.0230142530053854, + -7.354687690734863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2192, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_38471937", + "mask_path": "../../mask/hdr_left_02192.png" + }, + { + "file_path": "../../rgb/hdr_left_02193.png", + "transform_matrix": [ + [ + -0.9749937057495117, + -0.10602922737598419, + 0.19530755281448364, + 55.26371765136719 + ], + [ + -0.19117885828018188, + -0.04789748787879944, + -0.9803858995437622, + 11.25124740600586 + ], + [ + 0.11330430209636688, + -0.9932088255882263, + 0.026429196819663048, + -7.347165584564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2193, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_138470411", + "mask_path": "../../mask/hdr_left_02193.png" + }, + { + "file_path": "../../rgb/hdr_left_02194.png", + "transform_matrix": [ + [ + -0.9758373498916626, + -0.1070159450173378, + 0.19049668312072754, + 55.198787689208984 + ], + [ + -0.18653494119644165, + -0.04597709700465202, + -0.9813719391822815, + 11.22573184967041 + ], + [ + 0.1137809157371521, + -0.9931936860084534, + 0.024903954938054085, + -7.338945388793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2194, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_238471508", + "mask_path": "../../mask/hdr_left_02194.png" + }, + { + "file_path": "../../rgb/hdr_left_02195.png", + "transform_matrix": [ + [ + -0.9759328365325928, + -0.09807868301868439, + 0.1947707086801529, + 55.1307258605957 + ], + [ + -0.19283202290534973, + -0.02896425686776638, + -0.9808041453361511, + 11.197250366210938 + ], + [ + 0.10183736681938171, + -0.9947571158409119, + 0.00935445912182331, + -7.328131198883057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2195, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_338469982", + "mask_path": "../../mask/hdr_left_02195.png" + }, + { + "file_path": "../../rgb/hdr_left_02196.png", + "transform_matrix": [ + [ + -0.9750897288322449, + -0.09765803813934326, + 0.19915537536144257, + 55.08354568481445 + ], + [ + -0.197882279753685, + -0.022651663050055504, + -0.979964017868042, + 11.1765775680542 + ], + [ + 0.10021255165338516, + -0.9949622750282288, + 0.002762611024081707, + -7.331204414367676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2196, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_438469886", + "mask_path": "../../mask/hdr_left_02196.png" + }, + { + "file_path": "../../rgb/hdr_left_02197.png", + "transform_matrix": [ + [ + -0.9748585820198059, + -0.10040172934532166, + 0.1989225298166275, + 55.028114318847656 + ], + [ + -0.19802071154117584, + -0.01897125318646431, + -0.9800142049789429, + 11.156307220458984 + ], + [ + 0.10216892510652542, + -0.994766116142273, + -0.0013873293064534664, + -7.328286647796631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2197, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_538470029", + "mask_path": "../../mask/hdr_left_02197.png" + }, + { + "file_path": "../../rgb/hdr_left_02198.png", + "transform_matrix": [ + [ + -0.9752740263938904, + -0.1012137308716774, + 0.19645962119102478, + 54.960906982421875 + ], + [ + -0.1953095942735672, + -0.02124755084514618, + -0.9805114269256592, + 11.134468078613281 + ], + [ + 0.10341550409793854, + -0.9946378469467163, + 0.0009541771723888814, + -7.314032554626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2198, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_638470172", + "mask_path": "../../mask/hdr_left_02198.png" + }, + { + "file_path": "../../rgb/hdr_left_02199.png", + "transform_matrix": [ + [ + -0.9780205488204956, + -0.0952247679233551, + 0.1854943335056305, + 54.910736083984375 + ], + [ + -0.18364058434963226, + -0.0279513131827116, + -0.9825959801673889, + 11.11865520477295 + ], + [ + 0.09875227510929108, + -0.9950633645057678, + 0.009849824011325836, + -7.3019633293151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2199, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_738469600", + "mask_path": "../../mask/hdr_left_02199.png" + }, + { + "file_path": "../../rgb/hdr_left_02201.png", + "transform_matrix": [ + [ + -0.9804155230522156, + -0.10236617922782898, + 0.16824564337730408, + 54.79232406616211 + ], + [ + -0.166855126619339, + -0.022059664130210876, + -0.9857347011566162, + 11.064099311828613 + ], + [ + 0.10461732745170593, + -0.9945021867752075, + 0.004547305405139923, + -7.287939548492432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2201, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_938470363", + "mask_path": "../../mask/hdr_left_02201.png" + }, + { + "file_path": "../../rgb/hdr_left_02202.png", + "transform_matrix": [ + [ + -0.9814198017120361, + -0.10218660533428192, + 0.1623983532190323, + 54.74295425415039 + ], + [ + -0.1617422103881836, + -0.014729822054505348, + -0.9867230653762817, + 11.041227340698242 + ], + [ + 0.10322198271751404, + -0.9946562051773071, + -0.002071748487651348, + -7.2827558517456055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2202, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_38470029", + "mask_path": "../../mask/hdr_left_02202.png" + }, + { + "file_path": "../../rgb/hdr_right_01867.png", + "transform_matrix": [ + [ + 0.8315222263336182, + -0.08666747808456421, + 0.5486890077590942, + 64.70626831054688 + ], + [ + -0.5512150526046753, + -0.006404325366020203, + 0.8343386054039001, + 12.982125282287598 + ], + [ + -0.06879604607820511, + -0.9962166547775269, + -0.05309775844216347, + -9.181798934936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1867, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_838469982", + "mask_path": "../../mask/hdr_right_01867.png" + }, + { + "file_path": "../../rgb/hdr_right_01868.png", + "transform_matrix": [ + [ + 0.8350463509559631, + -0.09208381921052933, + 0.5424187779426575, + 64.65567779541016 + ], + [ + -0.5449985861778259, + -0.003464336507022381, + 0.838429868221283, + 13.019134521484375 + ], + [ + -0.07532670348882675, + -0.9957453012466431, + -0.053078439086675644, + -9.17635726928711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1868, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_938471078", + "mask_path": "../../mask/hdr_right_01868.png" + }, + { + "file_path": "../../rgb/hdr_right_01869.png", + "transform_matrix": [ + [ + 0.84151291847229, + -0.09661008417606354, + 0.5315284729003906, + 64.582763671875 + ], + [ + -0.5338361859321594, + 0.0023020082153379917, + 0.8455847501754761, + 13.066635131835938 + ], + [ + -0.08291560411453247, + -0.9953196048736572, + -0.04963678866624832, + -9.167057991027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1869, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_38470029", + "mask_path": "../../mask/hdr_right_01869.png" + }, + { + "file_path": "../../rgb/hdr_right_01870.png", + "transform_matrix": [ + [ + 0.8547208309173584, + -0.09310734272003174, + 0.510669469833374, + 64.5125503540039 + ], + [ + -0.5122875571250916, + 0.007420365698635578, + 0.8587819933891296, + 13.110136032104492 + ], + [ + -0.08374826610088348, + -0.9956284165382385, + -0.04135539010167122, + -9.160560607910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1870, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_138470411", + "mask_path": "../../mask/hdr_right_01870.png" + }, + { + "file_path": "../../rgb/hdr_right_01871.png", + "transform_matrix": [ + [ + 0.8674001693725586, + -0.08940327912569046, + 0.4895141124725342, + 64.46149444580078 + ], + [ + -0.4903385043144226, + 0.014007842168211937, + 0.8714195489883423, + 13.133587837219238 + ], + [ + -0.08476480841636658, + -0.9958970546722412, + -0.03168746829032898, + -9.16142463684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1871, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_238470792", + "mask_path": "../../mask/hdr_right_01871.png" + }, + { + "file_path": "../../rgb/hdr_right_01872.png", + "transform_matrix": [ + [ + 0.877947986125946, + -0.0881018415093422, + 0.47057974338531494, + 64.40198516845703 + ], + [ + -0.4713071584701538, + 0.013664386235177517, + 0.8818632364273071, + 13.168492317199707 + ], + [ + -0.08412396907806396, + -0.9960176944732666, + -0.02952641248703003, + -9.154667854309082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1872, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_338469982", + "mask_path": "../../mask/hdr_right_01872.png" + }, + { + "file_path": "../../rgb/hdr_right_01873.png", + "transform_matrix": [ + [ + 0.8849359750747681, + -0.08620738238096237, + 0.4576641619205475, + 64.34632110595703 + ], + [ + -0.4585367441177368, + 0.010561789385974407, + 0.888612687587738, + 13.207210540771484 + ], + [ + -0.08143872767686844, + -0.9962212443351746, + -0.030182747170329094, + -9.144830703735352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1873, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_438469886", + "mask_path": "../../mask/hdr_right_01873.png" + }, + { + "file_path": "../../rgb/hdr_right_01874.png", + "transform_matrix": [ + [ + 0.8882898688316345, + -0.092396579682827, + 0.44989335536956787, + 64.30022430419922 + ], + [ + -0.450765460729599, + 0.012389793992042542, + 0.8925564289093018, + 13.243873596191406 + ], + [ + -0.08804325014352798, + -0.9956451654434204, + -0.030643461272120476, + -9.1294527053833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1874, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_538470268", + "mask_path": "../../mask/hdr_right_01874.png" + }, + { + "file_path": "../../rgb/hdr_right_01875.png", + "transform_matrix": [ + [ + 0.892553448677063, + -0.09873560816049576, + 0.4399997293949127, + 64.23918151855469 + ], + [ + -0.44097408652305603, + 0.012909676879644394, + 0.8974270224571228, + 13.272554397583008 + ], + [ + -0.09428824484348297, + -0.9950299859046936, + -0.03201726824045181, + -9.122453689575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1875, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_638470172", + "mask_path": "../../mask/hdr_right_01875.png" + }, + { + "file_path": "../../rgb/hdr_right_01876.png", + "transform_matrix": [ + [ + 0.8995556235313416, + -0.10293087363243103, + 0.4245055615901947, + 64.16061401367188 + ], + [ + -0.42543962597846985, + 0.013801886700093746, + 0.9048815369606018, + 13.310301780700684 + ], + [ + -0.09899922460317612, + -0.9945927858352661, + -0.03137531504034996, + -9.110366821289062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1876, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_738469839", + "mask_path": "../../mask/hdr_right_01876.png" + }, + { + "file_path": "../../rgb/hdr_right_01877.png", + "transform_matrix": [ + [ + 0.9107990860939026, + -0.1003316193819046, + 0.40047305822372437, + 64.09652709960938 + ], + [ + -0.4010579288005829, + 0.015158768743276596, + 0.9159272909164429, + 13.336321830749512 + ], + [ + -0.09796714037656784, + -0.9948385953903198, + -0.026432208716869354, + -9.103950500488281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1877, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_838470220", + "mask_path": "../../mask/hdr_right_01877.png" + }, + { + "file_path": "../../rgb/hdr_right_01878.png", + "transform_matrix": [ + [ + 0.9210624098777771, + -0.09792476147413254, + 0.376901775598526, + 64.04690551757812 + ], + [ + -0.37672194838523865, + 0.021032409742474556, + 0.9260876774787903, + 13.354706764221191 + ], + [ + -0.09861405193805695, + -0.994971513748169, + -0.017518246546387672, + -9.102470397949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1878, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594354_938470602", + "mask_path": "../../mask/hdr_right_01878.png" + }, + { + "file_path": "../../rgb/hdr_right_01879.png", + "transform_matrix": [ + [ + 0.9313702583312988, + -0.0976334884762764, + 0.35073795914649963, + 63.988258361816406 + ], + [ + -0.3505917489528656, + 0.019215930253267288, + 0.9363312125205994, + 13.382719993591309 + ], + [ + -0.09815704822540283, + -0.9950369596481323, + -0.0163323562592268, + -9.092606544494629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1879, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_38471460", + "mask_path": "../../mask/hdr_right_01879.png" + }, + { + "file_path": "../../rgb/hdr_right_01880.png", + "transform_matrix": [ + [ + 0.9395201802253723, + -0.09689062088727951, + 0.3285027742385864, + 63.92759323120117 + ], + [ + -0.328601598739624, + 0.015393639914691448, + 0.9443432688713074, + 13.412209510803223 + ], + [ + -0.09655485302209854, + -0.9951759576797485, + -0.017375776544213295, + -9.075422286987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1880, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_138470649", + "mask_path": "../../mask/hdr_right_01880.png" + }, + { + "file_path": "../../rgb/hdr_right_01881.png", + "transform_matrix": [ + [ + 0.9442707896232605, + -0.10635141283273697, + 0.311515748500824, + 63.87722396850586 + ], + [ + -0.31185609102249146, + 0.01384345255792141, + 0.9500284790992737, + 13.439669609069824 + ], + [ + -0.10534932464361191, + -0.9942322373390198, + -0.020094364881515503, + -9.062272071838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1881, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_238470554", + "mask_path": "../../mask/hdr_right_01881.png" + }, + { + "file_path": "../../rgb/hdr_right_01882.png", + "transform_matrix": [ + [ + 0.9487487077713013, + -0.1156335324048996, + 0.2941170632839203, + 63.822391510009766 + ], + [ + -0.29505202174186707, + 0.009336814284324646, + 0.955435574054718, + 13.459122657775879 + ], + [ + -0.1132265031337738, + -0.9932481050491333, + -0.02525962144136429, + -9.051560401916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1882, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_338469982", + "mask_path": "../../mask/hdr_right_01882.png" + }, + { + "file_path": "../../rgb/hdr_right_01883.png", + "transform_matrix": [ + [ + 0.9547721147537231, + -0.11775979399681091, + 0.27302536368370056, + 63.748592376708984 + ], + [ + -0.27375268936157227, + 0.010270006954669952, + 0.9617452621459961, + 13.485909461975098 + ], + [ + -0.11605890095233917, + -0.9929890036582947, + -0.022431544959545135, + -9.042643547058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1883, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_438470363", + "mask_path": "../../mask/hdr_right_01883.png" + }, + { + "file_path": "../../rgb/hdr_right_01884.png", + "transform_matrix": [ + [ + 0.9625289440155029, + -0.11616550385951996, + 0.24503812193870544, + 63.680355072021484 + ], + [ + -0.24511566758155823, + 0.013840234838426113, + 0.969395101070404, + 13.500414848327637 + ], + [ + -0.116001658141613, + -0.9931334853172302, + -0.015152365900576115, + -9.040690422058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1884, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_538470506", + "mask_path": "../../mask/hdr_right_01884.png" + }, + { + "file_path": "../../rgb/hdr_right_01885.png", + "transform_matrix": [ + [ + 0.9683848023414612, + -0.11695951968431473, + 0.2203437089920044, + 63.629112243652344 + ], + [ + -0.22054529190063477, + 0.011377987451851368, + 0.9753104448318481, + 13.512039184570312 + ], + [ + -0.11657891422510147, + -0.993071436882019, + -0.014776612631976604, + -9.03797435760498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1885, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_638469457", + "mask_path": "../../mask/hdr_right_01885.png" + }, + { + "file_path": "../../rgb/hdr_right_01886.png", + "transform_matrix": [ + [ + 0.9725234508514404, + -0.11483421921730042, + 0.20251239836215973, + 63.569705963134766 + ], + [ + -0.20328953862190247, + 0.005026364233344793, + 0.9791057705879211, + 13.532123565673828 + ], + [ + -0.11345275491476059, + -0.9933719635009766, + -0.018456345424056053, + -9.02854061126709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1886, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_738470077", + "mask_path": "../../mask/hdr_right_01886.png" + }, + { + "file_path": "../../rgb/hdr_right_01887.png", + "transform_matrix": [ + [ + 0.9745712280273438, + -0.11102235317230225, + 0.19464071094989777, + 63.51311492919922 + ], + [ + -0.19543083012104034, + 0.0038261860609054565, + 0.9807100296020508, + 13.550787925720215 + ], + [ + -0.10962546616792679, + -0.9938105344772339, + -0.017968304455280304, + -9.009263038635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1887, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_838470697", + "mask_path": "../../mask/hdr_right_01887.png" + }, + { + "file_path": "../../rgb/hdr_right_01888.png", + "transform_matrix": [ + [ + 0.9739499092102051, + -0.11883740872144699, + 0.19313018023967743, + 63.457000732421875 + ], + [ + -0.1945621222257614, + -0.00045726390089839697, + 0.980890154838562, + 13.568638801574707 + ], + [ + -0.11647812277078629, + -0.9929136037826538, + -0.02356661483645439, + -8.992645263671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1888, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594355_938469648", + "mask_path": "../../mask/hdr_right_01888.png" + }, + { + "file_path": "../../rgb/hdr_right_01889.png", + "transform_matrix": [ + [ + 0.9736014604568481, + -0.1267661303281784, + 0.1898176223039627, + 63.38975524902344 + ], + [ + -0.1922648400068283, + -0.007242657244205475, + 0.9813163876533508, + 13.587264060974121 + ], + [ + -0.1230228841304779, + -0.9919062256813049, + -0.031424131244421005, + -8.981616020202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1889, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_38469791", + "mask_path": "../../mask/hdr_right_01889.png" + }, + { + "file_path": "../../rgb/hdr_right_01890.png", + "transform_matrix": [ + [ + 0.9736455678939819, + -0.13404735922813416, + 0.1845146119594574, + 63.304386138916016 + ], + [ + -0.18749691545963287, + -0.009865340776741505, + 0.9822155833244324, + 13.605937957763672 + ], + [ + -0.12984314560890198, + -0.9909257888793945, + -0.03473881632089615, + -8.960702896118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1890, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_138470411", + "mask_path": "../../mask/hdr_right_01890.png" + }, + { + "file_path": "../../rgb/hdr_right_01891.png", + "transform_matrix": [ + [ + 0.9755532145500183, + -0.13371287286281586, + 0.17440420389175415, + 63.239505767822266 + ], + [ + -0.17667903006076813, + -0.005247591994702816, + 0.9842545390129089, + 13.619641304016113 + ], + [ + -0.13069230318069458, + -0.9910061955451965, + -0.02874356508255005, + -8.948262214660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1891, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_238470315", + "mask_path": "../../mask/hdr_right_01891.png" + }, + { + "file_path": "../../rgb/hdr_right_01893.png", + "transform_matrix": [ + [ + 0.9789010286331177, + -0.13049708306789398, + 0.15723633766174316, + 63.13624572753906 + ], + [ + -0.15878969430923462, + -0.0015188660472631454, + 0.9873112440109253, + 13.6388521194458 + ], + [ + -0.12860241532325745, + -0.9914475083351135, + -0.022208411246538162, + -8.944398880004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1893, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_438469886", + "mask_path": "../../mask/hdr_right_01893.png" + }, + { + "file_path": "../../rgb/hdr_right_01894.png", + "transform_matrix": [ + [ + 0.9805293083190918, + -0.12955626845359802, + 0.14757150411605835, + 63.07969665527344 + ], + [ + -0.14810289442539215, + 0.005576972849667072, + 0.9889562726020813, + 13.660755157470703 + ], + [ + -0.12894847989082336, + -0.9915564060211182, + -0.013719270937144756, + -8.920137405395508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1894, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_538469314", + "mask_path": "../../mask/hdr_right_01894.png" + }, + { + "file_path": "../../rgb/hdr_right_01895.png", + "transform_matrix": [ + [ + 0.9820162653923035, + -0.137332946062088, + 0.1295524686574936, + 63.02362823486328 + ], + [ + -0.129961758852005, + 0.0060205101035535336, + 0.991500735282898, + 13.670722007751465 + ], + [ + -0.1369456797838211, + -0.9905065894126892, + -0.01193579938262701, + -8.904003143310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1895, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_638469219", + "mask_path": "../../mask/hdr_right_01895.png" + }, + { + "file_path": "../../rgb/hdr_right_01896.png", + "transform_matrix": [ + [ + 0.9833418130874634, + -0.14531274139881134, + 0.10919239372015, + 62.964168548583984 + ], + [ + -0.10999699681997299, + 0.0025102882646024227, + 0.9939287304878235, + 13.681336402893066 + ], + [ + -0.14470462501049042, + -0.9893825650215149, + -0.013515500351786613, + -8.892438888549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1896, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_738469123", + "mask_path": "../../mask/hdr_right_01896.png" + }, + { + "file_path": "../../rgb/hdr_right_01897.png", + "transform_matrix": [ + [ + 0.9843647480010986, + -0.15275415778160095, + 0.08770539611577988, + 62.89332580566406 + ], + [ + -0.08870222419500351, + 0.000289983581751585, + 0.9960582256317139, + 13.69339370727539 + ], + [ + -0.15217746794223785, + -0.9882642030715942, + -0.013264192268252373, + -8.876289367675781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1897, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_838468313", + "mask_path": "../../mask/hdr_right_01897.png" + }, + { + "file_path": "../../rgb/hdr_right_01898.png", + "transform_matrix": [ + [ + 0.9861503839492798, + -0.1551896631717682, + 0.058512382209300995, + 62.82094192504883 + ], + [ + -0.05872400477528572, + 0.0032243041787296534, + 0.9982690811157227, + 13.702306747436523 + ], + [ + -0.1551096886396408, + -0.9878794550895691, + -0.005933710839599371, + -8.853961944580078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1898, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594356_938468933", + "mask_path": "../../mask/hdr_right_01898.png" + }, + { + "file_path": "../../rgb/hdr_right_01899.png", + "transform_matrix": [ + [ + 0.9872490167617798, + -0.15692733228206635, + 0.026706451550126076, + 62.76707077026367 + ], + [ + -0.026211919263005257, + 0.005220280960202217, + 0.9996427893638611, + 13.701269149780273 + ], + [ + -0.15701068937778473, + -0.987596333026886, + 0.001040350878611207, + -8.850126266479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1899, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_38469552", + "mask_path": "../../mask/hdr_right_01899.png" + }, + { + "file_path": "../../rgb/hdr_right_01900.png", + "transform_matrix": [ + [ + 0.9874694347381592, + -0.15767784416675568, + -0.006480997893959284, + 62.70643997192383 + ], + [ + 0.00745376106351614, + 0.005578694399446249, + 0.9999566674232483, + 13.702611923217773 + ], + [ + -0.15763485431671143, + -0.9874748587608337, + 0.006684079300612211, + -8.842482566833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1900, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_138469219", + "mask_path": "../../mask/hdr_right_01900.png" + }, + { + "file_path": "../../rgb/hdr_right_01901.png", + "transform_matrix": [ + [ + 0.986095666885376, + -0.16220827400684357, + -0.03610869124531746, + 62.63509750366211 + ], + [ + 0.03777940943837166, + 0.00722607271745801, + 0.9992600083351135, + 13.70505428314209 + ], + [ + -0.16182731091976166, + -0.9867300987243652, + 0.013253726996481419, + -8.815492630004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1901, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_238469123", + "mask_path": "../../mask/hdr_right_01901.png" + }, + { + "file_path": "../../rgb/hdr_right_01902.png", + "transform_matrix": [ + [ + 0.9833225011825562, + -0.17209190130233765, + -0.05883209779858589, + 62.573604583740234 + ], + [ + 0.05937875062227249, + -0.0019741530995815992, + 0.9982336163520813, + 13.706034660339355 + ], + [ + -0.1719040423631668, + -0.9850789308547974, + 0.008277369663119316, + -8.793309211730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1902, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_338469028", + "mask_path": "../../mask/hdr_right_01902.png" + }, + { + "file_path": "../../rgb/hdr_right_01903.png", + "transform_matrix": [ + [ + 0.9804059267044067, + -0.1799193173646927, + -0.08020786195993423, + 62.51758575439453 + ], + [ + 0.0793464332818985, + -0.011991431005299091, + 0.9967749714851379, + 13.702153205871582 + ], + [ + -0.18030087649822235, + -0.9836082458496094, + 0.002519479487091303, + -8.78067398071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1903, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_438469171", + "mask_path": "../../mask/hdr_right_01903.png" + }, + { + "file_path": "../../rgb/hdr_right_01904.png", + "transform_matrix": [ + [ + 0.9786134958267212, + -0.18224196135997772, + -0.09541207551956177, + 62.444366455078125 + ], + [ + 0.09412144124507904, + -0.015738066285848618, + 0.9954362511634827, + 13.698260307312012 + ], + [ + -0.18291187286376953, + -0.9831277132034302, + 0.0017513917991891503, + -8.761423110961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1904, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_538469314", + "mask_path": "../../mask/hdr_right_01904.png" + }, + { + "file_path": "../../rgb/hdr_right_01905.png", + "transform_matrix": [ + [ + 0.9778211116790771, + -0.17706111073493958, + -0.1118721142411232, + 62.37116622924805 + ], + [ + 0.11199634522199631, + -0.009324511513113976, + 0.9936648607254028, + 13.69435977935791 + ], + [ + -0.1769825667142868, + -0.9841557145118713, + 0.010712490417063236, + -8.747036933898926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1905, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_638468980", + "mask_path": "../../mask/hdr_right_01905.png" + }, + { + "file_path": "../../rgb/hdr_right_01906.png", + "transform_matrix": [ + [ + 0.9761478900909424, + -0.17630648612976074, + -0.12669387459754944, + 62.31565856933594 + ], + [ + 0.1274775266647339, + -0.006921384017914534, + 0.9918173551559448, + 13.6837739944458 + ], + [ + -0.17574071884155273, + -0.9843109250068665, + 0.015718810260295868, + -8.741496086120605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1906, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_738469123", + "mask_path": "../../mask/hdr_right_01906.png" + }, + { + "file_path": "../../rgb/hdr_right_01907.png", + "transform_matrix": [ + [ + 0.9744700789451599, + -0.17607499659061432, + -0.1393047720193863, + 62.25349044799805 + ], + [ + 0.14066168665885925, + -0.004813578445464373, + 0.9900460839271545, + 13.67244815826416 + ], + [ + -0.1749928742647171, + -0.9843649864196777, + 0.020076308399438858, + -8.732422828674316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1907, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_838470458", + "mask_path": "../../mask/hdr_right_01907.png" + }, + { + "file_path": "../../rgb/hdr_right_01908.png", + "transform_matrix": [ + [ + 0.9725951552391052, + -0.1793576031923294, + -0.147951140999794, + 62.178627014160156 + ], + [ + 0.14984510838985443, + -0.003018559655174613, + 0.9887048006057739, + 13.668999671936035 + ], + [ + -0.17777833342552185, + -0.9837794303894043, + 0.02394001930952072, + -8.713610649108887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1908, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594357_938469886", + "mask_path": "../../mask/hdr_right_01908.png" + }, + { + "file_path": "../../rgb/hdr_right_01909.png", + "transform_matrix": [ + [ + 0.9712657332420349, + -0.18512828648090363, + -0.1495678722858429, + 62.11289978027344 + ], + [ + 0.15024779736995697, + -0.010432163253426552, + 0.988593339920044, + 13.668642044067383 + ], + [ + -0.18457691371440887, + -0.9826589822769165, + 0.01768271066248417, + -8.68928050994873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1909, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_38470745", + "mask_path": "../../mask/hdr_right_01909.png" + }, + { + "file_path": "../../rgb/hdr_right_01910.png", + "transform_matrix": [ + [ + 0.9700259566307068, + -0.1901155710220337, + -0.1513466089963913, + 62.05441665649414 + ], + [ + 0.1511971354484558, + -0.015377216041088104, + 0.9883841276168823, + 13.665593147277832 + ], + [ + -0.19023451209068298, + -0.9816412329673767, + 0.013828631490468979, + -8.674039840698242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1910, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_138470649", + "mask_path": "../../mask/hdr_right_01910.png" + }, + { + "file_path": "../../rgb/hdr_right_01911.png", + "transform_matrix": [ + [ + 0.9694476127624512, + -0.19264651834964752, + -0.15185099840164185, + 61.972694396972656 + ], + [ + 0.15105485916137695, + -0.018901720643043518, + 0.988344669342041, + 13.662611961364746 + ], + [ + -0.19327139854431152, + -0.9810861945152283, + 0.01077596377581358, + -8.653275489807129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1911, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_238473415", + "mask_path": "../../mask/hdr_right_01911.png" + }, + { + "file_path": "../../rgb/hdr_right_01912.png", + "transform_matrix": [ + [ + 0.9688004851341248, + -0.19165746867656708, + -0.15714022517204285, + 61.89638900756836 + ], + [ + 0.15733201801776886, + -0.014314726926386356, + 0.9874420762062073, + 13.654645919799805 + ], + [ + -0.19150005280971527, + -0.9813574552536011, + 0.016285739839076996, + -8.626294136047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1912, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_338470458", + "mask_path": "../../mask/hdr_right_01912.png" + }, + { + "file_path": "../../rgb/hdr_right_01913.png", + "transform_matrix": [ + [ + 0.9686450362205505, + -0.1892220824956894, + -0.16100239753723145, + 61.832313537597656 + ], + [ + 0.16289359331130981, + -0.005619732663035393, + 0.9866276979446411, + 13.650142669677734 + ], + [ + -0.18759652972221375, + -0.981918215751648, + 0.02537953108549118, + -8.617630004882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1913, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_438470840", + "mask_path": "../../mask/hdr_right_01913.png" + }, + { + "file_path": "../../rgb/hdr_right_01914.png", + "transform_matrix": [ + [ + 0.9687422513961792, + -0.1883668601512909, + -0.1614198386669159, + 61.75741195678711 + ], + [ + 0.1647270768880844, + 0.0019306289032101631, + 0.9863373637199402, + 13.651204109191895 + ], + [ + -0.18548162281513214, + -0.9820968508720398, + 0.0328994020819664, + -8.601466178894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_538470268", + "mask_path": "../../mask/hdr_right_01914.png" + }, + { + "file_path": "../../rgb/hdr_right_01915.png", + "transform_matrix": [ + [ + 0.9689768552780151, + -0.1917809098958969, + -0.1558976173400879, + 61.684932708740234 + ], + [ + 0.16026930510997772, + 0.0073999338783323765, + 0.9870456457138062, + 13.660030364990234 + ], + [ + -0.18814286589622498, + -0.9814099073410034, + 0.0379069559276104, + -8.571921348571777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1915, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_638470411", + "mask_path": "../../mask/hdr_right_01915.png" + }, + { + "file_path": "../../rgb/hdr_right_01916.png", + "transform_matrix": [ + [ + 0.9684366583824158, + -0.20059648156166077, + -0.14795753359794617, + 61.62424850463867 + ], + [ + 0.15118741989135742, + 0.0007911599241197109, + 0.9885047674179077, + 13.66283130645752 + ], + [ + -0.19817352294921875, + -0.9796736240386963, + 0.03109385073184967, + -8.550271034240723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_738470792", + "mask_path": "../../mask/hdr_right_01916.png" + }, + { + "file_path": "../../rgb/hdr_right_01917.png", + "transform_matrix": [ + [ + 0.9679592847824097, + -0.20558859407901764, + -0.14418114721775055, + 61.5645751953125 + ], + [ + 0.1464596837759018, + -0.00417407276108861, + 0.989207923412323, + 13.663022994995117 + ], + [ + -0.20397166907787323, + -0.9786295890808105, + 0.02607010118663311, + -8.530871391296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1917, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_838469743", + "mask_path": "../../mask/hdr_right_01917.png" + }, + { + "file_path": "../../rgb/hdr_right_01918.png", + "transform_matrix": [ + [ + 0.9679241180419922, + -0.20598852634429932, + -0.1438463181257248, + 61.49248123168945 + ], + [ + 0.14597010612487793, + -0.004931569565087557, + 0.9892767667770386, + 13.661348342895508 + ], + [ + -0.20448905229568481, + -0.978541910648346, + 0.025294777005910873, + -8.510886192321777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1918, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594358_938470125", + "mask_path": "../../mask/hdr_right_01918.png" + }, + { + "file_path": "../../rgb/hdr_right_01919.png", + "transform_matrix": [ + [ + 0.9677973389625549, + -0.2044539898633957, + -0.14685659110546112, + 61.4266242980957 + ], + [ + 0.15022161602973938, + 0.0009488758514635265, + 0.9886518716812134, + 13.657978057861328 + ], + [ + -0.20199449360370636, + -0.9788756966590881, + 0.031631726771593094, + -8.497176170349121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1919, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_38469791", + "mask_path": "../../mask/hdr_right_01919.png" + }, + { + "file_path": "../../rgb/hdr_right_01920.png", + "transform_matrix": [ + [ + 0.9677670001983643, + -0.20360605418682098, + -0.14822831749916077, + 61.364532470703125 + ], + [ + 0.15245762467384338, + 0.005156568251550198, + 0.9882965683937073, + 13.654548645019531 + ], + [ + -0.20045879483222961, + -0.9790393114089966, + 0.03603164479136467, + -8.486912727355957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1920, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_138470172", + "mask_path": "../../mask/hdr_right_01920.png" + }, + { + "file_path": "../../rgb/hdr_right_01921.png", + "transform_matrix": [ + [ + 0.9677455425262451, + -0.2051437348127365, + -0.14623455703258514, + 61.29634094238281 + ], + [ + 0.15166868269443512, + 0.010932347737252712, + 0.988370954990387, + 13.65951919555664 + ], + [ + -0.20115944743156433, + -0.9786708354949951, + 0.041693609207868576, + -8.466508865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_238469600", + "mask_path": "../../mask/hdr_right_01921.png" + }, + { + "file_path": "../../rgb/hdr_right_01922.png", + "transform_matrix": [ + [ + 0.9673032164573669, + -0.21053455770015717, + -0.14142000675201416, + 61.23589324951172 + ], + [ + 0.14606960117816925, + 0.00661905063316226, + 0.9892522096633911, + 13.667247772216797 + ], + [ + -0.2073356956243515, + -0.9775640368461609, + 0.03715532645583153, + -8.443365097045898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1922, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_338469743", + "mask_path": "../../mask/hdr_right_01922.png" + }, + { + "file_path": "../../rgb/hdr_right_01923.png", + "transform_matrix": [ + [ + 0.9647679924964905, + -0.21572262048721313, + -0.1506204903125763, + 61.183258056640625 + ], + [ + 0.1548546999692917, + 0.002761981450021267, + 0.9879334568977356, + 13.661523818969727 + ], + [ + -0.21270358562469482, + -0.9764507412910461, + 0.0360703282058239, + -8.41987133026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1923, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_438470840", + "mask_path": "../../mask/hdr_right_01923.png" + }, + { + "file_path": "../../rgb/hdr_right_01924.png", + "transform_matrix": [ + [ + 0.9620200991630554, + -0.2157009392976761, + -0.16730336844921112, + 61.12118911743164 + ], + [ + 0.17181608080863953, + 0.0022044775541871786, + 0.9851265549659729, + 13.647591590881348 + ], + [ + -0.21212393045425415, + -0.9764569401741028, + 0.03918164223432541, + -8.404197692871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_538470029", + "mask_path": "../../mask/hdr_right_01924.png" + }, + { + "file_path": "../../rgb/hdr_right_01925.png", + "transform_matrix": [ + [ + 0.9586435556411743, + -0.215743750333786, + -0.18562649190425873, + 61.06604766845703 + ], + [ + 0.1916373074054718, + 0.007094336673617363, + 0.9814402461051941, + 13.638191223144531 + ], + [ + -0.21042266488075256, + -0.9764242172241211, + 0.04814548417925835, + -8.397239685058594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_638470888", + "mask_path": "../../mask/hdr_right_01925.png" + }, + { + "file_path": "../../rgb/hdr_right_01926.png", + "transform_matrix": [ + [ + 0.9557400941848755, + -0.21391931176185608, + -0.20198865234851837, + 61.011009216308594 + ], + [ + 0.20891979336738586, + 0.010060528293251991, + 0.9778809547424316, + 13.636968612670898 + ], + [ + -0.20715554058551788, + -0.9767995476722717, + 0.054307229816913605, + -8.385295867919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_738471031", + "mask_path": "../../mask/hdr_right_01926.png" + }, + { + "file_path": "../../rgb/hdr_right_01927.png", + "transform_matrix": [ + [ + 0.9538509845733643, + -0.21031348407268524, + -0.21432825922966003, + 60.95594024658203 + ], + [ + 0.2226702868938446, + 0.01653236523270607, + 0.9747536778450012, + 13.639985084533691 + ], + [ + -0.20146048069000244, + -0.9774941802024841, + 0.06259997189044952, + -8.367204666137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1927, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594359_838470458", + "mask_path": "../../mask/hdr_right_01927.png" + }, + { + "file_path": "../../rgb/hdr_right_01930.png", + "transform_matrix": [ + [ + 0.9417821764945984, + -0.21148231625556946, + -0.26138389110565186, + 60.824501037597656 + ], + [ + 0.2681981921195984, + 0.0036803437396883965, + 0.9633567333221436, + 13.616389274597168 + ], + [ + -0.20277093350887299, + -0.9773749113082886, + 0.060185257345438004, + -8.321072578430176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1930, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_138469934", + "mask_path": "../../mask/hdr_right_01930.png" + }, + { + "file_path": "../../rgb/hdr_right_01931.png", + "transform_matrix": [ + [ + 0.9370248317718506, + -0.21121695637702942, + -0.27815815806388855, + 60.773216247558594 + ], + [ + 0.2865746319293976, + 0.00970362313091755, + 0.9580088257789612, + 13.603801727294922 + ], + [ + -0.19964854419231415, + -0.9773910641670227, + 0.06962195038795471, + -8.315872192382812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1931, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_238469600", + "mask_path": "../../mask/hdr_right_01931.png" + }, + { + "file_path": "../../rgb/hdr_right_01933.png", + "transform_matrix": [ + [ + 0.92775958776474, + -0.2053833305835724, + -0.3115764558315277, + 60.68830490112305 + ], + [ + 0.3194707930088043, + 0.005592269357293844, + 0.9475796222686768, + 13.583839416503906 + ], + [ + -0.19287465512752533, + -0.9786655902862549, + 0.07080225646495819, + -8.297657012939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_438469886", + "mask_path": "../../mask/hdr_right_01933.png" + }, + { + "file_path": "../../rgb/hdr_right_01935.png", + "transform_matrix": [ + [ + 0.9221928715705872, + -0.20485574007034302, + -0.32801589369773865, + 60.59912109375 + ], + [ + 0.33364179730415344, + -0.007462967187166214, + 0.942670464515686, + 13.564093589782715 + ], + [ + -0.19555944204330444, + -0.9787636995315552, + 0.06146613508462906, + -8.262446403503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1935, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_638470649", + "mask_path": "../../mask/hdr_right_01935.png" + }, + { + "file_path": "../../rgb/hdr_right_01936.png", + "transform_matrix": [ + [ + 0.9178497195243835, + -0.20213256776332855, + -0.34160569310188293, + 60.54076385498047 + ], + [ + 0.34662458300590515, + -0.011158711276948452, + 0.9379376173019409, + 13.541855812072754 + ], + [ + -0.1933995932340622, + -0.9792946577072144, + 0.059822093695402145, + -8.245505332946777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_738470315", + "mask_path": "../../mask/hdr_right_01936.png" + }, + { + "file_path": "../../rgb/hdr_right_01937.png", + "transform_matrix": [ + [ + 0.9119840860366821, + -0.20254118740558624, + -0.35673803091049194, + 60.495784759521484 + ], + [ + 0.3623473644256592, + -0.009979095309972763, + 0.9319897890090942, + 13.521539688110352 + ], + [ + -0.19232623279094696, + -0.9792229533195496, + 0.06428948044776917, + -8.23942756652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1937, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594360_838470935", + "mask_path": "../../mask/hdr_right_01937.png" + }, + { + "file_path": "../../rgb/hdr_right_01939.png", + "transform_matrix": [ + [ + 0.9041374325752258, + -0.19504304230213165, + -0.38012340664863586, + 60.404930114746094 + ], + [ + 0.3843621015548706, + -0.017157668247818947, + 0.9230229258537292, + 13.496926307678223 + ], + [ + -0.18655124306678772, + -0.9806446433067322, + 0.05945426598191261, + -8.213347434997559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_38468837", + "mask_path": "../../mask/hdr_right_01939.png" + }, + { + "file_path": "../../rgb/hdr_right_01941.png", + "transform_matrix": [ + [ + 0.8991166949272156, + -0.19858811795711517, + -0.3900665044784546, + 60.314544677734375 + ], + [ + 0.3919669985771179, + -0.031325966119766235, + 0.9194458723068237, + 13.471550941467285 + ], + [ + -0.1948101967573166, + -0.9795822501182556, + 0.049674276262521744, + -8.175756454467773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_238472700", + "mask_path": "../../mask/hdr_right_01941.png" + }, + { + "file_path": "../../rgb/hdr_right_01942.png", + "transform_matrix": [ + [ + 0.8940464854240417, + -0.19706028699874878, + -0.4023035168647766, + 60.262359619140625 + ], + [ + 0.4047681987285614, + -0.02944173291325569, + 0.9139453172683716, + 13.4473295211792 + ], + [ + -0.19194680452346802, + -0.9799491763114929, + 0.05344144254922867, + -8.164215087890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1942, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_338468790", + "mask_path": "../../mask/hdr_right_01942.png" + }, + { + "file_path": "../../rgb/hdr_right_01944.png", + "transform_matrix": [ + [ + 0.8836463093757629, + -0.19595499336719513, + -0.42517155408859253, + 60.16752624511719 + ], + [ + 0.429115355014801, + -0.024054571986198425, + 0.9029293060302734, + 13.411678314208984 + ], + [ + -0.18716083467006683, + -0.9803178310394287, + 0.0628315657377243, + -8.151639938354492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1944, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_538470268", + "mask_path": "../../mask/hdr_right_01944.png" + }, + { + "file_path": "../../rgb/hdr_right_01945.png", + "transform_matrix": [ + [ + 0.8840681314468384, + -0.19266581535339355, + -0.4257974922657013, + 60.10904312133789 + ], + [ + 0.4294188916683197, + -0.024709001183509827, + 0.9027673602104187, + 13.400835037231445 + ], + [ + -0.18445344269275665, + -0.9809532165527344, + 0.060889892280101776, + -8.12851333618164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1945, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_638470172", + "mask_path": "../../mask/hdr_right_01945.png" + }, + { + "file_path": "../../rgb/hdr_right_01946.png", + "transform_matrix": [ + [ + 0.8853152990341187, + -0.1933581382036209, + -0.4228823781013489, + 60.053550720214844 + ], + [ + 0.4246967136859894, + -0.03407544642686844, + 0.9046941995620728, + 13.388211250305176 + ], + [ + -0.18933990597724915, + -0.9805362820625305, + 0.051951054483652115, + -8.111366271972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1946, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_738470315", + "mask_path": "../../mask/hdr_right_01946.png" + }, + { + "file_path": "../../rgb/hdr_right_01947.png", + "transform_matrix": [ + [ + 0.8851630091667175, + -0.19198483228683472, + -0.4238256812095642, + 59.98617935180664 + ], + [ + 0.4241158962249756, + -0.04167799651622772, + 0.9046483635902405, + 13.370519638061523 + ], + [ + -0.1913430094718933, + -0.9805124998092651, + 0.044531989842653275, + -8.100753784179688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_838470220", + "mask_path": "../../mask/hdr_right_01947.png" + }, + { + "file_path": "../../rgb/hdr_right_01948.png", + "transform_matrix": [ + [ + 0.8827188014984131, + -0.19718989729881287, + -0.42652514576911926, + 59.923526763916016 + ], + [ + 0.4262930452823639, + -0.045824360102415085, + 0.9034238457679749, + 13.3480224609375 + ], + [ + -0.19769126176834106, + -0.9792937636375427, + 0.043610651046037674, + -8.087026596069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594361_938470363", + "mask_path": "../../mask/hdr_right_01948.png" + }, + { + "file_path": "../../rgb/hdr_right_01949.png", + "transform_matrix": [ + [ + 0.8810081481933594, + -0.19963879883289337, + -0.42891597747802734, + 59.87062454223633 + ], + [ + 0.42930397391319275, + -0.043616265058517456, + 0.9021064043045044, + 13.325254440307617 + ], + [ + -0.1988031417131424, + -0.9788983464241028, + 0.04727944731712341, + -8.075060844421387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_38470029", + "mask_path": "../../mask/hdr_right_01949.png" + }, + { + "file_path": "../../rgb/hdr_right_01950.png", + "transform_matrix": [ + [ + 0.8791876435279846, + -0.20536772906780243, + -0.42994558811187744, + 59.8142204284668 + ], + [ + 0.43088117241859436, + -0.04251144081354141, + 0.9014068841934204, + 13.312288284301758 + ], + [ + -0.2033974677324295, + -0.9777612090110779, + 0.0511135533452034, + -8.060184478759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1950, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_138470172", + "mask_path": "../../mask/hdr_right_01950.png" + }, + { + "file_path": "../../rgb/hdr_right_01951.png", + "transform_matrix": [ + [ + 0.8803650736808777, + -0.20708782970905304, + -0.4266989231109619, + 59.76022720336914 + ], + [ + 0.4264620542526245, + -0.04810972884297371, + 0.9032251834869385, + 13.300742149353027 + ], + [ + -0.20757529139518738, + -0.9771386981010437, + 0.04596095532178879, + -8.039972305297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_238471984", + "mask_path": "../../mask/hdr_right_01951.png" + }, + { + "file_path": "../../rgb/hdr_right_01952.png", + "transform_matrix": [ + [ + 0.8789574503898621, + -0.20879796147346497, + -0.4287625551223755, + 59.70623779296875 + ], + [ + 0.4289282262325287, + -0.04687042906880379, + 0.9021218419075012, + 13.279915809631348 + ], + [ + -0.20845748484134674, + -0.9768349528312683, + 0.04836221784353256, + -8.019205093383789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1952, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_338470935", + "mask_path": "../../mask/hdr_right_01952.png" + }, + { + "file_path": "../../rgb/hdr_right_01953.png", + "transform_matrix": [ + [ + 0.8776172995567322, + -0.20593023300170898, + -0.43287473917007446, + 59.65671920776367 + ], + [ + 0.4333685338497162, + -0.04512641951441765, + 0.9000863432884216, + 13.261529922485352 + ], + [ + -0.20488905906677246, + -0.9775255918502808, + 0.04963994771242142, + -8.010704040527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_438471317", + "mask_path": "../../mask/hdr_right_01953.png" + }, + { + "file_path": "../../rgb/hdr_right_01955.png", + "transform_matrix": [ + [ + 0.881691038608551, + -0.1933455467224121, + -0.43039342761039734, + 59.545772552490234 + ], + [ + 0.42974603176116943, + -0.047492895275354385, + 0.901699960231781, + 13.246938705444336 + ], + [ + -0.19478030502796173, + -0.9799805879592896, + 0.041215427219867706, + -7.988722801208496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1955, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_638470411", + "mask_path": "../../mask/hdr_right_01955.png" + }, + { + "file_path": "../../rgb/hdr_right_01956.png", + "transform_matrix": [ + [ + 0.8863377571105957, + -0.19154174625873566, + -0.4215652644634247, + 59.493896484375 + ], + [ + 0.41982191801071167, + -0.05164163559675217, + 0.9061362147331238, + 13.238715171813965 + ], + [ + -0.19533319771289825, + -0.9801250100135803, + 0.034641485661268234, + -7.9739460945129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1956, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_738470792", + "mask_path": "../../mask/hdr_right_01956.png" + }, + { + "file_path": "../../rgb/hdr_right_01958.png", + "transform_matrix": [ + [ + 0.8880263566970825, + -0.18838992714881897, + -0.4194262623786926, + 59.36464309692383 + ], + [ + 0.41596168279647827, + -0.05953393131494522, + 0.9074313640594482, + 13.199090957641602 + ], + [ + -0.19592101871967316, + -0.9802882075309753, + 0.02549528144299984, + -7.942287445068359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1958, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594362_938470363", + "mask_path": "../../mask/hdr_right_01958.png" + }, + { + "file_path": "../../rgb/hdr_right_01959.png", + "transform_matrix": [ + [ + 0.8866876363754272, + -0.18591679632663727, + -0.4233437776565552, + 59.301387786865234 + ], + [ + 0.42074060440063477, + -0.055245839059352875, + 0.9054972529411316, + 13.17557144165039 + ], + [ + -0.1917351484298706, + -0.981011152267456, + 0.0292369332164526, + -7.936422824859619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1959, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_38469314", + "mask_path": "../../mask/hdr_right_01959.png" + }, + { + "file_path": "../../rgb/hdr_right_01960.png", + "transform_matrix": [ + [ + 0.8859499096870422, + -0.187614306807518, + -0.4241386353969574, + 59.23390197753906 + ], + [ + 0.4220288395881653, + -0.05308954045176506, + 0.9050266742706299, + 13.16164779663086 + ], + [ + -0.1923132836818695, + -0.9808070063591003, + 0.0321439653635025, + -7.927032947540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_138469696", + "mask_path": "../../mask/hdr_right_01960.png" + }, + { + "file_path": "../../rgb/hdr_right_01961.png", + "transform_matrix": [ + [ + 0.8861034512519836, + -0.19255749881267548, + -0.42159485816955566, + 59.163578033447266 + ], + [ + 0.42007768154144287, + -0.05069904774427414, + 0.90607088804245, + 13.150819778442383 + ], + [ + -0.19584520161151886, + -0.9799750447273254, + 0.03596450015902519, + -7.89953088760376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_238471031", + "mask_path": "../../mask/hdr_right_01961.png" + }, + { + "file_path": "../../rgb/hdr_right_01962.png", + "transform_matrix": [ + [ + 0.887484073638916, + -0.19167420268058777, + -0.41908589005470276, + 59.1039924621582 + ], + [ + 0.41642114520072937, + -0.05598513036966324, + 0.9074464440345764, + 13.134519577026367 + ], + [ + -0.1973966509103775, + -0.9798605442047119, + 0.030131274834275246, + -7.865304470062256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1962, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_338470458", + "mask_path": "../../mask/hdr_right_01962.png" + }, + { + "file_path": "../../rgb/hdr_right_01963.png", + "transform_matrix": [ + [ + 0.8840170502662659, + -0.19029872119426727, + -0.4269663393497467, + 59.036582946777344 + ], + [ + 0.42564210295677185, + -0.04989827051758766, + 0.9035147428512573, + 13.108470916748047 + ], + [ + -0.19324257969856262, + -0.9804573059082031, + 0.03688821569085121, + -7.850165843963623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_438470840", + "mask_path": "../../mask/hdr_right_01963.png" + }, + { + "file_path": "../../rgb/hdr_right_01964.png", + "transform_matrix": [ + [ + 0.877606213092804, + -0.18950308859348297, + -0.44033607840538025, + 58.975486755371094 + ], + [ + 0.44120168685913086, + -0.03993744030594826, + 0.8965190052986145, + 13.084017753601074 + ], + [ + -0.18747898936271667, + -0.9810675382614136, + 0.048559729009866714, + -7.842441082000732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1964, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_538470268", + "mask_path": "../../mask/hdr_right_01964.png" + }, + { + "file_path": "../../rgb/hdr_right_01965.png", + "transform_matrix": [ + [ + 0.8738093972206116, + -0.18267609179019928, + -0.4506511688232422, + 58.9129524230957 + ], + [ + 0.4514428377151489, + -0.039653949439525604, + 0.89141845703125, + 13.074275970458984 + ], + [ + -0.18071097135543823, + -0.9823731184005737, + 0.04781782254576683, + -7.834712505340576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_638469696", + "mask_path": "../../mask/hdr_right_01965.png" + }, + { + "file_path": "../../rgb/hdr_right_01966.png", + "transform_matrix": [ + [ + 0.8721904158592224, + -0.17725741863250732, + -0.45592066645622253, + 58.84903335571289 + ], + [ + 0.4556168019771576, + -0.0448480062186718, + 0.8890456557273865, + 13.069668769836426 + ], + [ + -0.17803704738616943, + -0.9831421375274658, + 0.04164545238018036, + -7.818545818328857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1966, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_738471746", + "mask_path": "../../mask/hdr_right_01966.png" + }, + { + "file_path": "../../rgb/hdr_right_01968.png", + "transform_matrix": [ + [ + 0.8677465915679932, + -0.1770724654197693, + -0.46439328789711, + 58.76068115234375 + ], + [ + 0.4632783532142639, + -0.05016670003533363, + 0.8847917914390564, + 13.036176681518555 + ], + [ + -0.17996934056282043, + -0.9829184412956238, + 0.03850185498595238, + -7.7920145988464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1968, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594363_938470840", + "mask_path": "../../mask/hdr_right_01968.png" + }, + { + "file_path": "../../rgb/hdr_right_01969.png", + "transform_matrix": [ + [ + 0.8593081831932068, + -0.16783073544502258, + -0.48313793540000916, + 58.70707702636719 + ], + [ + 0.48248642683029175, + -0.04741239920258522, + 0.8746194839477539, + 13.00837516784668 + ], + [ + -0.16969473659992218, + -0.9846749901771545, + 0.04023417830467224, + -7.8039960861206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_38470745", + "mask_path": "../../mask/hdr_right_01969.png" + }, + { + "file_path": "../../rgb/hdr_right_01970.png", + "transform_matrix": [ + [ + 0.8438984155654907, + -0.16700652241706848, + -0.5098473429679871, + 58.66535186767578 + ], + [ + 0.5106483101844788, + -0.04141891375184059, + 0.8587915301322937, + 12.98383903503418 + ], + [ + -0.1645410805940628, + -0.9850854873657227, + 0.050328243523836136, + -7.8053975105285645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1970, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_138470411", + "mask_path": "../../mask/hdr_right_01970.png" + }, + { + "file_path": "../../rgb/hdr_right_01971.png", + "transform_matrix": [ + [ + 0.8289264440536499, + -0.1598888635635376, + -0.5360192060470581, + 58.61962127685547 + ], + [ + 0.5374686121940613, + -0.03777937963604927, + 0.8424371480941772, + 12.962685585021973 + ], + [ + -0.15494678914546967, + -0.9864118695259094, + 0.05461891368031502, + -7.796852111816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1971, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_238471031", + "mask_path": "../../mask/hdr_right_01971.png" + }, + { + "file_path": "../../rgb/hdr_right_01972.png", + "transform_matrix": [ + [ + 0.8164007067680359, + -0.14574675261974335, + -0.5587913990020752, + 58.56874465942383 + ], + [ + 0.5595691800117493, + -0.0395074337720871, + 0.827841579914093, + 12.942516326904297 + ], + [ + -0.14273163676261902, + -0.9885327816009521, + 0.04930149018764496, + -7.789193153381348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1972, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_338469505", + "mask_path": "../../mask/hdr_right_01972.png" + }, + { + "file_path": "../../rgb/hdr_right_01974.png", + "transform_matrix": [ + [ + 0.8057132363319397, + -0.14221228659152985, + -0.574979841709137, + 58.49125671386719 + ], + [ + 0.5746907591819763, + -0.04728556051850319, + 0.8170034885406494, + 12.907870292663574 + ], + [ + -0.1433761715888977, + -0.988706111907959, + 0.043629471212625504, + -7.778633117675781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_538469314", + "mask_path": "../../mask/hdr_right_01974.png" + }, + { + "file_path": "../../rgb/hdr_right_01975.png", + "transform_matrix": [ + [ + 0.804318368434906, + -0.13606564700603485, + -0.5784100294113159, + 58.435672760009766 + ], + [ + 0.5775831937789917, + -0.04955660551786423, + 0.814826250076294, + 12.882828712463379 + ], + [ + -0.1395338773727417, + -0.9894595742225647, + 0.038729939609766006, + -7.7710442543029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_638469219", + "mask_path": "../../mask/hdr_right_01975.png" + }, + { + "file_path": "../../rgb/hdr_right_01976.png", + "transform_matrix": [ + [ + 0.7971508502960205, + -0.1367451548576355, + -0.588091254234314, + 58.38911056518555 + ], + [ + 0.5875770449638367, + -0.04843849688768387, + 0.8077170848846436, + 12.8537015914917 + ], + [ + -0.13893765211105347, + -0.9894213080406189, + 0.041735533624887466, + -7.758831024169922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1976, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_738469123", + "mask_path": "../../mask/hdr_right_01976.png" + }, + { + "file_path": "../../rgb/hdr_right_01978.png", + "transform_matrix": [ + [ + 0.7971432209014893, + -0.12990790605545044, + -0.5896495580673218, + 58.32893753051758 + ], + [ + 0.5881642699241638, + -0.053666625171899796, + 0.8069588541984558, + 12.818746566772461 + ], + [ + -0.1364748328924179, + -0.9900726079940796, + 0.033627208322286606, + -7.751219272613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594364_938469409", + "mask_path": "../../mask/hdr_right_01978.png" + }, + { + "file_path": "../../rgb/hdr_right_02100.png", + "transform_matrix": [ + [ + 0.7826598286628723, + -0.08271496742963791, + -0.6169293522834778, + 58.278602600097656 + ], + [ + 0.6122281551361084, + -0.07658251374959946, + 0.7869635820388794, + 12.783957481384277 + ], + [ + -0.11233967542648315, + -0.9936263561248779, + -0.009297630749642849, + -7.766170978546143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2100, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594377_138468980", + "mask_path": "../../mask/hdr_right_02100.png" + }, + { + "file_path": "../../rgb/hdr_right_02102.png", + "transform_matrix": [ + [ + 0.7755089998245239, + -0.09043961018323898, + -0.6248250603675842, + 58.21760177612305 + ], + [ + 0.6202459335327148, + -0.07554888725280762, + 0.7807607650756836, + 12.755830764770508 + ], + [ + -0.11781653761863708, + -0.9930322170257568, + -0.0024940541479736567, + -7.748852729797363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594377_338469266", + "mask_path": "../../mask/hdr_right_02102.png" + }, + { + "file_path": "../../rgb/hdr_right_02116.png", + "transform_matrix": [ + [ + 0.5871495604515076, + -0.07810577005147934, + -0.805701494216919, + 57.94606018066406 + ], + [ + 0.8040805459022522, + -0.058479417115449905, + 0.5916373133659363, + 12.476029396057129 + ], + [ + -0.09332723915576935, + -0.9952284693717957, + 0.028467165306210518, + -7.705964088439941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_738470554", + "mask_path": "../../mask/hdr_right_02116.png" + }, + { + "file_path": "../../rgb/hdr_right_02117.png", + "transform_matrix": [ + [ + 0.5858639478683472, + -0.077923484146595, + -0.8066544532775879, + 57.90003967285156 + ], + [ + 0.8056057691574097, + -0.05221598222851753, + 0.5901464223861694, + 12.428596496582031 + ], + [ + -0.08810652047395706, + -0.9955909848213196, + 0.03218415379524231, + -7.70515775680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2117, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_838470697", + "mask_path": "../../mask/hdr_right_02117.png" + }, + { + "file_path": "../../rgb/hdr_right_02118.png", + "transform_matrix": [ + [ + 0.5809735655784607, + -0.08498326689004898, + -0.8094737529754639, + 57.85679626464844 + ], + [ + 0.8096618056297302, + -0.04128542169928551, + 0.585442841053009, + 12.390641212463379 + ], + [ + -0.08317232131958008, + -0.9955266714096069, + 0.04482197016477585, + -7.703855037689209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2118, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594378_938470602", + "mask_path": "../../mask/hdr_right_02118.png" + }, + { + "file_path": "../../rgb/hdr_right_02119.png", + "transform_matrix": [ + [ + 0.5788495540618896, + -0.08548072725534439, + -0.8109416365623474, + 57.8048095703125 + ], + [ + 0.8117445111274719, + -0.034095678478479385, + 0.5830166935920715, + 12.357391357421875 + ], + [ + -0.0774862989783287, + -0.995756208896637, + 0.049652229994535446, + -7.703220844268799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2119, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_38469314", + "mask_path": "../../mask/hdr_right_02119.png" + }, + { + "file_path": "../../rgb/hdr_right_02120.png", + "transform_matrix": [ + [ + 0.5809827446937561, + -0.07930110394954681, + -0.810043454170227, + 57.744361877441406 + ], + [ + 0.8109779953956604, + -0.028083451092243195, + 0.584402322769165, + 12.324576377868652 + ], + [ + -0.06909256428480148, + -0.9964550733566284, + 0.04799545183777809, + -7.697735786437988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_138470649", + "mask_path": "../../mask/hdr_right_02120.png" + }, + { + "file_path": "../../rgb/hdr_right_02121.png", + "transform_matrix": [ + [ + 0.5886991024017334, + -0.07706061750650406, + -0.8046707510948181, + 57.69633102416992 + ], + [ + 0.8055962324142456, + -0.026201961562037468, + 0.5918853878974915, + 12.298138618469238 + ], + [ + -0.06669501215219498, + -0.9966821074485779, + 0.04665466398000717, + -7.687748908996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2121, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_238470554", + "mask_path": "../../mask/hdr_right_02121.png" + }, + { + "file_path": "../../rgb/hdr_right_02123.png", + "transform_matrix": [ + [ + 0.5986611843109131, + -0.07747987657785416, + -0.7972462773323059, + 57.61525344848633 + ], + [ + 0.7977960705757141, + -0.031289998441934586, + 0.6021149158477783, + 12.245262145996094 + ], + [ + -0.071597620844841, + -0.9965027570724487, + 0.04308103024959564, + -7.679150104522705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2123, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_438469409", + "mask_path": "../../mask/hdr_right_02123.png" + }, + { + "file_path": "../../rgb/hdr_right_02124.png", + "transform_matrix": [ + [ + 0.5977830290794373, + -0.07513365149497986, + -0.7981293201446533, + 57.572750091552734 + ], + [ + 0.7989764213562012, + -0.025525161996483803, + 0.6008203625679016, + 12.214080810546875 + ], + [ + -0.0655142068862915, + -0.9968467354774475, + 0.04477149620652199, + -7.667197227478027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_538468599", + "mask_path": "../../mask/hdr_right_02124.png" + }, + { + "file_path": "../../rgb/hdr_right_02125.png", + "transform_matrix": [ + [ + 0.5910426378250122, + -0.07779055833816528, + -0.8028806447982788, + 57.53951644897461 + ], + [ + 0.8040645122528076, + -0.022664165124297142, + 0.5941101312637329, + 12.177544593811035 + ], + [ + -0.06441276520490646, + -0.9967120289802551, + 0.04915313422679901, + -7.658756732940674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2125, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_638470172", + "mask_path": "../../mask/hdr_right_02125.png" + }, + { + "file_path": "../../rgb/hdr_right_02127.png", + "transform_matrix": [ + [ + 0.579986035823822, + -0.08325468748807907, + -0.8103609085083008, + 57.47886657714844 + ], + [ + 0.8121147751808167, + -0.01896340772509575, + 0.5831895470619202, + 12.111218452453613 + ], + [ + -0.06392048299312592, + -0.9963478446006775, + 0.05661385506391525, + -7.650912284851074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594379_838470458", + "mask_path": "../../mask/hdr_right_02127.png" + }, + { + "file_path": "../../rgb/hdr_right_02131.png", + "transform_matrix": [ + [ + 0.587163507938385, + -0.09888861328363419, + -0.8034052848815918, + 57.33958053588867 + ], + [ + 0.8053990602493286, + -0.028025351464748383, + 0.5920702219009399, + 11.986302375793457 + ], + [ + -0.08106470853090286, + -0.9947037696838379, + 0.0631893202662468, + -7.620896339416504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_238470077", + "mask_path": "../../mask/hdr_right_02131.png" + }, + { + "file_path": "../../rgb/hdr_right_02133.png", + "transform_matrix": [ + [ + 0.5866975784301758, + -0.09468729794025421, + -0.8042513728141785, + 57.27971267700195 + ], + [ + 0.806460440158844, + -0.0218666922301054, + 0.5908836126327515, + 11.941058158874512 + ], + [ + -0.0735354870557785, + -0.995266854763031, + 0.06353241950273514, + -7.624737739562988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2133, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_438470125", + "mask_path": "../../mask/hdr_right_02133.png" + }, + { + "file_path": "../../rgb/hdr_right_02135.png", + "transform_matrix": [ + [ + 0.6012400984764099, + -0.09816550463438034, + -0.793015718460083, + 57.21879959106445 + ], + [ + 0.7952398657798767, + -0.02352389134466648, + 0.6058384776115417, + 11.914679527282715 + ], + [ + -0.07812725007534027, + -0.9948920607566833, + 0.06392162293195724, + -7.615052223205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2135, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_638469696", + "mask_path": "../../mask/hdr_right_02135.png" + }, + { + "file_path": "../../rgb/hdr_right_02137.png", + "transform_matrix": [ + [ + 0.5891872644424438, + -0.092396579682827, + -0.8026962280273438, + 57.17103576660156 + ], + [ + 0.8045958876609802, + -0.023955758661031723, + 0.593339204788208, + 11.858292579650879 + ], + [ + -0.07405170798301697, + -0.9954341053962708, + 0.060227490961551666, + -7.62904167175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2137, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594380_838470458", + "mask_path": "../../mask/hdr_right_02137.png" + }, + { + "file_path": "../../rgb/hdr_right_02139.png", + "transform_matrix": [ + [ + 0.5970579385757446, + -0.08585537225008011, + -0.7975906133651733, + 57.11283874511719 + ], + [ + 0.7997435927391052, + -0.014012780040502548, + 0.6001781225204468, + 11.829438209533691 + ], + [ + -0.06270496547222137, + -0.9962090849876404, + 0.060295846313238144, + -7.614062786102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2139, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_38470029", + "mask_path": "../../mask/hdr_right_02139.png" + }, + { + "file_path": "../../rgb/hdr_right_02141.png", + "transform_matrix": [ + [ + 0.6135845184326172, + -0.07125923782587051, + -0.7864070534706116, + 57.06031799316406 + ], + [ + 0.7869248986244202, + -0.027167946100234985, + 0.6164504289627075, + 11.791522026062012 + ], + [ + -0.0652928352355957, + -0.9970877766609192, + 0.03940581902861595, + -7.618005752563477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_238470077", + "mask_path": "../../mask/hdr_right_02141.png" + }, + { + "file_path": "../../rgb/hdr_right_02147.png", + "transform_matrix": [ + [ + 0.7224059700965881, + -0.06579666584730148, + -0.6883316040039062, + 56.84309387207031 + ], + [ + 0.68832927942276, + -0.026330752298235893, + 0.724920392036438, + 11.661600112915039 + ], + [ + -0.06582164019346237, + -0.9974856376647949, + 0.026268277317285538, + -7.579977035522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2147, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594381_838469266", + "mask_path": "../../mask/hdr_right_02147.png" + }, + { + "file_path": "../../rgb/hdr_right_02149.png", + "transform_matrix": [ + [ + 0.7755031585693359, + -0.08190681040287018, + -0.6260080337524414, + 56.753780364990234 + ], + [ + 0.6270602345466614, + -0.015378761105239391, + 0.7788190245628357, + 11.64660358428955 + ], + [ + -0.0734177902340889, + -0.9965213537216187, + 0.03943421691656113, + -7.569951057434082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2149, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_38469314", + "mask_path": "../../mask/hdr_right_02149.png" + }, + { + "file_path": "../../rgb/hdr_right_02151.png", + "transform_matrix": [ + [ + 0.822091817855835, + -0.08828577399253845, + -0.5624683499336243, + 56.66914749145508 + ], + [ + 0.562706708908081, + -0.024541491642594337, + 0.8262923359870911, + 11.644885063171387 + ], + [ + -0.08675366640090942, + -0.9957927465438843, + 0.029503632336854935, + -7.556366443634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2151, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_238470077", + "mask_path": "../../mask/hdr_right_02151.png" + }, + { + "file_path": "../../rgb/hdr_right_02153.png", + "transform_matrix": [ + [ + 0.8267969489097595, + -0.0944715142250061, + -0.5545105338096619, + 56.59217834472656 + ], + [ + 0.5544634461402893, + -0.02917155623435974, + 0.8316966891288757, + 11.597705841064453 + ], + [ + -0.09474757313728333, + -0.9951000809669495, + 0.02826203964650631, + -7.5400590896606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2153, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_438470363", + "mask_path": "../../mask/hdr_right_02153.png" + }, + { + "file_path": "../../rgb/hdr_right_02155.png", + "transform_matrix": [ + [ + 0.8212477564811707, + -0.09709731489419937, + -0.5622493028640747, + 56.531005859375 + ], + [ + 0.5628567337989807, + -0.0236342865973711, + 0.8262165784835815, + 11.571653366088867 + ], + [ + -0.09351176768541336, + -0.9949942231178284, + 0.03524227440357208, + -7.530028820037842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2155, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_638470411", + "mask_path": "../../mask/hdr_right_02155.png" + }, + { + "file_path": "../../rgb/hdr_right_02157.png", + "transform_matrix": [ + [ + 0.8310144543647766, + -0.09823691099882126, + -0.5475075244903564, + 56.468902587890625 + ], + [ + 0.5465800166130066, + -0.03852943703532219, + 0.8365201354026794, + 11.548086166381836 + ], + [ + -0.10327229648828506, + -0.9944168925285339, + 0.021675804629921913, + -7.519668102264404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2157, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594382_838470220", + "mask_path": "../../mask/hdr_right_02157.png" + }, + { + "file_path": "../../rgb/hdr_right_02159.png", + "transform_matrix": [ + [ + 0.8253520727157593, + -0.10759790986776352, + -0.554271399974823, + 56.38875198364258 + ], + [ + 0.5528178811073303, + -0.04565516114234924, + 0.8320505619049072, + 11.503873825073242 + ], + [ + -0.11483225226402283, + -0.9931456446647644, + 0.021800467744469643, + -7.504171848297119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2159, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_38470029", + "mask_path": "../../mask/hdr_right_02159.png" + }, + { + "file_path": "../../rgb/hdr_right_02161.png", + "transform_matrix": [ + [ + 0.8203189373016357, + -0.11389452964067459, + -0.560450553894043, + 56.31108093261719 + ], + [ + 0.5596499443054199, + -0.04192822426557541, + 0.8276678919792175, + 11.467606544494629 + ], + [ + -0.11776554584503174, + -0.9926077127456665, + 0.02934654802083969, + -7.492307662963867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2161, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_238470554", + "mask_path": "../../mask/hdr_right_02161.png" + }, + { + "file_path": "../../rgb/hdr_right_02163.png", + "transform_matrix": [ + [ + 0.8247731924057007, + -0.11876799911260605, + -0.5528501272201538, + 56.22456741333008 + ], + [ + 0.5505709648132324, + -0.054236382246017456, + 0.8330245614051819, + 11.433259010314941 + ], + [ + -0.1289212703704834, + -0.9914396405220032, + 0.020657498389482498, + -7.465588569641113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2163, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_438470602", + "mask_path": "../../mask/hdr_right_02163.png" + }, + { + "file_path": "../../rgb/hdr_right_02164.png", + "transform_matrix": [ + [ + 0.8216251134872437, + -0.11714234203100204, + -0.5578619837760925, + 56.173831939697266 + ], + [ + 0.5557134747505188, + -0.05333946645259857, + 0.8296611309051514, + 11.402983665466309 + ], + [ + -0.12694451212882996, + -0.991681694984436, + 0.021272528916597366, + -7.462521076202393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2164, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_538470268", + "mask_path": "../../mask/hdr_right_02164.png" + }, + { + "file_path": "../../rgb/hdr_right_02165.png", + "transform_matrix": [ + [ + 0.8167628645896912, + -0.12342047691345215, + -0.563618540763855, + 56.1263542175293 + ], + [ + 0.5613054037094116, + -0.056133974343538284, + 0.8257028460502625, + 11.374235153198242 + ], + [ + -0.13354678452014923, + -0.9907655715942383, + 0.023428432643413544, + -7.455036640167236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2165, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_638471126", + "mask_path": "../../mask/hdr_right_02165.png" + }, + { + "file_path": "../../rgb/hdr_right_02166.png", + "transform_matrix": [ + [ + 0.8158987760543823, + -0.12289297580718994, + -0.5649837255477905, + 56.07890701293945 + ], + [ + 0.5622440576553345, + -0.05930496007204056, + 0.8248422145843506, + 11.35128116607666 + ], + [ + -0.1348736584186554, + -0.9906463623046875, + 0.020709006115794182, + -7.442431926727295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2166, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_738470792", + "mask_path": "../../mask/hdr_right_02166.png" + }, + { + "file_path": "../../rgb/hdr_right_02167.png", + "transform_matrix": [ + [ + 0.8199136257171631, + -0.12136346101760864, + -0.5594752430915833, + 56.02824783325195 + ], + [ + 0.5563148260116577, + -0.06173931807279587, + 0.8286749124526978, + 11.328695297241211 + ], + [ + -0.135112464427948, + -0.9906862378120422, + 0.01689537614583969, + -7.426052570343018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2167, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_838469505", + "mask_path": "../../mask/hdr_right_02167.png" + }, + { + "file_path": "../../rgb/hdr_right_02168.png", + "transform_matrix": [ + [ + 0.8255086541175842, + -0.13034117221832275, + -0.5491327047348022, + 55.98135757446289 + ], + [ + 0.5456739068031311, + -0.0641598254442215, + 0.835537850856781, + 11.308096885681152 + ], + [ + -0.14413723349571228, + -0.9893910884857178, + 0.0181592870503664, + -7.406558036804199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2168, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594383_938470602", + "mask_path": "../../mask/hdr_right_02168.png" + }, + { + "file_path": "../../rgb/hdr_right_02169.png", + "transform_matrix": [ + [ + 0.8263857960700989, + -0.1337185949087143, + -0.5469970703125, + 55.934207916259766 + ], + [ + 0.5440562963485718, + -0.0609164834022522, + 0.8368345499038696, + 11.283930778503418 + ], + [ + -0.14522145688533783, + -0.9891453981399536, + 0.022409921512007713, + -7.3933305740356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2169, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_38470029", + "mask_path": "../../mask/hdr_right_02169.png" + }, + { + "file_path": "../../rgb/hdr_right_02170.png", + "transform_matrix": [ + [ + 0.8241083025932312, + -0.13386665284633636, + -0.5503864288330078, + 55.8829231262207 + ], + [ + 0.5480088591575623, + -0.05737234279513359, + 0.8345026969909668, + 11.255717277526855 + ], + [ + -0.1432890146970749, + -0.9893372058868408, + 0.02607908844947815, + -7.398997783660889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2170, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_138470411", + "mask_path": "../../mask/hdr_right_02170.png" + }, + { + "file_path": "../../rgb/hdr_right_02172.png", + "transform_matrix": [ + [ + 0.826100766658783, + -0.12210677564144135, + -0.5501340627670288, + 55.790382385253906 + ], + [ + 0.5462263822555542, + -0.06650219112634659, + 0.8349935412406921, + 11.219273567199707 + ], + [ + -0.138543501496315, + -0.9902864694595337, + 0.011760435998439789, + -7.394329071044922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2172, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_338470458", + "mask_path": "../../mask/hdr_right_02172.png" + }, + { + "file_path": "../../rgb/hdr_right_02174.png", + "transform_matrix": [ + [ + 0.8385524153709412, + -0.114792101085186, + -0.5325906276702881, + 55.696197509765625 + ], + [ + 0.5290641188621521, + -0.06182967498898506, + 0.8463263511657715, + 11.189644813537598 + ], + [ + -0.13008147478103638, + -0.9914634823799133, + 0.008884955197572708, + -7.370483875274658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2174, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_538470983", + "mask_path": "../../mask/hdr_right_02174.png" + }, + { + "file_path": "../../rgb/hdr_right_02175.png", + "transform_matrix": [ + [ + 0.8404169082641602, + -0.11107885837554932, + -0.530434787273407, + 55.63111877441406 + ], + [ + 0.5276092290878296, + -0.05589984357357025, + 0.8476459980010986, + 11.158170700073242 + ], + [ + -0.12380677461624146, + -0.9922382235527039, + 0.011627048254013062, + -7.3757643699646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2175, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_638470649", + "mask_path": "../../mask/hdr_right_02175.png" + }, + { + "file_path": "../../rgb/hdr_right_02176.png", + "transform_matrix": [ + [ + 0.8378547430038452, + -0.11237430572509766, + -0.5342017412185669, + 55.57218551635742 + ], + [ + 0.5323426723480225, + -0.04848939925432205, + 0.8451391458511353, + 11.130006790161133 + ], + [ + -0.1208750456571579, + -0.9924821853637695, + 0.019194558262825012, + -7.380985260009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2176, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_738470554", + "mask_path": "../../mask/hdr_right_02176.png" + }, + { + "file_path": "../../rgb/hdr_right_02177.png", + "transform_matrix": [ + [ + 0.8377302885055542, + -0.11226151883602142, + -0.5344206094741821, + 55.520042419433594 + ], + [ + 0.533193051815033, + -0.043235573917627335, + 0.8448881506919861, + 11.11160945892334 + ], + [ + -0.11795440316200256, + -0.9927375912666321, + 0.023637309670448303, + -7.380215644836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2177, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_838469982", + "mask_path": "../../mask/hdr_right_02177.png" + }, + { + "file_path": "../../rgb/hdr_right_02178.png", + "transform_matrix": [ + [ + 0.8396706581115723, + -0.11038748919963837, + -0.5317592620849609, + 55.45310974121094 + ], + [ + 0.5308697819709778, + -0.039761487394571304, + 0.846520185470581, + 11.09189510345459 + ], + [ + -0.11458876729011536, + -0.993092954158783, + 0.025214824825525284, + -7.372135162353516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2178, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594384_938470363", + "mask_path": "../../mask/hdr_right_02178.png" + }, + { + "file_path": "../../rgb/hdr_right_02179.png", + "transform_matrix": [ + [ + 0.8451933860778809, + -0.10861612111330032, + -0.5233075618743896, + 55.391788482666016 + ], + [ + 0.5225884914398193, + -0.037280090153217316, + 0.8517696857452393, + 11.074295997619629 + ], + [ + -0.11202488094568253, + -0.9933844804763794, + 0.02525264024734497, + -7.354781150817871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2179, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_38471937", + "mask_path": "../../mask/hdr_right_02179.png" + }, + { + "file_path": "../../rgb/hdr_right_02180.png", + "transform_matrix": [ + [ + 0.849521279335022, + -0.11397146433591843, + -0.5150962471961975, + 55.33757781982422 + ], + [ + 0.5140461325645447, + -0.04070605710148811, + 0.8567962646484375, + 11.057733535766602 + ], + [ + -0.11861785501241684, + -0.9926497340202332, + 0.024005930870771408, + -7.3467631340026855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2180, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_138470411", + "mask_path": "../../mask/hdr_right_02180.png" + }, + { + "file_path": "../../rgb/hdr_right_02181.png", + "transform_matrix": [ + [ + 0.8519526124000549, + -0.11492224782705307, + -0.5108518600463867, + 55.27169418334961 + ], + [ + 0.5100232362747192, + -0.03874744102358818, + 0.8592875003814697, + 11.031855583190918 + ], + [ + -0.11854544281959534, + -0.9926184415817261, + 0.025602031499147415, + -7.338871002197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2181, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_238471508", + "mask_path": "../../mask/hdr_right_02181.png" + }, + { + "file_path": "../../rgb/hdr_right_02182.png", + "transform_matrix": [ + [ + 0.8506119847297668, + -0.10602281242609024, + -0.5149935483932495, + 55.20451736450195 + ], + [ + 0.5158017873764038, + -0.021780960261821747, + 0.8564310073852539, + 11.003728866577148 + ], + [ + -0.10201828181743622, + -0.9941250681877136, + 0.036159612238407135, + -7.330814838409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2182, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_338469982", + "mask_path": "../../mask/hdr_right_02182.png" + }, + { + "file_path": "../../rgb/hdr_right_02183.png", + "transform_matrix": [ + [ + 0.8483248353004456, + -0.1056344211101532, + -0.518831729888916, + 55.158203125 + ], + [ + 0.5202820301055908, + -0.01550842635333538, + 0.8538537621498108, + 10.983410835266113 + ], + [ + -0.09824259579181671, + -0.9942840933799744, + 0.041803501546382904, + -7.335177421569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2183, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_438469886", + "mask_path": "../../mask/hdr_right_02183.png" + }, + { + "file_path": "../../rgb/hdr_right_02184.png", + "transform_matrix": [ + [ + 0.848178505897522, + -0.1083744689822197, + -0.518505871295929, + 55.10271453857422 + ], + [ + 0.5204406976699829, + -0.01182868704199791, + 0.8538158535957336, + 10.963139533996582 + ], + [ + -0.09866508841514587, + -0.9940397143363953, + 0.04636964574456215, + -7.3331756591796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2184, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_538470029", + "mask_path": "../../mask/hdr_right_02184.png" + }, + { + "file_path": "../../rgb/hdr_right_02185.png", + "transform_matrix": [ + [ + 0.8494066596031189, + -0.10916794836521149, + -0.5163241624832153, + 55.03501510620117 + ], + [ + 0.5180548429489136, + -0.01408314798027277, + 0.8552314639091492, + 10.94110107421875 + ], + [ + -0.1006353422999382, + -0.993923544883728, + 0.044592663645744324, + -7.31848669052124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2185, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_638470172", + "mask_path": "../../mask/hdr_right_02185.png" + }, + { + "file_path": "../../rgb/hdr_right_02186.png", + "transform_matrix": [ + [ + 0.855748176574707, + -0.10310283303260803, + -0.5070156455039978, + 54.98271179199219 + ], + [ + 0.5077764391899109, + -0.020693568512797356, + 0.8612403869628906, + 10.924447059631348 + ], + [ + -0.09928828477859497, + -0.9944554567337036, + 0.03464470058679581, + -7.304438591003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2186, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_738469600", + "mask_path": "../../mask/hdr_right_02186.png" + }, + { + "file_path": "../../rgb/hdr_right_02188.png", + "transform_matrix": [ + [ + 0.863862156867981, + -0.11011113971471786, + -0.49154630303382874, + 54.8608512878418 + ], + [ + 0.49308741092681885, + -0.014667339622974396, + 0.8698562383651733, + 10.868669509887695 + ], + [ + -0.1029905304312706, + -0.9938110709190369, + 0.041623860597610474, + -7.2917022705078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2188, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594385_938470363", + "mask_path": "../../mask/hdr_right_02188.png" + }, + { + "file_path": "../../rgb/hdr_right_02189.png", + "transform_matrix": [ + [ + 0.8668016195297241, + -0.10988782346248627, + -0.4863945245742798, + 54.810325622558594 + ], + [ + 0.4886413514614105, + -0.007296546828001738, + 0.8724542856216431, + 10.84542465209961 + ], + [ + -0.09942109882831573, + -0.9939172267913818, + 0.04737107828259468, + -7.287820816040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2189, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_38470029", + "mask_path": "../../mask/hdr_right_02189.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/8ac6a208/mesh.ply b/2024-11-14-15-22-43/splats/8ac6a208/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..4cb3c50fec58d93a436356956bf6b9d05ed78d2b --- /dev/null +++ b/2024-11-14-15-22-43/splats/8ac6a208/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c302d2fa6651a5da9c4374056e2a653262bc74c5733e24ce920894ac74d0c33 +size 124216314 diff --git a/2024-11-14-15-22-43/splats/8ac6a208/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/8ac6a208/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..0bdbde380dd9625ab34007170addaabd80900c2e --- /dev/null +++ b/2024-11-14-15-22-43/splats/8ac6a208/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:152f843308472526099fb536b53d0c25b67dc3b8dcd8c3d19df0835de1bca5eb +size 1512669 diff --git a/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/config.yml b/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..3882e3fdad96e80de896c8a52c67ed3f4500d2b8 --- /dev/null +++ b/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_8ac6a208 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_8ac6a208 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6b162b4995f3c4292f3dc080cc55fd3c32b38dfc --- /dev/null +++ b/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9947241544723511, + 0.04667092487215996, + 0.09135730564594269, + 10.351606369018555 + ], + [ + 0.04667092487215996, + 0.9989080429077148, + -0.0021375035867094994, + 6.357793807983398 + ], + [ + -0.09135730564594269, + 0.0021375035867094994, + -0.9958161115646362, + -0.08994823694229126 + ] + ], + "scale": 0.18677058326265006 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..5650f26a6780c7f177e05aa2265ffced87098f7c --- /dev/null +++ b/2024-11-14-15-22-43/splats/8ac6a208/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79ff97369d973fc61575da98bfbb8d68c7d9b0e3886074ebb637edadb6b23ae8 +size 305656138 diff --git a/2024-11-14-15-22-43/splats/8ac6a208/transforms.json b/2024-11-14-15-22-43/splats/8ac6a208/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fa61d62bb5001a2160e0b1d13261dd101fb6a230 --- /dev/null +++ b/2024-11-14-15-22-43/splats/8ac6a208/transforms.json @@ -0,0 +1,32514 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00652.png", + "transform_matrix": [ + [ + 0.21489229798316956, + -0.17033424973487854, + -0.9616692066192627, + 5.298105239868164 + ], + [ + 0.9753304123878479, + -0.013502988032996655, + 0.2203367054462433, + -6.69848108291626 + ], + [ + -0.050516292452812195, + -0.9852938055992126, + 0.16323049366474152, + -0.5076242685317993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 652, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_638468503", + "mask_path": "../../mask/hdr_front_00652.png" + }, + { + "file_path": "../../rgb/hdr_front_00653.png", + "transform_matrix": [ + [ + 0.2229040265083313, + -0.15873940289020538, + -0.9618293642997742, + 5.391804218292236 + ], + [ + 0.9732821583747864, + -0.019525127485394478, + 0.22878065705299377, + -6.720300674438477 + ], + [ + -0.0550963431596756, + -0.9871274828910828, + 0.1501460075378418, + -0.5272536277770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 653, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_738469123", + "mask_path": "../../mask/hdr_front_00653.png" + }, + { + "file_path": "../../rgb/hdr_front_00654.png", + "transform_matrix": [ + [ + 0.22080765664577484, + -0.15342432260513306, + -0.9631744027137756, + 5.486398696899414 + ], + [ + 0.9738126993179321, + -0.020153682678937912, + 0.22645677626132965, + -6.733397006988525 + ], + [ + -0.05415548384189606, + -0.9879549741744995, + 0.14495648443698883, + -0.5340219140052795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 654, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_838469028", + "mask_path": "../../mask/hdr_front_00654.png" + }, + { + "file_path": "../../rgb/hdr_front_00655.png", + "transform_matrix": [ + [ + 0.21914024651050568, + -0.14610467851161957, + -0.9646921753883362, + 5.552019119262695 + ], + [ + 0.974497377872467, + -0.01616455800831318, + 0.22381578385829926, + -6.7388386726379395 + ], + [ + -0.04829435050487518, + -0.9891371130943298, + 0.1388363093137741, + -0.5412864089012146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 655, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_938468217", + "mask_path": "../../mask/hdr_front_00655.png" + }, + { + "file_path": "../../rgb/hdr_front_00656.png", + "transform_matrix": [ + [ + 0.21952567994594574, + -0.1434032917022705, + -0.9650098085403442, + 5.629976272583008 + ], + [ + 0.9747779965400696, + -0.008520741015672684, + 0.2230139970779419, + -6.747962951660156 + ], + [ + -0.04020354151725769, + -0.9896277189254761, + 0.13791586458683014, + -0.5513705015182495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 656, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_38469552", + "mask_path": "../../mask/hdr_front_00656.png" + }, + { + "file_path": "../../rgb/hdr_front_00657.png", + "transform_matrix": [ + [ + 0.22630907595157623, + -0.1474614441394806, + -0.9628288149833679, + 5.719410419464111 + ], + [ + 0.9734967350959778, + 0.0007620748947374523, + 0.22869980335235596, + -6.767503261566162 + ], + [ + -0.032990649342536926, + -0.989067554473877, + 0.1437256783246994, + -0.5670640468597412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 657, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_138469696", + "mask_path": "../../mask/hdr_front_00657.png" + }, + { + "file_path": "../../rgb/hdr_front_00658.png", + "transform_matrix": [ + [ + 0.23800458014011383, + -0.14504873752593994, + -0.9603722095489502, + 5.791598320007324 + ], + [ + 0.9707306027412415, + 0.0027612217236310244, + 0.24015465378761292, + -6.791934013366699 + ], + [ + -0.032182324677705765, + -0.9894206523895264, + 0.14146043360233307, + -0.5687353610992432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 658, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_238470077", + "mask_path": "../../mask/hdr_front_00658.png" + }, + { + "file_path": "../../rgb/hdr_front_00659.png", + "transform_matrix": [ + [ + 0.25225597620010376, + -0.13874924182891846, + -0.9576616287231445, + 5.858872413635254 + ], + [ + 0.9670131802558899, + -4.844881550525315e-05, + 0.2547262907028198, + -6.8116912841796875 + ], + [ + -0.03538947552442551, + -0.9903275966644287, + 0.134160116314888, + -0.5788524746894836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 659, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_338468551", + "mask_path": "../../mask/hdr_front_00659.png" + }, + { + "file_path": "../../rgb/hdr_front_00660.png", + "transform_matrix": [ + [ + 0.26218315958976746, + -0.13599379360675812, + -0.9553877711296082, + 5.955854415893555 + ], + [ + 0.9640042781829834, + -0.008460343815386295, + 0.26575204730033875, + -6.841914653778076 + ], + [ + -0.04422353580594063, + -0.9906736016273499, + 0.12888045608997345, + -0.5942654609680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 660, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_438465833", + "mask_path": "../../mask/hdr_front_00660.png" + }, + { + "file_path": "../../rgb/hdr_front_00661.png", + "transform_matrix": [ + [ + 0.25871342420578003, + -0.13856907188892365, + -0.9559634327888489, + 6.045792579650879 + ], + [ + 0.9649009704589844, + -0.009129134006798267, + 0.2624555230140686, + -6.860422611236572 + ], + [ + -0.04509533941745758, + -0.9903107285499573, + 0.13134361803531647, + -0.6055769920349121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 661, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_538467884", + "mask_path": "../../mask/hdr_front_00661.png" + }, + { + "file_path": "../../rgb/hdr_front_00662.png", + "transform_matrix": [ + [ + 0.256047785282135, + -0.1339946836233139, + -0.957332193851471, + 6.109727382659912 + ], + [ + 0.9657431840896606, + -0.007762518711388111, + 0.259383887052536, + -6.869741439819336 + ], + [ + -0.042187366634607315, + -0.990951657295227, + 0.12741686403751373, + -0.6147876977920532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 662, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_638469457", + "mask_path": "../../mask/hdr_front_00662.png" + }, + { + "file_path": "../../rgb/hdr_front_00663.png", + "transform_matrix": [ + [ + 0.25555962324142456, + -0.13219238817691803, + -0.9577131271362305, + 6.190604209899902 + ], + [ + 0.9659364819526672, + -0.006784515921026468, + 0.2586904764175415, + -6.885303020477295 + ], + [ + -0.04069451987743378, + -0.9912009239196777, + 0.12595559656620026, + -0.6271560192108154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 663, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_738468408", + "mask_path": "../../mask/hdr_front_00663.png" + }, + { + "file_path": "../../rgb/hdr_front_00664.png", + "transform_matrix": [ + [ + 0.2610958516597748, + -0.13391070067882538, + -0.9559795260429382, + 6.278248310089111 + ], + [ + 0.9643403887748718, + -0.00825893972069025, + 0.2645362317562103, + -6.909718990325928 + ], + [ + -0.043319616466760635, + -0.9909590482711792, + 0.12697914242744446, + -0.6328742504119873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 664, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_838469028", + "mask_path": "../../mask/hdr_front_00664.png" + }, + { + "file_path": "../../rgb/hdr_front_00665.png", + "transform_matrix": [ + [ + 0.2706392705440521, + -0.1266450732946396, + -0.9543141722679138, + 6.346240997314453 + ], + [ + 0.9616836905479431, + -0.009540055878460407, + 0.27399522066116333, + -6.937957286834717 + ], + [ + -0.0438043586909771, + -0.991902232170105, + 0.11921059340238571, + -0.6297330260276794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 665, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_938469886", + "mask_path": "../../mask/hdr_front_00665.png" + }, + { + "file_path": "../../rgb/hdr_front_00666.png", + "transform_matrix": [ + [ + 0.28319627046585083, + -0.11899686604738235, + -0.9516509771347046, + 6.408938884735107 + ], + [ + 0.9578106999397278, + -0.015578358434140682, + 0.28697729110717773, + -6.962967395782471 + ], + [ + -0.048974551260471344, + -0.9927724003791809, + 0.10956473648548126, + -0.6373908519744873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 666, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_38471698", + "mask_path": "../../mask/hdr_front_00666.png" + }, + { + "file_path": "../../rgb/hdr_front_00667.png", + "transform_matrix": [ + [ + 0.2917550802230835, + -0.11613358557224274, + -0.9494166374206543, + 6.494462490081787 + ], + [ + 0.9548816084861755, + -0.022228514775633812, + 0.2961534857749939, + -6.991937160491943 + ], + [ + -0.055497486144304276, + -0.9929848313331604, + 0.10440854728221893, + -0.6500906944274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 667, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_138470649", + "mask_path": "../../mask/hdr_front_00667.png" + }, + { + "file_path": "../../rgb/hdr_front_00668.png", + "transform_matrix": [ + [ + 0.28851523995399475, + -0.11889293789863586, + -0.950065016746521, + 6.581493854522705 + ], + [ + 0.9556583762168884, + -0.025342175737023354, + 0.29338523745536804, + -7.018252849578857 + ], + [ + -0.058958135545253754, + -0.9925836324691772, + 0.1063094213604927, + -0.6586520671844482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 668, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_238470315", + "mask_path": "../../mask/hdr_front_00668.png" + }, + { + "file_path": "../../rgb/hdr_front_00669.png", + "transform_matrix": [ + [ + 0.287109375, + -0.11623991280794144, + -0.9508188962936401, + 6.654534339904785 + ], + [ + 0.9561255574226379, + -0.025575999170541763, + 0.29183855652809143, + -7.039313316345215 + ], + [ + -0.058241430670022964, + -0.9928918480873108, + 0.10379685461521149, + -0.6668957471847534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 669, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_338468790", + "mask_path": "../../mask/hdr_front_00669.png" + }, + { + "file_path": "../../rgb/hdr_front_00670.png", + "transform_matrix": [ + [ + 0.2871423065662384, + -0.11529602110385895, + -0.9509238600730896, + 6.736132621765137 + ], + [ + 0.9562119245529175, + -0.02419942431151867, + 0.2916731834411621, + -7.069644927978516 + ], + [ + -0.056640565395355225, + -0.9930364489555359, + 0.10329873114824295, + -0.6775245666503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 670, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_438470363", + "mask_path": "../../mask/hdr_front_00670.png" + }, + { + "file_path": "../../rgb/hdr_front_00671.png", + "transform_matrix": [ + [ + 0.2937275469303131, + -0.11701347678899765, + -0.9487001895904541, + 6.823887348175049 + ], + [ + 0.9542189836502075, + -0.02274997904896736, + 0.2982422411441803, + -7.108672618865967 + ], + [ + -0.05648127198219299, + -0.9928697347640991, + 0.10497420281171799, + -0.6848651170730591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 671, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_538469791", + "mask_path": "../../mask/hdr_front_00671.png" + }, + { + "file_path": "../../rgb/hdr_front_00672.png", + "transform_matrix": [ + [ + 0.3062562048435211, + -0.11151117831468582, + -0.9453954100608826, + 6.887130260467529 + ], + [ + 0.9503399729728699, + -0.021905697882175446, + 0.3104417622089386, + -7.137558937072754 + ], + [ + -0.055327270179986954, + -0.9935217499732971, + 0.09926477074623108, + -0.6840948462486267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 672, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_638470411", + "mask_path": "../../mask/hdr_front_00672.png" + }, + { + "file_path": "../../rgb/hdr_front_00673.png", + "transform_matrix": [ + [ + 0.3217242658138275, + -0.10448223352432251, + -0.9410510063171387, + 6.951207160949707 + ], + [ + 0.9450615048408508, + -0.025339920073747635, + 0.3259088397026062, + -7.168331623077393 + ], + [ + -0.05789783224463463, + -0.9942038655281067, + 0.09058967977762222, + -0.6938568949699402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 673, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_738470554", + "mask_path": "../../mask/hdr_front_00673.png" + }, + { + "file_path": "../../rgb/hdr_front_00674.png", + "transform_matrix": [ + [ + 0.3313181400299072, + -0.09945814311504364, + -0.938262403011322, + 7.046649932861328 + ], + [ + 0.9417047500610352, + -0.02678307518362999, + 0.33537277579307556, + -7.206684112548828 + ], + [ + -0.05848509818315506, + -0.9946812391281128, + 0.08478648960590363, + -0.7034952640533447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 674, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_838469743", + "mask_path": "../../mask/hdr_front_00674.png" + }, + { + "file_path": "../../rgb/hdr_front_00675.png", + "transform_matrix": [ + [ + 0.32834088802337646, + -0.09954896569252014, + -0.9392988681793213, + 7.139004707336426 + ], + [ + 0.9428136348724365, + -0.025889644399285316, + 0.3323133885860443, + -7.236708641052246 + ], + [ + -0.05739956349134445, + -0.9946958422660828, + 0.0853554829955101, + -0.705996036529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 675, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_938469648", + "mask_path": "../../mask/hdr_front_00675.png" + }, + { + "file_path": "../../rgb/hdr_front_00676.png", + "transform_matrix": [ + [ + 0.32590049505233765, + -0.0942964106798172, + -0.9406896233558655, + 7.208195686340332 + ], + [ + 0.9438812136650085, + -0.02399902418255806, + 0.32941195368766785, + -7.254802703857422 + ], + [ + -0.05363799259066582, + -0.9952548742294312, + 0.08118331432342529, + -0.7129275798797607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 676, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_38469791", + "mask_path": "../../mask/hdr_front_00676.png" + }, + { + "file_path": "../../rgb/hdr_front_00677.png", + "transform_matrix": [ + [ + 0.3262203335762024, + -0.09243032336235046, + -0.9407640099525452, + 7.296267986297607 + ], + [ + 0.9441246390342712, + -0.017620062455534935, + 0.32911691069602966, + -7.2833967208862305 + ], + [ + -0.04699670150876045, + -0.9955633282661438, + 0.08151772618293762, + -0.7212538719177246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 677, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_138470888", + "mask_path": "../../mask/hdr_front_00677.png" + }, + { + "file_path": "../../rgb/hdr_front_00678.png", + "transform_matrix": [ + [ + 0.3357222378253937, + -0.0961812362074852, + -0.9370377659797668, + 7.3877854347229 + ], + [ + 0.9410032033920288, + -0.010603932663798332, + 0.3382314443588257, + -7.32060432434082 + ], + [ + -0.04246779903769493, + -0.9953073263168335, + 0.08694686740636826, + -0.7251848578453064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 678, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_238470554", + "mask_path": "../../mask/hdr_front_00678.png" + }, + { + "file_path": "../../rgb/hdr_front_00679.png", + "transform_matrix": [ + [ + 0.3504352271556854, + -0.08898241072893143, + -0.9323503971099854, + 7.448366165161133 + ], + [ + 0.9358249306678772, + -0.006880075205117464, + 0.3523978590965271, + -7.349452018737793 + ], + [ + -0.03777184337377548, + -0.9960094690322876, + 0.08086095005273819, + -0.7254687547683716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 679, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_338469982", + "mask_path": "../../mask/hdr_front_00679.png" + }, + { + "file_path": "../../rgb/hdr_front_00680.png", + "transform_matrix": [ + [ + 0.36336368322372437, + -0.0811099037528038, + -0.928109884262085, + 7.519735336303711 + ], + [ + 0.9308428168296814, + -0.009783764369785786, + 0.36528870463371277, + -7.377804756164551 + ], + [ + -0.03870894014835358, + -0.9966571927070618, + 0.07194551080465317, + -0.7371768951416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 680, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_438473224", + "mask_path": "../../mask/hdr_front_00680.png" + }, + { + "file_path": "../../rgb/hdr_front_00681.png", + "transform_matrix": [ + [ + 0.3662039041519165, + -0.07791316509246826, + -0.9272670149803162, + 7.62054443359375 + ], + [ + 0.9295767545700073, + -0.014571581035852432, + 0.3683403730392456, + -7.409214973449707 + ], + [ + -0.04221031069755554, + -0.9968537092208862, + 0.06709010154008865, + -0.7449877262115479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 681, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_538470506", + "mask_path": "../../mask/hdr_front_00681.png" + }, + { + "file_path": "../../rgb/hdr_front_00682.png", + "transform_matrix": [ + [ + 0.3554565906524658, + -0.08119658380746841, + -0.9311593174934387, + 7.707455158233643 + ], + [ + 0.9336480498313904, + -0.016244007274508476, + 0.3578231632709503, + -7.428131103515625 + ], + [ + -0.044179778546094894, + -0.9965657591819763, + 0.07003499567508698, + -0.7498629689216614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 682, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_638469696", + "mask_path": "../../mask/hdr_front_00682.png" + }, + { + "file_path": "../../rgb/hdr_front_00683.png", + "transform_matrix": [ + [ + 0.33789506554603577, + -0.07783523947000504, + -0.9379599094390869, + 7.780722618103027 + ], + [ + 0.9403906464576721, + -0.012984083965420723, + 0.33984827995300293, + -7.443338871002197 + ], + [ + -0.03863071650266647, + -0.9968817234039307, + 0.06880826503038406, + -0.760063111782074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 683, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_738470077", + "mask_path": "../../mask/hdr_front_00683.png" + }, + { + "file_path": "../../rgb/hdr_front_00684.png", + "transform_matrix": [ + [ + 0.32102593779563904, + -0.07624977082014084, + -0.943996012210846, + 7.870148181915283 + ], + [ + 0.9465587735176086, + -0.006929242517799139, + 0.3224571645259857, + -7.466002464294434 + ], + [ + -0.03112845867872238, + -0.9970647096633911, + 0.0699504166841507, + -0.7710237503051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 684, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_838470458", + "mask_path": "../../mask/hdr_front_00684.png" + }, + { + "file_path": "../../rgb/hdr_front_00685.png", + "transform_matrix": [ + [ + 0.3069896996021271, + -0.0785624086856842, + -0.9484646916389465, + 7.957571029663086 + ], + [ + 0.95130854845047, + -0.003716596169397235, + 0.30821797251701355, + -7.490149021148682 + ], + [ + -0.027739403769373894, + -0.9969022870063782, + 0.07359613478183746, + -0.7690734267234802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 685, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_938470363", + "mask_path": "../../mask/hdr_front_00685.png" + }, + { + "file_path": "../../rgb/hdr_front_00686.png", + "transform_matrix": [ + [ + 0.2927275002002716, + -0.07432584464550018, + -0.953302800655365, + 8.022882461547852 + ], + [ + 0.9559102058410645, + -0.001622078358195722, + 0.2936546206474304, + -7.509566783905029 + ], + [ + -0.023372460156679153, + -0.9972327351570129, + 0.07057400792837143, + -0.7701923847198486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 686, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_38469552", + "mask_path": "../../mask/hdr_front_00686.png" + }, + { + "file_path": "../../rgb/hdr_front_00687.png", + "transform_matrix": [ + [ + 0.2730864882469177, + -0.07059640437364578, + -0.9593956470489502, + 8.093829154968262 + ], + [ + 0.9617254734039307, + -0.0033326130360364914, + 0.2739948630332947, + -7.523889541625977 + ], + [ + -0.022540345788002014, + -0.997499406337738, + 0.06698425859212875, + -0.7816942930221558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 687, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_138469696", + "mask_path": "../../mask/hdr_front_00687.png" + }, + { + "file_path": "../../rgb/hdr_front_00688.png", + "transform_matrix": [ + [ + 0.24148178100585938, + -0.07146045565605164, + -0.9677705764770508, + 8.185093879699707 + ], + [ + 0.9701321721076965, + -0.005882956553250551, + 0.24250547587871552, + -7.532697677612305 + ], + [ + -0.02302289940416813, + -0.9974260926246643, + 0.06790545582771301, + -0.7960555553436279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 688, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_238469839", + "mask_path": "../../mask/hdr_front_00688.png" + }, + { + "file_path": "../../rgb/hdr_front_00689.png", + "transform_matrix": [ + [ + 0.1939747929573059, + -0.07355674356222153, + -0.9782449007034302, + 8.275989532470703 + ], + [ + 0.9807434678077698, + -0.00855012983083725, + 0.1951131373643875, + -7.532822132110596 + ], + [ + -0.02271600440144539, + -0.9972543716430664, + 0.0704817920923233, + -0.8012114763259888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 689, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_338469505", + "mask_path": "../../mask/hdr_front_00689.png" + }, + { + "file_path": "../../rgb/hdr_front_00690.png", + "transform_matrix": [ + [ + 0.14477187395095825, + -0.0721922516822815, + -0.9868279099464417, + 8.342988967895508 + ], + [ + 0.9893659353256226, + -0.003550570458173752, + 0.14540396630764008, + -7.518333435058594 + ], + [ + -0.014000842347741127, + -0.9973844289779663, + 0.07091052830219269, + -0.8111977577209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 690, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_438470125", + "mask_path": "../../mask/hdr_front_00690.png" + }, + { + "file_path": "../../rgb/hdr_front_00691.png", + "transform_matrix": [ + [ + 0.10062351822853088, + -0.07554364204406738, + -0.992052435874939, + 8.417146682739258 + ], + [ + 0.9949245452880859, + 0.007765771355479956, + 0.10032349079847336, + -7.508667945861816 + ], + [ + 0.00012525093916337937, + -0.9971122145652771, + 0.07594164460897446, + -0.8212393522262573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 691, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_538470268", + "mask_path": "../../mask/hdr_front_00691.png" + }, + { + "file_path": "../../rgb/hdr_front_00692.png", + "transform_matrix": [ + [ + 0.06540550291538239, + -0.08237079530954361, + -0.9944532513618469, + 8.49288558959961 + ], + [ + 0.9978266954421997, + 0.013395424000918865, + 0.06451782584190369, + -7.503677845001221 + ], + [ + 0.008006739430129528, + -0.9965117573738098, + 0.08306790143251419, + -0.822083055973053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 692, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_638469696", + "mask_path": "../../mask/hdr_front_00692.png" + }, + { + "file_path": "../../rgb/hdr_front_00695.png", + "transform_matrix": [ + [ + -0.00776965357363224, + -0.08253797888755798, + -0.9965577125549316, + 8.687280654907227 + ], + [ + 0.9998107552528381, + 0.017131485044956207, + -0.00921389926224947, + -7.471445083618164 + ], + [ + 0.017833011224865913, + -0.9964406490325928, + 0.08238925784826279, + -0.8490729331970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 695, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_938470602", + "mask_path": "../../mask/hdr_front_00695.png" + }, + { + "file_path": "../../rgb/hdr_front_00696.png", + "transform_matrix": [ + [ + -0.016580423340201378, + -0.09318571537733078, + -0.9955106973648071, + 8.757061004638672 + ], + [ + 0.9997249245643616, + 0.014973715879023075, + -0.018052242696285248, + -7.463005542755127 + ], + [ + 0.016588706523180008, + -0.9955361485481262, + 0.09291180968284607, + -0.864552915096283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 696, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_38469076", + "mask_path": "../../mask/hdr_front_00696.png" + }, + { + "file_path": "../../rgb/hdr_front_00697.png", + "transform_matrix": [ + [ + -0.022499021142721176, + -0.09289751946926117, + -0.9954214692115784, + 8.807699203491211 + ], + [ + 0.9996069669723511, + 0.014565631747245789, + -0.02395295910537243, + -7.452081680297852 + ], + [ + 0.016724111512303352, + -0.9955691695213318, + 0.09253329783678055, + -0.8724626898765564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 697, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_138468980", + "mask_path": "../../mask/hdr_front_00697.png" + }, + { + "file_path": "../../rgb/hdr_front_00698.png", + "transform_matrix": [ + [ + -0.023370709270238876, + -0.09466547518968582, + -0.9952348470687866, + 8.863517761230469 + ], + [ + 0.9995280504226685, + 0.01763857901096344, + -0.025149285793304443, + -7.441537857055664 + ], + [ + 0.01993529684841633, + -0.9953529834747314, + 0.09420857578516006, + -0.8794820308685303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 698, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_238469362", + "mask_path": "../../mask/hdr_front_00698.png" + }, + { + "file_path": "../../rgb/hdr_front_00699.png", + "transform_matrix": [ + [ + -0.02053937502205372, + -0.10146673023700714, + -0.9946269392967224, + 8.921313285827637 + ], + [ + 0.9995781779289246, + 0.018347594887018204, + -0.02251334674656391, + -7.430213928222656 + ], + [ + 0.020533362403512, + -0.9946696758270264, + 0.10104706883430481, + -0.8903845548629761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 699, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_338469266", + "mask_path": "../../mask/hdr_front_00699.png" + }, + { + "file_path": "../../rgb/hdr_front_00700.png", + "transform_matrix": [ + [ + -0.01353197917342186, + -0.10935534536838531, + -0.9939106702804565, + 8.976873397827148 + ], + [ + 0.999801754951477, + 0.013038884848356247, + -0.015046793967485428, + -7.423532962799072 + ], + [ + 0.014604931697249413, + -0.9939172267913818, + 0.10915722697973251, + -0.8920285701751709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 700, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_438469409", + "mask_path": "../../mask/hdr_front_00700.png" + }, + { + "file_path": "../../rgb/hdr_front_00702.png", + "transform_matrix": [ + [ + 0.011312159709632397, + -0.10086303949356079, + -0.9948359727859497, + 9.083165168762207 + ], + [ + 0.9997936487197876, + 0.01792869344353676, + 0.009550805203616619, + -7.422465801239014 + ], + [ + 0.016872785985469818, + -0.994738757610321, + 0.10104504227638245, + -0.8977901935577393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 702, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_638468503", + "mask_path": "../../mask/hdr_front_00702.png" + }, + { + "file_path": "../../rgb/hdr_front_00703.png", + "transform_matrix": [ + [ + 0.019116966053843498, + -0.09475010633468628, + -0.9953175187110901, + 9.172972679138184 + ], + [ + 0.9997722506523132, + 0.011256838217377663, + 0.018130918964743614, + -7.427390098571777 + ], + [ + 0.009486223571002483, + -0.9954375624656677, + 0.09494372457265854, + -0.9045488238334656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 703, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_738466262", + "mask_path": "../../mask/hdr_front_00703.png" + }, + { + "file_path": "../../rgb/hdr_front_00704.png", + "transform_matrix": [ + [ + 0.015821252018213272, + -0.09698828309774399, + -0.9951598048210144, + 9.254003524780273 + ], + [ + 0.9998728632926941, + 0.003484070533886552, + 0.015556623227894306, + -7.422646522521973 + ], + [ + 0.0019583976827561855, + -0.9952794313430786, + 0.09703107923269272, + -0.9158116579055786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 704, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_838469982", + "mask_path": "../../mask/hdr_front_00704.png" + }, + { + "file_path": "../../rgb/hdr_front_00705.png", + "transform_matrix": [ + [ + 0.012646009214222431, + -0.09684138000011444, + -0.9952194690704346, + 9.307652473449707 + ], + [ + 0.9999172687530518, + 0.0035519541706889868, + 0.012360073626041412, + -7.415290832519531 + ], + [ + 0.0023380082566291094, + -0.9952934980392456, + 0.0968782976269722, + -0.9276317954063416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 705, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_938469648", + "mask_path": "../../mask/hdr_front_00705.png" + }, + { + "file_path": "../../rgb/hdr_front_00706.png", + "transform_matrix": [ + [ + 0.010984166525304317, + -0.09903769940137863, + -0.9950230121612549, + 9.38365650177002 + ], + [ + 0.9999284744262695, + 0.005803832318633795, + 0.010460644960403442, + -7.412031650543213 + ], + [ + 0.004738949704915285, + -0.9950668215751648, + 0.09909436851739883, + -0.9410579800605774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 706, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_38470268", + "mask_path": "../../mask/hdr_front_00706.png" + }, + { + "file_path": "../../rgb/hdr_front_00707.png", + "transform_matrix": [ + [ + 0.01500940416008234, + -0.10333217680454254, + -0.9945335984230042, + 9.470972061157227 + ], + [ + 0.9998841285705566, + 0.004063745494931936, + 0.014667927287518978, + -7.417603492736816 + ], + [ + 0.0025258634705096483, + -0.9946386814117432, + 0.1033811941742897, + -0.9491091370582581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 707, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_138469457", + "mask_path": "../../mask/hdr_front_00707.png" + }, + { + "file_path": "../../rgb/hdr_front_00708.png", + "transform_matrix": [ + [ + 0.023455746471881866, + -0.10069149732589722, + -0.9946411848068237, + 9.541796684265137 + ], + [ + 0.9997243881225586, + 0.0033599864691495895, + 0.02323547750711441, + -7.423022270202637 + ], + [ + 0.0010023671202361584, + -0.9949120283126831, + 0.10074254870414734, + -0.9506669640541077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 708, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_238470554", + "mask_path": "../../mask/hdr_front_00708.png" + }, + { + "file_path": "../../rgb/hdr_front_00709.png", + "transform_matrix": [ + [ + 0.03442421555519104, + -0.0943387821316719, + -0.9949448704719543, + 9.620491027832031 + ], + [ + 0.9994040727615356, + 0.0007227358291856945, + 0.034509968012571335, + -7.428100109100342 + ], + [ + -0.0025365448091179132, + -0.9955399036407471, + 0.09430744498968124, + -0.9619779586791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 709, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_338470458", + "mask_path": "../../mask/hdr_front_00709.png" + }, + { + "file_path": "../../rgb/hdr_front_00710.png", + "transform_matrix": [ + [ + 0.040327925235033035, + -0.09181997179985046, + -0.9949586987495422, + 9.725221633911133 + ], + [ + 0.9991346001625061, + -0.006433532573282719, + 0.041090913116931915, + -7.430263042449951 + ], + [ + -0.010174063965678215, + -0.9957548379898071, + 0.09148106724023819, + -0.9780557155609131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 710, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_438470125", + "mask_path": "../../mask/hdr_front_00710.png" + }, + { + "file_path": "../../rgb/hdr_front_00711.png", + "transform_matrix": [ + [ + 0.03694329783320427, + -0.0957493856549263, + -0.9947196245193481, + 9.813261985778809 + ], + [ + 0.9992361664772034, + -0.009148475714027882, + 0.03799165040254593, + -7.425467491149902 + ], + [ + -0.012737845070660114, + -0.9953634738922119, + 0.09533827751874924, + -0.9945075511932373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 711, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_538470506", + "mask_path": "../../mask/hdr_front_00711.png" + }, + { + "file_path": "../../rgb/hdr_front_00712.png", + "transform_matrix": [ + [ + 0.03417784348130226, + -0.09362691640853882, + -0.9950205683708191, + 9.881891250610352 + ], + [ + 0.9993599057197571, + -0.007321313489228487, + 0.03501580283045769, + -7.425486087799072 + ], + [ + -0.010563276708126068, + -0.9955805540084839, + 0.09331676363945007, + -1.004759430885315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 712, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_638469696", + "mask_path": "../../mask/hdr_front_00712.png" + }, + { + "file_path": "../../rgb/hdr_front_00713.png", + "transform_matrix": [ + [ + 0.034932468086481094, + -0.09643734246492386, + -0.9947258234024048, + 9.964838981628418 + ], + [ + 0.9993628859519958, + -0.0039101773872971535, + 0.035474393516778946, + -7.4325947761535645 + ], + [ + -0.007310610264539719, + -0.995331346988678, + 0.09623931348323822, + -1.0171815156936646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 713, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_738470315", + "mask_path": "../../mask/hdr_front_00713.png" + }, + { + "file_path": "../../rgb/hdr_front_00714.png", + "transform_matrix": [ + [ + 0.04317303001880646, + -0.10797851532697678, + -0.9932153820991516, + 10.047625541687012 + ], + [ + 0.9990407228469849, + -0.002636869205161929, + 0.04371291399002075, + -7.4440507888793945 + ], + [ + -0.007339033763855696, + -0.9941498041152954, + 0.10776109248399734, + -1.0242335796356201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 714, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_838469982", + "mask_path": "../../mask/hdr_front_00714.png" + }, + { + "file_path": "../../rgb/hdr_front_00715.png", + "transform_matrix": [ + [ + 0.0547361820936203, + -0.10925871878862381, + -0.9925051927566528, + 10.111344337463379 + ], + [ + 0.9984799027442932, + -0.00044036985491402447, + 0.055114176124334335, + -7.452732086181641 + ], + [ + -0.0064587718807160854, + -0.994013249874115, + 0.10906854271888733, + -1.028196096420288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 715, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_938469648", + "mask_path": "../../mask/hdr_front_00715.png" + }, + { + "file_path": "../../rgb/hdr_front_00716.png", + "transform_matrix": [ + [ + 0.06795529276132584, + -0.10781868547201157, + -0.991845428943634, + 10.185284614562988 + ], + [ + 0.9976410269737244, + -0.002340620616450906, + 0.06860680878162384, + -7.460384845733643 + ], + [ + -0.009718628600239754, + -0.9941678643226624, + 0.10740528255701065, + -1.0413060188293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 716, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_38469552", + "mask_path": "../../mask/hdr_front_00716.png" + }, + { + "file_path": "../../rgb/hdr_front_00717.png", + "transform_matrix": [ + [ + 0.0731128454208374, + -0.11456197500228882, + -0.9907219409942627, + 10.28128719329834 + ], + [ + 0.9971112012863159, + -0.012105484493076801, + 0.07498418539762497, + -7.466508865356445 + ], + [ + -0.0205835048109293, + -0.9933423399925232, + 0.11334595829248428, + -1.0643835067749023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 717, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_138469219", + "mask_path": "../../mask/hdr_front_00717.png" + }, + { + "file_path": "../../rgb/hdr_front_00718.png", + "transform_matrix": [ + [ + 0.06334520131349564, + -0.12443916499614716, + -0.9902032017707825, + 10.364456176757812 + ], + [ + 0.9977895617485046, + -0.012071694247424603, + 0.0653475746512413, + -7.4679718017578125 + ], + [ + -0.020085226744413376, + -0.9921538829803467, + 0.12339941412210464, + -1.0816892385482788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 718, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_238468885", + "mask_path": "../../mask/hdr_front_00718.png" + }, + { + "file_path": "../../rgb/hdr_front_00719.png", + "transform_matrix": [ + [ + 0.04376477748155594, + -0.12336970120668411, + -0.9913952350616455, + 10.437715530395508 + ], + [ + 0.9989667534828186, + -0.006776545662432909, + 0.04494228586554527, + -7.459295749664307 + ], + [ + -0.012262752279639244, + -0.9923376441001892, + 0.1229456439614296, + -1.0971662998199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 719, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_338469743", + "mask_path": "../../mask/hdr_front_00719.png" + }, + { + "file_path": "../../rgb/hdr_front_00720.png", + "transform_matrix": [ + [ + 0.019025685265660286, + -0.12426886707544327, + -0.9920661449432373, + 10.526650428771973 + ], + [ + 0.9998167753219604, + 0.000286680122371763, + 0.019138414412736893, + -7.4466633796691895 + ], + [ + -0.0020939032547175884, + -0.99224853515625, + 0.12425155937671661, + -1.1124460697174072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 720, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_438468933", + "mask_path": "../../mask/hdr_front_00720.png" + }, + { + "file_path": "../../rgb/hdr_front_00721.png", + "transform_matrix": [ + [ + 5.654483902617358e-05, + -0.13186529278755188, + -0.9912676811218262, + 10.610166549682617 + ], + [ + 0.9999998211860657, + 0.0005657111178152263, + -1.8211645510746166e-05, + -7.443358898162842 + ], + [ + 0.0005631741951219738, + -0.9912675619125366, + 0.13186529278755188, + -1.117763638496399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 721, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_538468837", + "mask_path": "../../mask/hdr_front_00721.png" + }, + { + "file_path": "../../rgb/hdr_front_00722.png", + "transform_matrix": [ + [ + -0.014490455389022827, + -0.1316792368888855, + -0.9911864995956421, + 10.67319107055664 + ], + [ + 0.9998773336410522, + 0.003973844461143017, + -0.015145435929298401, + -7.44066858291626 + ], + [ + 0.005933161359280348, + -0.9912844896316528, + 0.13160549104213715, + -1.1199960708618164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 722, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_638468980", + "mask_path": "../../mask/hdr_front_00722.png" + }, + { + "file_path": "../../rgb/hdr_front_00723.png", + "transform_matrix": [ + [ + -0.023180212825536728, + -0.12727564573287964, + -0.9915964603424072, + 10.743257522583008 + ], + [ + 0.999670684337616, + 0.00797324813902378, + -0.02439236268401146, + -7.435490608215332 + ], + [ + 0.011010797694325447, + -0.991835355758667, + 0.12704887986183167, + -1.1326795816421509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 723, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_738468885", + "mask_path": "../../mask/hdr_front_00723.png" + }, + { + "file_path": "../../rgb/hdr_front_00724.png", + "transform_matrix": [ + [ + -0.029465002939105034, + -0.1254296451807022, + -0.9916649460792542, + 10.83725357055664 + ], + [ + 0.9994999766349792, + 0.007690906058996916, + -0.030670583248138428, + -7.430180549621582 + ], + [ + 0.011473801918327808, + -0.9920727610588074, + 0.12514030933380127, + -1.1499865055084229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 724, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_838469028", + "mask_path": "../../mask/hdr_front_00724.png" + }, + { + "file_path": "../../rgb/hdr_front_00725.png", + "transform_matrix": [ + [ + -0.04178657382726669, + -0.12880918383598328, + -0.9907886981964111, + 10.926003456115723 + ], + [ + 0.999072790145874, + 0.004895414225757122, + -0.04277239739894867, + -7.421407699584961 + ], + [ + 0.010359798558056355, + -0.9916573166847229, + 0.12848520278930664, + -1.165933609008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 725, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_938469648", + "mask_path": "../../mask/hdr_front_00725.png" + }, + { + "file_path": "../../rgb/hdr_front_00726.png", + "transform_matrix": [ + [ + -0.046368177980184555, + -0.12518583238124847, + -0.9910492300987244, + 10.98981761932373 + ], + [ + 0.9988312125205994, + 0.007738842163234949, + -0.04770982265472412, + -7.412206649780273 + ], + [ + 0.013642165809869766, + -0.9921032190322876, + 0.12468068301677704, + -1.175028681755066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 726, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_38467884", + "mask_path": "../../mask/hdr_front_00726.png" + }, + { + "file_path": "../../rgb/hdr_front_00727.png", + "transform_matrix": [ + [ + -0.04724639281630516, + -0.12453539669513702, + -0.9910897016525269, + 11.063130378723145 + ], + [ + 0.9986851811408997, + 0.013868534006178379, + -0.049351129680871964, + -7.403923988342285 + ], + [ + 0.01989092119038105, + -0.9921182990074158, + 0.12371642142534256, + -1.1835287809371948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 727, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_138467550", + "mask_path": "../../mask/hdr_front_00727.png" + }, + { + "file_path": "../../rgb/hdr_front_00728.png", + "transform_matrix": [ + [ + -0.041780415922403336, + -0.12833155691623688, + -0.9908508658409119, + 11.143933296203613 + ], + [ + 0.9989169836044312, + 0.014957742765545845, + -0.04405781626701355, + -7.402478218078613 + ], + [ + 0.020474903285503387, + -0.9916185736656189, + 0.12756763398647308, + -1.1906325817108154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 728, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_238469123", + "mask_path": "../../mask/hdr_front_00728.png" + }, + { + "file_path": "../../rgb/hdr_front_00729.png", + "transform_matrix": [ + [ + -0.031483396887779236, + -0.12764504551887512, + -0.9913201928138733, + 11.21523666381836 + ], + [ + 0.9992972612380981, + 0.016164762899279594, + -0.03381815925240517, + -7.403829574584961 + ], + [ + 0.0203411765396595, + -0.9916881918907166, + 0.1270464062690735, + -1.1916133165359497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 729, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_338469266", + "mask_path": "../../mask/hdr_front_00729.png" + }, + { + "file_path": "../../rgb/hdr_front_00730.png", + "transform_matrix": [ + [ + -0.017583098262548447, + -0.12125617265701294, + -0.9924654960632324, + 11.280115127563477 + ], + [ + 0.9996204972267151, + 0.01892414316534996, + -0.020021947100758553, + -7.400651931762695 + ], + [ + 0.021209342405200005, + -0.9924408793449402, + 0.12087738513946533, + -1.1969276666641235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 730, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_438467741", + "mask_path": "../../mask/hdr_front_00730.png" + }, + { + "file_path": "../../rgb/hdr_front_00731.png", + "transform_matrix": [ + [ + -0.006345991976559162, + -0.11353058367967606, + -0.9935142993927002, + 11.372044563293457 + ], + [ + 0.999832272529602, + 0.016345812007784843, + -0.008254211395978928, + -7.3967976570129395 + ], + [ + 0.017176901921629906, + -0.9934000372886658, + 0.11340781301259995, + -1.2070767879486084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 731, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_538469076", + "mask_path": "../../mask/hdr_front_00731.png" + }, + { + "file_path": "../../rgb/hdr_front_00732.png", + "transform_matrix": [ + [ + -0.011033609509468079, + -0.11559915542602539, + -0.9932346343994141, + 11.460916519165039 + ], + [ + 0.9997891187667847, + 0.01593233458697796, + -0.01296073105186224, + -7.3878374099731445 + ], + [ + 0.01732279732823372, + -0.9931681752204895, + 0.11539898812770844, + -1.222119688987732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 732, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_638469219", + "mask_path": "../../mask/hdr_front_00732.png" + }, + { + "file_path": "../../rgb/hdr_front_00733.png", + "transform_matrix": [ + [ + -0.016892490908503532, + -0.11555108428001404, + -0.9931579232215881, + 11.511104583740234 + ], + [ + 0.999638020992279, + 0.018854515627026558, + -0.01919637806713581, + -7.374790668487549 + ], + [ + 0.020943675190210342, + -0.9931225776672363, + 0.11519074440002441, + -1.2335155010223389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 733, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_738469362", + "mask_path": "../../mask/hdr_front_00733.png" + }, + { + "file_path": "../../rgb/hdr_front_00734.png", + "transform_matrix": [ + [ + -0.020011931657791138, + -0.11450079083442688, + -0.9932215809822083, + 11.571125030517578 + ], + [ + 0.9995147585868835, + 0.021425187587738037, + -0.022608675062656403, + -7.368539333343506 + ], + [ + 0.02386867068707943, + -0.9931920766830444, + 0.11401648074388504, + -1.2417681217193604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 734, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_838468790", + "mask_path": "../../mask/hdr_front_00734.png" + }, + { + "file_path": "../../rgb/hdr_front_00735.png", + "transform_matrix": [ + [ + -0.016988391056656837, + -0.11855146288871765, + -0.992802619934082, + 11.647518157958984 + ], + [ + 0.999620795249939, + 0.019510988146066666, + -0.019434884190559387, + -7.372071743011475 + ], + [ + 0.021674593910574913, + -0.992756187915802, + 0.11817504465579987, + -1.2536342144012451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 735, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_938470840", + "mask_path": "../../mask/hdr_front_00735.png" + }, + { + "file_path": "../../rgb/hdr_front_00736.png", + "transform_matrix": [ + [ + -0.0072910296730697155, + -0.12224393337965012, + -0.9924732446670532, + 11.712574005126953 + ], + [ + 0.9997311234474182, + 0.02095610648393631, + -0.009925533086061478, + -7.374239921569824 + ], + [ + 0.022011712193489075, + -0.9922788739204407, + 0.12205827236175537, + -1.254637598991394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 736, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_38470506", + "mask_path": "../../mask/hdr_front_00736.png" + }, + { + "file_path": "../../rgb/hdr_front_00737.png", + "transform_matrix": [ + [ + 0.00527367414906621, + -0.12112800031900406, + -0.9926229119300842, + 11.766541481018066 + ], + [ + 0.9997461438179016, + 0.022380560636520386, + 0.002580460859462619, + -7.370424747467041 + ], + [ + 0.021902890875935555, + -0.9923845529556274, + 0.12121529132127762, + -1.2569135427474976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 737, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_138469457", + "mask_path": "../../mask/hdr_front_00737.png" + }, + { + "file_path": "../../rgb/hdr_front_00738.png", + "transform_matrix": [ + [ + 0.018401527777314186, + -0.11038094758987427, + -0.9937191009521484, + 11.838025093078613 + ], + [ + 0.9996211528778076, + 0.022380080074071884, + 0.01602487452328205, + -7.369921684265137 + ], + [ + 0.020470667630434036, + -0.9936373829841614, + 0.1107509508728981, + -1.2612931728363037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 738, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_238470077", + "mask_path": "../../mask/hdr_front_00738.png" + }, + { + "file_path": "../../rgb/hdr_front_00739.png", + "transform_matrix": [ + [ + 0.018422910943627357, + -0.09437740594148636, + -0.9953659772872925, + 11.92309284210205 + ], + [ + 0.9996731281280518, + 0.019387254491448402, + 0.016664396971464157, + -7.365147590637207 + ], + [ + 0.017724676057696342, + -0.9953477382659912, + 0.09470374137163162, + -1.2573325634002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 739, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_338470220", + "mask_path": "../../mask/hdr_front_00739.png" + }, + { + "file_path": "../../rgb/hdr_front_00741.png", + "transform_matrix": [ + [ + 0.009088881313800812, + -0.09256331622600555, + -0.9956653714179993, + 11.995715141296387 + ], + [ + 0.9997701644897461, + 0.020176144316792488, + 0.0072506507858633995, + -7.352311611175537 + ], + [ + 0.019417542964220047, + -0.9955024123191833, + 0.09272541850805283, + -1.2645885944366455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 741, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_538470506", + "mask_path": "../../mask/hdr_front_00741.png" + }, + { + "file_path": "../../rgb/hdr_front_00743.png", + "transform_matrix": [ + [ + 0.02229665219783783, + -0.1042347401380539, + -0.9943028092384338, + 12.082414627075195 + ], + [ + 0.9992931485176086, + 0.032432809472084045, + 0.019008565694093704, + -7.356812000274658 + ], + [ + 0.03026668354868889, + -0.9940237998962402, + 0.10488419234752655, + -1.2720175981521606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 743, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_738471031", + "mask_path": "../../mask/hdr_front_00743.png" + }, + { + "file_path": "../../rgb/hdr_front_00746.png", + "transform_matrix": [ + [ + 0.05319904908537865, + -0.08268478512763977, + -0.9951547980308533, + 12.134903907775879 + ], + [ + 0.9976087212562561, + 0.04843159019947052, + 0.04930618405342102, + -7.32067346572876 + ], + [ + 0.04412006214261055, + -0.995398223400116, + 0.08506357669830322, + -1.2523112297058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 746, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594243_38470745", + "mask_path": "../../mask/hdr_front_00746.png" + }, + { + "file_path": "../../rgb/hdr_front_00798.png", + "transform_matrix": [ + [ + 0.0009429632336832583, + -0.05156136304140091, + -0.998669445514679, + 12.376752853393555 + ], + [ + 0.9999949336051941, + -0.0029966330621391535, + 0.0010989316506311297, + -7.403225421905518 + ], + [ + -0.0030493061058223248, + -0.9986653923988342, + 0.051558274775743484, + -1.2653917074203491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 798, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594248_238469839", + "mask_path": "../../mask/hdr_front_00798.png" + }, + { + "file_path": "../../rgb/hdr_front_00806.png", + "transform_matrix": [ + [ + -0.06242130696773529, + -0.0457017607986927, + -0.9970030188560486, + 12.693964004516602 + ], + [ + 0.9980375170707703, + 0.0020972788333892822, + -0.06258222460746765, + -7.424778938293457 + ], + [ + 0.004951111972332001, + -0.9989529252052307, + 0.04548116400837898, + -1.303832769393921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 806, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_38471221", + "mask_path": "../../mask/hdr_front_00806.png" + }, + { + "file_path": "../../rgb/hdr_front_00808.png", + "transform_matrix": [ + [ + -0.10782229155302048, + -0.0320962555706501, + -0.9936520457267761, + 12.757083892822266 + ], + [ + 0.9940878748893738, + 0.009380653500556946, + -0.10817259550094604, + -7.40187406539917 + ], + [ + 0.012793040834367275, + -0.9994408488273621, + 0.0308950524777174, + -1.2929188013076782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 808, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_238469362", + "mask_path": "../../mask/hdr_front_00808.png" + }, + { + "file_path": "../../rgb/hdr_front_00810.png", + "transform_matrix": [ + [ + -0.16393326222896576, + -0.022854292765259743, + -0.9862067699432373, + 12.832524299621582 + ], + [ + 0.9861193299293518, + 0.02291097678244114, + -0.16444969177246094, + -7.357791423797607 + ], + [ + 0.026353338733315468, + -0.9994762539863586, + 0.018781190738081932, + -1.2964459657669067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 810, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_438470602", + "mask_path": "../../mask/hdr_front_00810.png" + }, + { + "file_path": "../../rgb/hdr_front_00817.png", + "transform_matrix": [ + [ + -0.2528432607650757, + -0.002381995553150773, + -0.9675043821334839, + 13.112018585205078 + ], + [ + 0.9672070741653442, + 0.02428632602095604, + -0.2528253197669983, + -7.226284503936768 + ], + [ + 0.024099355563521385, + -0.9997022151947021, + -0.0038367509841918945, + -1.3037817478179932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 817, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_138469457", + "mask_path": "../../mask/hdr_front_00817.png" + }, + { + "file_path": "../../rgb/hdr_front_00818.png", + "transform_matrix": [ + [ + -0.2597346901893616, + -0.0024660895578563213, + -0.9656768441200256, + 13.165348052978516 + ], + [ + 0.9654330015182495, + 0.021954867988824844, + -0.2597252130508423, + -7.208937644958496 + ], + [ + 0.02184181474149227, + -0.9997559785842896, + -0.003321597119793296, + -1.3096736669540405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 818, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_238468885", + "mask_path": "../../mask/hdr_front_00818.png" + }, + { + "file_path": "../../rgb/hdr_front_00820.png", + "transform_matrix": [ + [ + -0.2630147635936737, + -0.015427996404469013, + -0.9646684527397156, + 13.268256187438965 + ], + [ + 0.9645200967788696, + 0.019524330273270607, + -0.2632865607738495, + -7.19644832611084 + ], + [ + 0.02289648726582527, + -0.9996903538703918, + 0.00974542647600174, + -1.3239995241165161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 820, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_438469409", + "mask_path": "../../mask/hdr_front_00820.png" + }, + { + "file_path": "../../rgb/hdr_front_00821.png", + "transform_matrix": [ + [ + -0.25547316670417786, + -0.022055959329009056, + -0.9665645360946655, + 13.320377349853516 + ], + [ + 0.9666439890861511, + 0.013037673197686672, + -0.25579166412353516, + -7.19467306137085 + ], + [ + 0.01824348233640194, + -0.9996716976165771, + 0.01798948459327221, + -1.3280879259109497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 821, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_538468837", + "mask_path": "../../mask/hdr_front_00821.png" + }, + { + "file_path": "../../rgb/hdr_front_00823.png", + "transform_matrix": [ + [ + -0.23481737077236176, + -0.02205352857708931, + -0.9717893600463867, + 13.406819343566895 + ], + [ + 0.9718266129493713, + 0.015598143450915813, + -0.23518039286136627, + -7.177027702331543 + ], + [ + 0.02034466527402401, + -0.9996351003646851, + 0.01776949129998684, + -1.3389686346054077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 823, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_738469839", + "mask_path": "../../mask/hdr_front_00823.png" + }, + { + "file_path": "../../rgb/hdr_front_00824.png", + "transform_matrix": [ + [ + -0.23941507935523987, + -0.02483442984521389, + -0.9705997109413147, + 13.458221435546875 + ], + [ + 0.9707909822463989, + 0.010004600510001183, + -0.2397182434797287, + -7.157090187072754 + ], + [ + 0.01566372998058796, + -0.9996415376663208, + 0.02171378768980503, + -1.3468494415283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 824, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_838468551", + "mask_path": "../../mask/hdr_front_00824.png" + }, + { + "file_path": "../../rgb/hdr_front_00830.png", + "transform_matrix": [ + [ + -0.2248677760362625, + -0.05814387649297714, + -0.9726529717445374, + 13.730073928833008 + ], + [ + 0.9738814234733582, + 0.018812265247106552, + -0.22627636790275574, + -7.0697150230407715 + ], + [ + 0.03145438805222511, + -0.9981309771537781, + 0.05239497497677803, + -1.3886257410049438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 830, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_438470363", + "mask_path": "../../mask/hdr_front_00830.png" + }, + { + "file_path": "../../rgb/hdr_front_00831.png", + "transform_matrix": [ + [ + -0.23194396495819092, + -0.05909637734293938, + -0.9709323048591614, + 13.786683082580566 + ], + [ + 0.9722760915756226, + 0.016377566382288933, + -0.23326177895069122, + -7.043741226196289 + ], + [ + 0.02968643605709076, + -0.998117983341217, + 0.05365931615233421, + -1.388687014579773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 831, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_538469791", + "mask_path": "../../mask/hdr_front_00831.png" + }, + { + "file_path": "../../rgb/hdr_front_00833.png", + "transform_matrix": [ + [ + -0.24246999621391296, + -0.06320525705814362, + -0.9680978059768677, + 13.87526798248291 + ], + [ + 0.9696030616760254, + 0.01798606663942337, + -0.2440212517976761, + -7.012568473815918 + ], + [ + 0.0328356958925724, + -0.9978384375572205, + 0.05692293122410774, + -1.396388053894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 833, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_738469839", + "mask_path": "../../mask/hdr_front_00833.png" + }, + { + "file_path": "../../rgb/hdr_front_00834.png", + "transform_matrix": [ + [ + -0.23753111064434052, + -0.07550670951604843, + -0.96844083070755, + 13.927821159362793 + ], + [ + 0.9707474112510681, + 0.01752251759171486, + -0.23946301639080048, + -7.001933574676514 + ], + [ + 0.03505058214068413, + -0.9969913363456726, + 0.06913579255342484, + -1.404859185218811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 834, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_838469028", + "mask_path": "../../mask/hdr_front_00834.png" + }, + { + "file_path": "../../rgb/hdr_front_00836.png", + "transform_matrix": [ + [ + -0.21212391555309296, + -0.07407060265541077, + -0.9744316339492798, + 14.01893424987793 + ], + [ + 0.9767935872077942, + 0.014156172052025795, + -0.21371418237686157, + -6.985528469085693 + ], + [ + 0.02962416037917137, + -0.9971525073051453, + 0.06934884190559387, + -1.4109749794006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 836, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_38469076", + "mask_path": "../../mask/hdr_front_00836.png" + }, + { + "file_path": "../../rgb/hdr_front_00837.png", + "transform_matrix": [ + [ + -0.2090330272912979, + -0.07381117343902588, + -0.9751189947128296, + 14.077808380126953 + ], + [ + 0.977608323097229, + 0.008936220780014992, + -0.2102430909872055, + -6.966772556304932 + ], + [ + 0.02423216588795185, + -0.9972322583198547, + 0.07029043883085251, + -1.4196418523788452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 837, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_138469696", + "mask_path": "../../mask/hdr_front_00837.png" + }, + { + "file_path": "../../rgb/hdr_front_00843.png", + "transform_matrix": [ + [ + -0.18269333243370056, + -0.06958021968603134, + -0.9807047247886658, + 14.348328590393066 + ], + [ + 0.9831638932228088, + -0.009446945041418076, + -0.18248121440410614, + -6.922039985656738 + ], + [ + 0.0034324205480515957, + -0.9975316524505615, + 0.07013465464115143, + -1.4521464109420776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 843, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_738470554", + "mask_path": "../../mask/hdr_front_00843.png" + }, + { + "file_path": "../../rgb/hdr_front_00844.png", + "transform_matrix": [ + [ + -0.1894317865371704, + -0.07095551490783691, + -0.9793267846107483, + 14.407747268676758 + ], + [ + 0.9818710088729858, + -0.006863524671643972, + -0.18942661583423615, + -6.905163764953613 + ], + [ + 0.006719228345900774, + -0.997455894947052, + 0.07096932083368301, + -1.4643629789352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 844, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_838470458", + "mask_path": "../../mask/hdr_front_00844.png" + }, + { + "file_path": "../../rgb/hdr_front_00845.png", + "transform_matrix": [ + [ + -0.19661803543567657, + -0.06803369522094727, + -0.9781169891357422, + 14.45853328704834 + ], + [ + 0.9804170727729797, + -0.002329066628590226, + -0.19691842794418335, + -6.890637397766113 + ], + [ + 0.011118985712528229, + -0.9976803064346313, + 0.06715932488441467, + -1.4723904132843018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 845, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_938468694", + "mask_path": "../../mask/hdr_front_00845.png" + }, + { + "file_path": "../../rgb/hdr_front_00846.png", + "transform_matrix": [ + [ + -0.19765204191207886, + -0.07542005181312561, + -0.97736656665802, + 14.513124465942383 + ], + [ + 0.980198860168457, + -0.0030120271258056164, + -0.19799241423606873, + -6.883962154388428 + ], + [ + 0.011988742277026176, + -0.9971473813056946, + 0.0745219886302948, + -1.480833649635315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 846, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_38469552", + "mask_path": "../../mask/hdr_front_00846.png" + }, + { + "file_path": "../../rgb/hdr_front_00847.png", + "transform_matrix": [ + [ + -0.18895241618156433, + -0.08628491312265396, + -0.9781880974769592, + 14.564451217651367 + ], + [ + 0.9818755984306335, + -0.0016481730854138732, + -0.18951936066150665, + -6.8780412673950195 + ], + [ + 0.014740437269210815, + -0.996269166469574, + 0.08503248542547226, + -1.4872357845306396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 847, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_138468980", + "mask_path": "../../mask/hdr_front_00847.png" + }, + { + "file_path": "../../rgb/hdr_front_00849.png", + "transform_matrix": [ + [ + -0.1713939756155014, + -0.08043667674064636, + -0.9819134473800659, + 14.682194709777832 + ], + [ + 0.9851292967796326, + -0.0018359585665166378, + -0.17180489003658295, + -6.856312274932861 + ], + [ + 0.012016664259135723, + -0.9967580437660217, + 0.07955519109964371, + -1.5049679279327393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 849, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_338470220", + "mask_path": "../../mask/hdr_front_00849.png" + }, + { + "file_path": "../../rgb/hdr_front_00850.png", + "transform_matrix": [ + [ + -0.179014652967453, + -0.08317523449659348, + -0.9803242683410645, + 14.750456809997559 + ], + [ + 0.9838031530380249, + -0.005783049389719963, + -0.1791592538356781, + -6.8410820960998535 + ], + [ + 0.009232350625097752, + -0.9965181946754456, + 0.08286330103874207, + -1.5205553770065308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 850, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_438470840", + "mask_path": "../../mask/hdr_front_00850.png" + }, + { + "file_path": "../../rgb/hdr_front_00851.png", + "transform_matrix": [ + [ + -0.18456153571605682, + -0.08131836354732513, + -0.979451060295105, + 14.80583667755127 + ], + [ + 0.9827585816383362, + -0.004042464774101973, + -0.18484914302825928, + -6.828032493591309 + ], + [ + 0.011072232387959957, + -0.9966800212860107, + 0.08066240698099136, + -1.5276845693588257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 851, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_538470506", + "mask_path": "../../mask/hdr_front_00851.png" + }, + { + "file_path": "../../rgb/hdr_front_00852.png", + "transform_matrix": [ + [ + -0.1808222532272339, + -0.08673980832099915, + -0.9796833992004395, + 14.866447448730469 + ], + [ + 0.9834473729133606, + -0.004202310927212238, + -0.18114493787288666, + -6.823482513427734 + ], + [ + 0.011595540679991245, + -0.9962221384048462, + 0.08606390655040741, + -1.5356308221817017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 852, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_638470172", + "mask_path": "../../mask/hdr_front_00852.png" + }, + { + "file_path": "../../rgb/hdr_front_00853.png", + "transform_matrix": [ + [ + -0.1675012707710266, + -0.09674147516489029, + -0.9811139106750488, + 14.92801570892334 + ], + [ + 0.985840380191803, + -0.008480031974613667, + -0.16747203469276428, + -6.819777488708496 + ], + [ + 0.007881615310907364, + -0.9952734708786011, + 0.0967920571565628, + -1.5425379276275635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 853, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_738469600", + "mask_path": "../../mask/hdr_front_00853.png" + }, + { + "file_path": "../../rgb/hdr_front_00854.png", + "transform_matrix": [ + [ + -0.14922983944416046, + -0.09574449807405472, + -0.9841562509536743, + 14.979049682617188 + ], + [ + 0.9887763857841492, + -0.007214720826596022, + -0.14922849833965302, + -6.817561626434326 + ], + [ + 0.0071873972192406654, + -0.9953798651695251, + 0.09574654698371887, + -1.5459972620010376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 854, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_838470220", + "mask_path": "../../mask/hdr_front_00854.png" + }, + { + "file_path": "../../rgb/hdr_front_00855.png", + "transform_matrix": [ + [ + -0.13336794078350067, + -0.09417075663805008, + -0.9865824580192566, + 15.040913581848145 + ], + [ + 0.9910290241241455, + -0.004002657253295183, + -0.13358698785305023, + -6.807182788848877 + ], + [ + 0.00863103661686182, + -0.9955480098724365, + 0.09385976940393448, + -1.5525931119918823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 855, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_938469648", + "mask_path": "../../mask/hdr_front_00855.png" + }, + { + "file_path": "../../rgb/hdr_front_00856.png", + "transform_matrix": [ + [ + -0.12589482963085175, + -0.0973893254995346, + -0.9872516393661499, + 15.112388610839844 + ], + [ + 0.9920036196708679, + -0.003422872396185994, + -0.12616312503814697, + -6.7945756912231445 + ], + [ + 0.00890770647674799, + -0.9952405095100403, + 0.09704148024320602, + -1.5710417032241821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 856, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_38470029", + "mask_path": "../../mask/hdr_front_00856.png" + }, + { + "file_path": "../../rgb/hdr_front_00857.png", + "transform_matrix": [ + [ + -0.11927606165409088, + -0.09595346450805664, + -0.9882137179374695, + 15.168522834777832 + ], + [ + 0.992825984954834, + -0.003154512494802475, + -0.11952648311853409, + -6.787495136260986 + ], + [ + 0.008351648226380348, + -0.9953808784484863, + 0.0956413596868515, + -1.5823551416397095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 857, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_138470411", + "mask_path": "../../mask/hdr_front_00857.png" + }, + { + "file_path": "../../rgb/hdr_front_00858.png", + "transform_matrix": [ + [ + -0.10591810941696167, + -0.0989190936088562, + -0.9894424676895142, + 15.22993278503418 + ], + [ + 0.9943378567695618, + -0.0019604491535574198, + -0.10624618083238602, + -6.7801737785339355 + ], + [ + 0.008570024743676186, + -0.995093584060669, + 0.09856665134429932, + -1.5919983386993408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 858, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_238470792", + "mask_path": "../../mask/hdr_front_00858.png" + }, + { + "file_path": "../../rgb/hdr_front_00859.png", + "transform_matrix": [ + [ + -0.08690664172172546, + -0.10813052207231522, + -0.9903308153152466, + 15.293107032775879 + ], + [ + 0.9961752891540527, + -0.00039096770342439413, + -0.08737683296203613, + -6.784316539764404 + ], + [ + 0.009060916490852833, + -0.9941366910934448, + 0.10775092989206314, + -1.5990961790084839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 859, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_338470935", + "mask_path": "../../mask/hdr_front_00859.png" + }, + { + "file_path": "../../rgb/hdr_front_03406.png", + "transform_matrix": [ + [ + -0.14499494433403015, + -0.11645255982875824, + 0.9825554490089417, + 14.626739501953125 + ], + [ + -0.9892357587814331, + 0.036861564964056015, + -0.14161188900470734, + -6.442654132843018 + ], + [ + -0.019727464765310287, + -0.9925119876861572, + -0.12054377794265747, + -1.4857529401779175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3406, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_38468599", + "mask_path": "../../mask/hdr_front_03406.png" + }, + { + "file_path": "../../rgb/hdr_front_03407.png", + "transform_matrix": [ + [ + -0.14097881317138672, + -0.11569058895111084, + 0.9832297563552856, + 14.572346687316895 + ], + [ + -0.9898508787155151, + 0.03442522883415222, + -0.13787759840488434, + -6.436248779296875 + ], + [ + -0.01789676770567894, + -0.9926885962486267, + -0.11936966329813004, + -1.4804484844207764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3407, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_138469934", + "mask_path": "../../mask/hdr_front_03407.png" + }, + { + "file_path": "../../rgb/hdr_front_03408.png", + "transform_matrix": [ + [ + -0.14571279287338257, + -0.11430052667856216, + 0.9827019572257996, + 14.518274307250977 + ], + [ + -0.9891963601112366, + 0.03296719864010811, + -0.14284127950668335, + -6.430502414703369 + ], + [ + -0.01607009768486023, + -0.9928991198539734, + -0.11786941438913345, + -1.4689314365386963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3408, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_238468647", + "mask_path": "../../mask/hdr_front_03408.png" + }, + { + "file_path": "../../rgb/hdr_front_03409.png", + "transform_matrix": [ + [ + -0.15017321705818176, + -0.11978575587272644, + 0.9813763499259949, + 14.461296081542969 + ], + [ + -0.9886373281478882, + 0.02486155740916729, + -0.1482497602701187, + -6.423038005828857 + ], + [ + -0.006640330422669649, + -0.9924885034561157, + -0.1221582219004631, + -1.4554463624954224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3409, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_338468790", + "mask_path": "../../mask/hdr_front_03409.png" + }, + { + "file_path": "../../rgb/hdr_front_03410.png", + "transform_matrix": [ + [ + -0.14820055663585663, + -0.122980035841465, + 0.981281042098999, + 14.3977632522583 + ], + [ + -0.9889541268348694, + 0.020952731370925903, + -0.14673350751399994, + -6.415292263031006 + ], + [ + -0.002515226136893034, + -0.992188036441803, + -0.12472682446241379, + -1.4499150514602661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3410, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_438470363", + "mask_path": "../../mask/hdr_front_03410.png" + }, + { + "file_path": "../../rgb/hdr_front_03411.png", + "transform_matrix": [ + [ + -0.1424357146024704, + -0.12807433307170868, + 0.9814831018447876, + 14.33803653717041 + ], + [ + -0.9897617697715759, + 0.027594242244958878, + -0.14003637433052063, + -6.406737327575684 + ], + [ + -0.009148221462965012, + -0.9913806319236755, + -0.1306934654712677, + -1.4414875507354736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3411, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_538469552", + "mask_path": "../../mask/hdr_front_03411.png" + }, + { + "file_path": "../../rgb/hdr_front_03412.png", + "transform_matrix": [ + [ + -0.13994494080543518, + -0.12669268250465393, + 0.9820204973220825, + 14.28189468383789 + ], + [ + -0.9901240468025208, + 0.026274511590600014, + -0.13771003484725952, + -6.394911289215088 + ], + [ + -0.008355255238711834, + -0.9915939569473267, + -0.1291184425354004, + -1.4382574558258057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3412, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_638469457", + "mask_path": "../../mask/hdr_front_03412.png" + }, + { + "file_path": "../../rgb/hdr_front_03413.png", + "transform_matrix": [ + [ + -0.14178551733493805, + -0.1282029002904892, + 0.981560468673706, + 14.225138664245605 + ], + [ + -0.9898788332939148, + 0.024433007463812828, + -0.13979586958885193, + -6.379277229309082 + ], + [ + -0.006060234736651182, + -0.9914469718933105, + -0.13036958873271942, + -1.4242740869522095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3413, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_738470315", + "mask_path": "../../mask/hdr_front_03413.png" + }, + { + "file_path": "../../rgb/hdr_front_03414.png", + "transform_matrix": [ + [ + -0.1459675133228302, + -0.13072176277637482, + 0.9806148409843445, + 14.1705904006958 + ], + [ + -0.9892886281013489, + 0.02056720480322838, + -0.14451690018177032, + -6.36592435836792 + ], + [ + -0.0012769988970831037, + -0.9912057518959045, + -0.13232368230819702, + -1.4087642431259155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3414, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_838470458", + "mask_path": "../../mask/hdr_front_03414.png" + }, + { + "file_path": "../../rgb/hdr_front_03415.png", + "transform_matrix": [ + [ + -0.14324048161506653, + -0.12990596890449524, + 0.9811252355575562, + 14.107507705688477 + ], + [ + -0.9896876811981201, + 0.019479941576719284, + -0.1419113427400589, + -6.36035680770874 + ], + [ + -0.0006771332700736821, + -0.9913350343704224, + -0.13135665655136108, + -1.40409517288208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3415, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_938470363", + "mask_path": "../../mask/hdr_front_03415.png" + }, + { + "file_path": "../../rgb/hdr_front_03416.png", + "transform_matrix": [ + [ + -0.13711540400981903, + -0.13793063163757324, + 0.9809049963951111, + 14.04584789276123 + ], + [ + -0.990510106086731, + 0.02852494642138481, + -0.13444700837135315, + -6.353411674499512 + ], + [ + -0.009435897693037987, + -0.9900310039520264, + -0.14053288102149963, + -1.3876539468765259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3416, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_38470029", + "mask_path": "../../mask/hdr_front_03416.png" + }, + { + "file_path": "../../rgb/hdr_front_03417.png", + "transform_matrix": [ + [ + -0.13383327424526215, + -0.13926436007022858, + 0.9811697602272034, + 13.997454643249512 + ], + [ + -0.9909002780914307, + 0.033117201179265976, + -0.1304599940776825, + -6.341256141662598 + ], + [ + -0.014325167052447796, + -0.9897013306617737, + -0.14242929220199585, + -1.3747093677520752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3417, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_138469219", + "mask_path": "../../mask/hdr_front_03417.png" + }, + { + "file_path": "../../rgb/hdr_front_03418.png", + "transform_matrix": [ + [ + -0.132474884390831, + -0.1316596269607544, + 0.9824032187461853, + 13.951454162597656 + ], + [ + -0.9911838173866272, + 0.015396665781736374, + -0.13159550726413727, + -6.327444076538086 + ], + [ + 0.002200083574280143, + -0.9911754727363586, + -0.1325386017560959, + -1.3824330568313599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3418, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_238468885", + "mask_path": "../../mask/hdr_front_03418.png" + }, + { + "file_path": "../../rgb/hdr_front_03420.png", + "transform_matrix": [ + [ + -0.1323275864124298, + -0.12007471174001694, + 0.9839062690734863, + 13.858535766601562 + ], + [ + -0.9909965991973877, + -0.00437907176092267, + -0.13381558656692505, + -6.319978713989258 + ], + [ + 0.02037646435201168, + -0.9927551746368408, + -0.11841415613889694, + -1.3836718797683716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3420, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_438469171", + "mask_path": "../../mask/hdr_front_03420.png" + }, + { + "file_path": "../../rgb/hdr_front_03421.png", + "transform_matrix": [ + [ + -0.11977192014455795, + -0.11673581600189209, + 0.9859145879745483, + 13.791876792907715 + ], + [ + -0.9927664995193481, + 0.005752546712756157, + -0.11992321163415909, + -6.3170247077941895 + ], + [ + 0.008327812887728214, + -0.9931463599205017, + -0.11658039689064026, + -1.3840755224227905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3421, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_538469552", + "mask_path": "../../mask/hdr_front_03421.png" + }, + { + "file_path": "../../rgb/hdr_front_03422.png", + "transform_matrix": [ + [ + -0.10719339549541473, + -0.1122296079993248, + 0.9878836870193481, + 13.736376762390137 + ], + [ + -0.9942375421524048, + 0.01323652919381857, + -0.10637909919023514, + -6.312836647033691 + ], + [ + -0.001137265469878912, + -0.9935941100120544, + -0.113001748919487, + -1.3814141750335693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3422, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_638469696", + "mask_path": "../../mask/hdr_front_03422.png" + }, + { + "file_path": "../../rgb/hdr_front_03423.png", + "transform_matrix": [ + [ + -0.0988956019282341, + -0.10643130540847778, + 0.9893897771835327, + 13.67890453338623 + ], + [ + -0.9950973987579346, + 0.011491858400404453, + -0.09822992235422134, + -6.310073375701904 + ], + [ + -0.0009151866543106735, + -0.9942537546157837, + -0.10704600811004639, + -1.3753111362457275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3423, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_738470315", + "mask_path": "../../mask/hdr_front_03423.png" + }, + { + "file_path": "../../rgb/hdr_front_03424.png", + "transform_matrix": [ + [ + -0.09481339901685715, + -0.1000216081738472, + 0.9904575347900391, + 13.627368927001953 + ], + [ + -0.9954777956008911, + 0.003675994463264942, + -0.0949227586388588, + -6.308106422424316 + ], + [ + 0.005853410344570875, + -0.9949785470962524, + -0.09991782903671265, + -1.3661202192306519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3424, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_838470220", + "mask_path": "../../mask/hdr_front_03424.png" + }, + { + "file_path": "../../rgb/hdr_front_03426.png", + "transform_matrix": [ + [ + -0.07767566293478012, + -0.09985050559043884, + 0.9919659495353699, + 13.523244857788086 + ], + [ + -0.996897280216217, + -0.0049329521134495735, + -0.07855835556983948, + -6.315007209777832 + ], + [ + 0.012737412005662918, + -0.9949902296066284, + -0.09915754199028015, + -1.3553202152252197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_38469791", + "mask_path": "../../mask/hdr_front_03426.png" + }, + { + "file_path": "../../rgb/hdr_front_03427.png", + "transform_matrix": [ + [ + -0.05403359606862068, + -0.09645950794219971, + 0.9938692450523376, + 13.454158782958984 + ], + [ + -0.9984771609306335, + -0.0058739930391311646, + -0.054854221642017365, + -6.329889297485352 + ], + [ + 0.011129191145300865, + -0.995319664478302, + -0.0959952250123024, + -1.352513313293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3427, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_138470172", + "mask_path": "../../mask/hdr_front_03427.png" + }, + { + "file_path": "../../rgb/hdr_front_03428.png", + "transform_matrix": [ + [ + -0.028587736189365387, + -0.09471798688173294, + 0.995093584060669, + 13.40017032623291 + ], + [ + -0.9995589256286621, + -0.005297037307173014, + -0.029220212250947952, + -6.340752124786377 + ], + [ + 0.008038727566599846, + -0.9954900741577148, + -0.09452478587627411, + -1.3415729999542236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3428, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_238470077", + "mask_path": "../../mask/hdr_front_03428.png" + }, + { + "file_path": "../../rgb/hdr_front_03429.png", + "transform_matrix": [ + [ + -0.01306629367172718, + -0.08455256372690201, + 0.9963334202766418, + 13.348410606384277 + ], + [ + -0.999895453453064, + -0.005065496079623699, + -0.013542885892093182, + -6.3447747230529785 + ], + [ + 0.006192008499056101, + -0.9964061379432678, + -0.08447752147912979, + -1.3414275646209717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3429, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_338470220", + "mask_path": "../../mask/hdr_front_03429.png" + }, + { + "file_path": "../../rgb/hdr_front_03430.png", + "transform_matrix": [ + [ + -0.013351534493267536, + -0.07768650352954865, + 0.9968884587287903, + 13.29395580291748 + ], + [ + -0.9999066591262817, + -0.001861155848018825, + -0.013536997139453888, + -6.344357967376709 + ], + [ + 0.0029070067685097456, + -0.9969761371612549, + -0.0776544064283371, + -1.3368808031082153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3430, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_438470602", + "mask_path": "../../mask/hdr_front_03430.png" + }, + { + "file_path": "../../rgb/hdr_front_03431.png", + "transform_matrix": [ + [ + -0.026940593495965004, + -0.08300190418958664, + 0.9961851835250854, + 13.23905086517334 + ], + [ + -0.9996349215507507, + 0.00018658248882275075, + -0.027018342167139053, + -6.340475082397461 + ], + [ + 0.0020567039027810097, + -0.9965493679046631, + -0.08297661691904068, + -1.3218986988067627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3431, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_538470745", + "mask_path": "../../mask/hdr_front_03431.png" + }, + { + "file_path": "../../rgb/hdr_front_03432.png", + "transform_matrix": [ + [ + -0.03307155519723892, + -0.08820905536413193, + 0.9955528974533081, + 13.168107986450195 + ], + [ + -0.9994367957115173, + -0.002741272794082761, + -0.03344346210360527, + -6.34511661529541 + ], + [ + 0.005679099354892969, + -0.9960982203483582, + -0.08806871622800827, + -1.3167955875396729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3432, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_638470172", + "mask_path": "../../mask/hdr_front_03432.png" + }, + { + "file_path": "../../rgb/hdr_front_03433.png", + "transform_matrix": [ + [ + -0.028474420309066772, + -0.09165071696043015, + 0.9953840374946594, + 13.086566925048828 + ], + [ + -0.9995667338371277, + -0.0048267957754433155, + -0.029038507491350174, + -6.351109504699707 + ], + [ + 0.007465914357453585, + -0.9957795739173889, + -0.09147355705499649, + -1.3108447790145874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3433, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_738470077", + "mask_path": "../../mask/hdr_front_03433.png" + }, + { + "file_path": "../../rgb/hdr_front_03434.png", + "transform_matrix": [ + [ + -0.024994950741529465, + -0.09025930613279343, + 0.9956046342849731, + 13.01689624786377 + ], + [ + -0.9996518492698669, + -0.006156405434012413, + -0.025654690340161324, + -6.35067892074585 + ], + [ + 0.008444920182228088, + -0.9958993196487427, + -0.09007401019334793, + -1.3073314428329468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3434, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_838471889", + "mask_path": "../../mask/hdr_front_03434.png" + }, + { + "file_path": "../../rgb/hdr_front_03435.png", + "transform_matrix": [ + [ + -0.028409961611032486, + -0.08528463542461395, + 0.9959515929222107, + 12.943033218383789 + ], + [ + -0.9995303153991699, + -0.009025662206113338, + -0.029284927994012833, + -6.348240375518799 + ], + [ + 0.011486676521599293, + -0.9963157773017883, + -0.08498815447092056, + -1.3085533380508423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3435, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_938470125", + "mask_path": "../../mask/hdr_front_03435.png" + }, + { + "file_path": "../../rgb/hdr_front_03436.png", + "transform_matrix": [ + [ + -0.04150763899087906, + -0.07899687439203262, + 0.996010422706604, + 12.876042366027832 + ], + [ + -0.9990125894546509, + -0.012524419464170933, + -0.04262610897421837, + -6.345632553100586 + ], + [ + 0.015841782093048096, + -0.996796190738678, + -0.07839900255203247, + -1.3041112422943115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3436, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_38469552", + "mask_path": "../../mask/hdr_front_03436.png" + }, + { + "file_path": "../../rgb/hdr_front_03437.png", + "transform_matrix": [ + [ + -0.049329694360494614, + -0.08080214262008667, + 0.9955086708068848, + 12.800718307495117 + ], + [ + -0.9986651539802551, + -0.01128763984888792, + -0.050402287393808365, + -6.3462815284729 + ], + [ + 0.015309556387364864, + -0.9966663122177124, + -0.0801374763250351, + -1.2967753410339355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3437, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_138470411", + "mask_path": "../../mask/hdr_front_03437.png" + }, + { + "file_path": "../../rgb/hdr_front_03438.png", + "transform_matrix": [ + [ + -0.046937793493270874, + -0.08471067249774933, + 0.9952994585037231, + 12.703447341918945 + ], + [ + -0.9988239407539368, + -0.008139127865433693, + -0.04779673367738724, + -6.350111961364746 + ], + [ + 0.012149762362241745, + -0.9963723421096802, + -0.0842290073633194, + -1.2998158931732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3438, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_238471746", + "mask_path": "../../mask/hdr_front_03438.png" + }, + { + "file_path": "../../rgb/hdr_front_03439.png", + "transform_matrix": [ + [ + -0.04110030457377434, + -0.08177962154150009, + 0.995802640914917, + 12.627702713012695 + ], + [ + -0.9991376399993896, + -0.0025082137435674667, + -0.04144393652677536, + -6.350330352783203 + ], + [ + 0.005886956118047237, + -0.9966473579406738, + -0.08160601556301117, + -1.3029636144638062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3439, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_338469505", + "mask_path": "../../mask/hdr_front_03439.png" + }, + { + "file_path": "../../rgb/hdr_front_03440.png", + "transform_matrix": [ + [ + -0.04058414697647095, + -0.07922603189945221, + 0.9960302114486694, + 12.549471855163574 + ], + [ + -0.9991559386253357, + -0.0031060585752129555, + -0.040958572179079056, + -6.34230899810791 + ], + [ + 0.006338713224977255, + -0.9968518614768982, + -0.07903311401605606, + -1.2988632917404175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3440, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_438470602", + "mask_path": "../../mask/hdr_front_03440.png" + }, + { + "file_path": "../../rgb/hdr_front_03441.png", + "transform_matrix": [ + [ + -0.0490860790014267, + -0.07591825723648071, + 0.9959051609039307, + 12.470629692077637 + ], + [ + -0.9987639784812927, + -0.004066102206707001, + -0.04953695461153984, + -6.329794883728027 + ], + [ + 0.00781021174043417, + -0.9971058368682861, + -0.07562483847141266, + -1.2803122997283936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3441, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_538470506", + "mask_path": "../../mask/hdr_front_03441.png" + }, + { + "file_path": "../../rgb/hdr_front_03442.png", + "transform_matrix": [ + [ + -0.06360337883234024, + -0.07897724211215973, + 0.9948453903198242, + 12.410202980041504 + ], + [ + -0.9979195594787598, + -0.00549863837659359, + -0.06423645466566086, + -6.321086406707764 + ], + [ + 0.010543513111770153, + -0.9968612790107727, + -0.07846320420503616, + -1.2665597200393677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3442, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_638476848", + "mask_path": "../../mask/hdr_front_03442.png" + }, + { + "file_path": "../../rgb/hdr_front_03443.png", + "transform_matrix": [ + [ + -0.07339562475681305, + -0.07799980044364929, + 0.9942480325698853, + 12.33615779876709 + ], + [ + -0.9971897006034851, + -0.009280424565076828, + -0.07434084266424179, + -6.317905426025391 + ], + [ + 0.015025615692138672, + -0.9969101548194885, + -0.07709944993257523, + -1.2612402439117432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3443, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_738470077", + "mask_path": "../../mask/hdr_front_03443.png" + }, + { + "file_path": "../../rgb/hdr_front_03444.png", + "transform_matrix": [ + [ + -0.07178972661495209, + -0.07487607002258301, + 0.9946053624153137, + 12.240074157714844 + ], + [ + -0.9973129034042358, + -0.009206481277942657, + -0.07267825305461884, + -6.316761493682861 + ], + [ + 0.014598676934838295, + -0.9971504211425781, + -0.07401394098997116, + -1.2619858980178833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3444, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_838472604", + "mask_path": "../../mask/hdr_front_03444.png" + }, + { + "file_path": "../../rgb/hdr_front_03445.png", + "transform_matrix": [ + [ + -0.0646449401974678, + -0.07065979391336441, + 0.995403528213501, + 12.17074203491211 + ], + [ + -0.9978731274604797, + -0.0037880984600633383, + -0.06507423520088196, + -6.31408166885376 + ], + [ + 0.008368819020688534, + -0.9974933862686157, + -0.07026463747024536, + -1.2635834217071533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3445, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_938469648", + "mask_path": "../../mask/hdr_front_03445.png" + }, + { + "file_path": "../../rgb/hdr_front_03446.png", + "transform_matrix": [ + [ + -0.06517793983221054, + -0.06771882623434067, + 0.9955732822418213, + 12.097982406616211 + ], + [ + -0.9978635311126709, + -6.977171142352745e-05, + -0.06533263623714447, + -6.306232929229736 + ], + [ + 0.004493712447583675, + -0.9977045059204102, + -0.06756959855556488, + -1.263374924659729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3446, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_38473844", + "mask_path": "../../mask/hdr_front_03446.png" + }, + { + "file_path": "../../rgb/hdr_front_03447.png", + "transform_matrix": [ + [ + -0.07478247582912445, + -0.06672610342502594, + 0.9949648976325989, + 12.023955345153809 + ], + [ + -0.9971993565559387, + 0.004052319563925266, + -0.07467865943908691, + -6.293752193450928 + ], + [ + 0.0009511021198704839, + -0.9977631568908691, + -0.06684227287769318, + -1.2481858730316162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3447, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_138470888", + "mask_path": "../../mask/hdr_front_03447.png" + }, + { + "file_path": "../../rgb/hdr_front_03448.png", + "transform_matrix": [ + [ + -0.08799003809690475, + -0.07226766645908356, + 0.9934964179992676, + 11.962566375732422 + ], + [ + -0.9961162209510803, + 0.0031802188605070114, + -0.08799073845148087, + -6.284311294555664 + ], + [ + 0.0031993496231734753, + -0.997380256652832, + -0.0722668245434761, + -1.2321255207061768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3448, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_238473415", + "mask_path": "../../mask/hdr_front_03448.png" + }, + { + "file_path": "../../rgb/hdr_front_03449.png", + "transform_matrix": [ + [ + -0.09088662266731262, + -0.0739380493760109, + 0.9931126832962036, + 11.89441967010498 + ], + [ + -0.9958480000495911, + 0.0016078467015177011, + -0.09101724624633789, + -6.280330657958984 + ], + [ + 0.005132865160703659, + -0.9972615838050842, + -0.07377719134092331, + -1.227270245552063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3449, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_338470220", + "mask_path": "../../mask/hdr_front_03449.png" + }, + { + "file_path": "../../rgb/hdr_front_03450.png", + "transform_matrix": [ + [ + -0.0790630578994751, + -0.07443499565124512, + 0.9940868020057678, + 11.805190086364746 + ], + [ + -0.9968597292900085, + 0.0014573410153388977, + -0.07917448878288269, + -6.281503677368164 + ], + [ + 0.0044446298852562904, + -0.9972248077392578, + -0.07431647181510925, + -1.2273623943328857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3450, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_438472032", + "mask_path": "../../mask/hdr_front_03450.png" + }, + { + "file_path": "../../rgb/hdr_front_03451.png", + "transform_matrix": [ + [ + -0.06398606300354004, + -0.07405386865139008, + 0.99519944190979, + 11.731158256530762 + ], + [ + -0.9979507327079773, + 0.0050332555547356606, + -0.06378842890262604, + -6.278408050537109 + ], + [ + -0.0002853117184713483, + -0.9972415566444397, + -0.07422417402267456, + -1.2244560718536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3451, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_538470029", + "mask_path": "../../mask/hdr_front_03451.png" + }, + { + "file_path": "../../rgb/hdr_front_03452.png", + "transform_matrix": [ + [ + -0.056189484894275665, + -0.06993535906076431, + 0.9959678053855896, + 11.654343605041504 + ], + [ + -0.998401403427124, + 0.010045833885669708, + -0.05562139302492142, + -6.273340702056885 + ], + [ + -0.006115424446761608, + -0.9975009560585022, + -0.07038803398609161, + -1.2222685813903809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3452, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_638471126", + "mask_path": "../../mask/hdr_front_03452.png" + }, + { + "file_path": "../../rgb/hdr_front_03453.png", + "transform_matrix": [ + [ + -0.057387825101614, + -0.06976636499166489, + 0.9959113001823425, + 11.585244178771973 + ], + [ + -0.9983083009719849, + 0.013342696242034435, + -0.05659126117825508, + -6.2660088539123535 + ], + [ + -0.009339974261820316, + -0.997474193572998, + -0.07041405141353607, + -1.213826298713684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3453, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_738470554", + "mask_path": "../../mask/hdr_front_03453.png" + }, + { + "file_path": "../../rgb/hdr_front_03454.png", + "transform_matrix": [ + [ + -0.05366453155875206, + -0.07245098799467087, + 0.9959272742271423, + 11.521172523498535 + ], + [ + -0.9985342621803284, + 0.010912224650382996, + -0.05301118269562721, + -6.261475563049316 + ], + [ + -0.007027065381407738, + -0.9973122477531433, + -0.07293039560317993, + -1.205712914466858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3454, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_838471174", + "mask_path": "../../mask/hdr_front_03454.png" + }, + { + "file_path": "../../rgb/hdr_front_03455.png", + "transform_matrix": [ + [ + -0.03893592208623886, + -0.06813900172710419, + 0.9969156980514526, + 11.444823265075684 + ], + [ + -0.9992182850837708, + 0.009489077143371105, + -0.038377270102500916, + -6.263132572174072 + ], + [ + -0.006844819989055395, + -0.997630774974823, + -0.06845521181821823, + -1.2015109062194824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3455, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_938469409", + "mask_path": "../../mask/hdr_front_03455.png" + }, + { + "file_path": "../../rgb/hdr_front_03456.png", + "transform_matrix": [ + [ + -0.016070092096924782, + -0.06494545936584473, + 0.9977594614028931, + 11.37363052368164 + ], + [ + -0.9997921586036682, + 0.013564796186983585, + -0.01521987933665514, + -6.272842884063721 + ], + [ + -0.012545939534902573, + -0.9977966547012329, + -0.0651499405503273, + -1.202831745147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3456, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_38470745", + "mask_path": "../../mask/hdr_front_03456.png" + }, + { + "file_path": "../../rgb/hdr_front_03457.png", + "transform_matrix": [ + [ + -0.004069673828780651, + -0.06413836777210236, + 0.9979327917098999, + 11.3045654296875 + ], + [ + -0.9997742772102356, + 0.021066991612315178, + -0.0027231830172240734, + -6.280825614929199 + ], + [ + -0.020848779007792473, + -0.9977186322212219, + -0.06420963257551193, + -1.205512523651123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3457, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_138470411", + "mask_path": "../../mask/hdr_front_03457.png" + }, + { + "file_path": "../../rgb/hdr_front_03458.png", + "transform_matrix": [ + [ + 0.0003322034899611026, + -0.06421239674091339, + 0.9979361891746521, + 11.22784423828125 + ], + [ + -0.9997424483299255, + 0.022620782256126404, + 0.0017883431864902377, + -6.279582977294922 + ], + [ + -0.022688928991556168, + -0.9976798892021179, + -0.06418834626674652, + -1.1942195892333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3458, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_238471746", + "mask_path": "../../mask/hdr_front_03458.png" + }, + { + "file_path": "../../rgb/hdr_front_03459.png", + "transform_matrix": [ + [ + -0.0028953109867870808, + -0.060720209032297134, + 0.9981505870819092, + 11.155128479003906 + ], + [ + -0.9998206496238708, + 0.018853366374969482, + -0.0017532538622617722, + -6.275116920471191 + ], + [ + -0.018712040036916733, + -0.9979767799377441, + -0.06076390668749809, + -1.1812187433242798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3459, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_338470697", + "mask_path": "../../mask/hdr_front_03459.png" + }, + { + "file_path": "../../rgb/hdr_front_03460.png", + "transform_matrix": [ + [ + -0.002498628804460168, + -0.06660112738609314, + 0.9977765679359436, + 11.087428092956543 + ], + [ + -0.9999362826347351, + 0.011148286983370781, + -0.0017598961712792516, + -6.279263496398926 + ], + [ + -0.011006289161741734, + -0.9977174997329712, + -0.06662473827600479, + -1.1708028316497803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3460, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_438470125", + "mask_path": "../../mask/hdr_front_03460.png" + }, + { + "file_path": "../../rgb/hdr_front_03461.png", + "transform_matrix": [ + [ + 0.01007577870041132, + -0.06711196154356003, + 0.9976946115493774, + 11.007552146911621 + ], + [ + -0.9999111890792847, + 0.008022409863770008, + 0.010637807659804821, + -6.2916436195373535 + ], + [ + -0.008717836812138557, + -0.9977132081985474, + -0.06702516973018646, + -1.1683279275894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3461, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_538469314", + "mask_path": "../../mask/hdr_front_03461.png" + }, + { + "file_path": "../../rgb/hdr_front_03462.png", + "transform_matrix": [ + [ + 0.029515789821743965, + -0.0637197494506836, + 0.9975312948226929, + 10.935773849487305 + ], + [ + -0.9994560480117798, + 0.012803914956748486, + 0.030390622094273567, + -6.303984642028809 + ], + [ + -0.014708787202835083, + -0.9978858232498169, + -0.06330716609954834, + -1.1689074039459229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3462, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_638469219", + "mask_path": "../../mask/hdr_front_03462.png" + }, + { + "file_path": "../../rgb/hdr_front_03463.png", + "transform_matrix": [ + [ + 0.042895205318927765, + -0.06414476037025452, + 0.9970182776451111, + 10.870128631591797 + ], + [ + -0.9989320039749146, + 0.01439350564032793, + 0.04390357434749603, + -6.308962821960449 + ], + [ + -0.017166772857308388, + -0.9978368282318115, + -0.06345884501934052, + -1.167115330696106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3463, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_738470792", + "mask_path": "../../mask/hdr_front_03463.png" + }, + { + "file_path": "../../rgb/hdr_front_03464.png", + "transform_matrix": [ + [ + 0.0484628789126873, + -0.0673958882689476, + 0.9965486526489258, + 10.796658515930176 + ], + [ + -0.9986266493797302, + 0.016614103689789772, + 0.04968753084540367, + -6.308756351470947 + ], + [ + -0.019905494526028633, + -0.9975880980491638, + -0.06649816036224365, + -1.15147864818573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_838469982", + "mask_path": "../../mask/hdr_front_03464.png" + }, + { + "file_path": "../../rgb/hdr_front_03465.png", + "transform_matrix": [ + [ + 0.04394600912928581, + -0.0736619308590889, + 0.996314525604248, + 10.737112998962402 + ], + [ + -0.9989136457443237, + 0.012230741791427135, + 0.044964928179979324, + -6.30704927444458 + ], + [ + -0.015497869811952114, + -0.997208297252655, + -0.07304441183805466, + -1.1385338306427002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3465, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_938469886", + "mask_path": "../../mask/hdr_front_03465.png" + }, + { + "file_path": "../../rgb/hdr_front_03466.png", + "transform_matrix": [ + [ + 0.042963042855262756, + -0.08003290742635727, + 0.9958659410476685, + 10.673504829406738 + ], + [ + -0.9990103244781494, + 0.008044500835239887, + 0.04374519735574722, + -6.3094024658203125 + ], + [ + -0.011512299068272114, + -0.9967597723007202, + -0.07960808277130127, + -1.1270477771759033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3466, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_38470268", + "mask_path": "../../mask/hdr_front_03466.png" + }, + { + "file_path": "../../rgb/hdr_front_03467.png", + "transform_matrix": [ + [ + 0.05259187892079353, + -0.08294670283794403, + 0.9951652884483337, + 10.591482162475586 + ], + [ + -0.9985218048095703, + 0.009324949234724045, + 0.05354649946093559, + -6.322841644287109 + ], + [ + -0.01372136827558279, + -0.99651038646698, + -0.08233368396759033, + -1.119892954826355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3467, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_138470172", + "mask_path": "../../mask/hdr_front_03467.png" + }, + { + "file_path": "../../rgb/hdr_front_03468.png", + "transform_matrix": [ + [ + 0.06883242726325989, + -0.08115280419588089, + 0.9943221211433411, + 10.523272514343262 + ], + [ + -0.9974693059921265, + 0.012190751731395721, + 0.07004527002573013, + -6.334028720855713 + ], + [ + -0.017805898562073708, + -0.996627151966095, + -0.08010832220315933, + -1.1184884309768677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3468, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_238469362", + "mask_path": "../../mask/hdr_front_03468.png" + }, + { + "file_path": "../../rgb/hdr_front_03469.png", + "transform_matrix": [ + [ + 0.07815968245267868, + -0.08053941279649734, + 0.9936822652816772, + 10.453240394592285 + ], + [ + -0.9967644810676575, + 0.01243699248880148, + 0.07941015064716339, + -6.341244697570801 + ], + [ + -0.01875406503677368, + -0.9966738224029541, + -0.07930675148963928, + -1.1154450178146362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3469, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_338469266", + "mask_path": "../../mask/hdr_front_03469.png" + }, + { + "file_path": "../../rgb/hdr_front_03470.png", + "transform_matrix": [ + [ + 0.07717686891555786, + -0.08092949539422989, + 0.9937273859977722, + 10.382549285888672 + ], + [ + -0.9967718720436096, + 0.0158565454185009, + 0.07870469242334366, + -6.3443379402160645 + ], + [ + -0.022126613184809685, + -0.9965937733650208, + -0.07944449037313461, + -1.1014097929000854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3470, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_438469409", + "mask_path": "../../mask/hdr_front_03470.png" + }, + { + "file_path": "../../rgb/hdr_front_03471.png", + "transform_matrix": [ + [ + 0.06985867023468018, + -0.0871623158454895, + 0.9937417507171631, + 10.312675476074219 + ], + [ + -0.9974662661552429, + 0.007326393388211727, + 0.07076310366392136, + -6.3493547439575195 + ], + [ + -0.013448415324091911, + -0.9961671829223633, + -0.0864296481013298, + -1.0886698961257935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3471, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_538468122", + "mask_path": "../../mask/hdr_front_03471.png" + }, + { + "file_path": "../../rgb/hdr_front_03472.png", + "transform_matrix": [ + [ + 0.06951261311769485, + -0.09006005525588989, + 0.9935075044631958, + 10.232427597045898 + ], + [ + -0.997545063495636, + 0.002190072787925601, + 0.06999365240335464, + -6.358335971832275 + ], + [ + -0.008479484356939793, + -0.9959339499473572, + -0.08968672156333923, + -1.0773366689682007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3472, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_638469457", + "mask_path": "../../mask/hdr_front_03472.png" + }, + { + "file_path": "../../rgb/hdr_front_03473.png", + "transform_matrix": [ + [ + 0.08067254722118378, + -0.08668649941682816, + 0.9929640293121338, + 10.146514892578125 + ], + [ + -0.9966921210289001, + 0.002821262227371335, + 0.08122172951698303, + -6.3726911544799805 + ], + [ + -0.009842238388955593, + -0.9962316751480103, + -0.08617214113473892, + -1.0734363794326782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3473, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_738468885", + "mask_path": "../../mask/hdr_front_03473.png" + }, + { + "file_path": "../../rgb/hdr_front_03474.png", + "transform_matrix": [ + [ + 0.08897247910499573, + -0.08307375013828278, + 0.9925637245178223, + 10.074481010437012 + ], + [ + -0.9959456324577332, + 0.005862051155418158, + 0.08976627141237259, + -6.379852294921875 + ], + [ + -0.013275678269565105, + -0.9965261816978455, + -0.08221537619829178, + -1.0747358798980713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3474, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_838469266", + "mask_path": "../../mask/hdr_front_03474.png" + }, + { + "file_path": "../../rgb/hdr_front_03475.png", + "transform_matrix": [ + [ + 0.08819739520549774, + -0.0827409029006958, + 0.9926607012748718, + 9.994049072265625 + ], + [ + -0.9959985017776489, + 0.00710584269836545, + 0.08908626437187195, + -6.380305767059326 + ], + [ + -0.014424767345190048, + -0.9965457916259766, + -0.08178310841321945, + -1.064502239227295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_938469171", + "mask_path": "../../mask/hdr_front_03475.png" + }, + { + "file_path": "../../rgb/hdr_front_03476.png", + "transform_matrix": [ + [ + 0.07455350458621979, + -0.08455470949411392, + 0.9936258792877197, + 9.916886329650879 + ], + [ + -0.9971446990966797, + 0.005680909845978022, + 0.07530096173286438, + -6.378818035125732 + ], + [ + -0.012011747807264328, + -0.9964026808738708, + -0.08388976007699966, + -1.0455358028411865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3476, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_38469314", + "mask_path": "../../mask/hdr_front_03476.png" + }, + { + "file_path": "../../rgb/hdr_front_03477.png", + "transform_matrix": [ + [ + 0.06416130065917969, + -0.08614899218082428, + 0.9942141175270081, + 9.842205047607422 + ], + [ + -0.9979246258735657, + -8.183625322999433e-05, + 0.06439366936683655, + -6.382070064544678 + ], + [ + -0.00546608678996563, + -0.9962822794914246, + -0.08597545325756073, + -1.0346496105194092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3477, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_138470411", + "mask_path": "../../mask/hdr_front_03477.png" + }, + { + "file_path": "../../rgb/hdr_front_03478.png", + "transform_matrix": [ + [ + 0.06284425407648087, + -0.08083511143922806, + 0.9947443604469299, + 9.763065338134766 + ], + [ + -0.9979559779167175, + 0.006493269465863705, + 0.06357481330633163, + -6.390156269073486 + ], + [ + -0.01159821916371584, + -0.9967063665390015, + -0.08026181906461716, + -1.0273749828338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3478, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_238470554", + "mask_path": "../../mask/hdr_front_03478.png" + }, + { + "file_path": "../../rgb/hdr_front_03479.png", + "transform_matrix": [ + [ + 0.06821209192276001, + -0.0777810662984848, + 0.994634211063385, + 9.688289642333984 + ], + [ + -0.9975460171699524, + 0.010454774834215641, + 0.06922934949398041, + -6.397398948669434 + ], + [ + -0.015783408656716347, + -0.9969156384468079, + -0.07687705010175705, + -1.0277330875396729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3479, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_338470458", + "mask_path": "../../mask/hdr_front_03479.png" + }, + { + "file_path": "../../rgb/hdr_front_03480.png", + "transform_matrix": [ + [ + 0.070043183863163, + -0.07750484347343445, + 0.994528591632843, + 9.611289978027344 + ], + [ + -0.9973995089530945, + 0.01152376364916563, + 0.07114344090223312, + -6.403730869293213 + ], + [ + -0.016974668949842453, + -0.996925413608551, + -0.07649613171815872, + -1.0250129699707031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3480, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_438469886", + "mask_path": "../../mask/hdr_front_03480.png" + }, + { + "file_path": "../../rgb/hdr_front_03481.png", + "transform_matrix": [ + [ + 0.06541913747787476, + -0.07738690823316574, + 0.994852602481842, + 9.526812553405762 + ], + [ + -0.9977170825004578, + 0.011669503524899483, + 0.06651525944471359, + -6.408941268920898 + ], + [ + -0.016756845638155937, + -0.996932864189148, + -0.07644684612751007, + -1.0100386142730713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3481, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_538469791", + "mask_path": "../../mask/hdr_front_03481.png" + }, + { + "file_path": "../../rgb/hdr_front_03482.png", + "transform_matrix": [ + [ + 0.05493386089801788, + -0.08009941875934601, + 0.9952720403671265, + 9.450309753417969 + ], + [ + -0.9984449744224548, + 0.005058827344328165, + 0.05551612377166748, + -6.4141459465026855 + ], + [ + -0.009481717832386494, + -0.9967740774154663, + -0.07969696074724197, + -0.9940840005874634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3482, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_638470411", + "mask_path": "../../mask/hdr_front_03482.png" + }, + { + "file_path": "../../rgb/hdr_front_03483.png", + "transform_matrix": [ + [ + 0.05665304511785507, + -0.08480586856603622, + 0.9947855472564697, + 9.374317169189453 + ], + [ + -0.9983916878700256, + -0.0027083747554570436, + 0.05662751942873001, + -6.422940731048584 + ], + [ + -0.0021080924198031425, + -0.9963937997817993, + -0.08482290804386139, + -0.9830870628356934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3483, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_738470554", + "mask_path": "../../mask/hdr_front_03483.png" + }, + { + "file_path": "../../rgb/hdr_front_03484.png", + "transform_matrix": [ + [ + 0.07367163896560669, + -0.08731944113969803, + 0.9934524297714233, + 9.287886619567871 + ], + [ + -0.9972802400588989, + -0.004289499018341303, + 0.07357846945524216, + -6.443833827972412 + ], + [ + -0.0021634164731949568, + -0.9961711764335632, + -0.0873979702591896, + -0.9749172925949097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3484, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_838470697", + "mask_path": "../../mask/hdr_front_03484.png" + }, + { + "file_path": "../../rgb/hdr_front_03485.png", + "transform_matrix": [ + [ + 0.10255338251590729, + -0.08572638779878616, + 0.9910266995429993, + 9.219971656799316 + ], + [ + -0.9946902394294739, + -0.00021677074255421758, + 0.1029137521982193, + -6.4682183265686035 + ], + [ + -0.008607598952949047, + -0.9963186383247375, + -0.08529343456029892, + -0.9740089178085327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3485, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_938469886", + "mask_path": "../../mask/hdr_front_03485.png" + }, + { + "file_path": "../../rgb/hdr_front_03486.png", + "transform_matrix": [ + [ + 0.1309557408094406, + -0.08237194269895554, + 0.9879602789878845, + 9.156665802001953 + ], + [ + -0.9913111329078674, + 0.0015433358494192362, + 0.1315285861492157, + -6.486414909362793 + ], + [ + -0.012359019368886948, + -0.9966005086898804, + -0.08145412057638168, + -0.9724425673484802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3486, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_38469552", + "mask_path": "../../mask/hdr_front_03486.png" + }, + { + "file_path": "../../rgb/hdr_front_03487.png", + "transform_matrix": [ + [ + 0.14786317944526672, + -0.0818975418806076, + 0.9856111407279968, + 9.08137035369873 + ], + [ + -0.988903820514679, + 0.0022070137783885, + 0.14854055643081665, + -6.499227046966553 + ], + [ + -0.014340361580252647, + -0.9966383576393127, + -0.08066244423389435, + -0.9575594663619995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3487, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_138470649", + "mask_path": "../../mask/hdr_front_03487.png" + }, + { + "file_path": "../../rgb/hdr_front_03488.png", + "transform_matrix": [ + [ + 0.1450817883014679, + -0.08559665083885193, + 0.9857101440429688, + 9.01309585571289 + ], + [ + -0.9893801212310791, + -0.0036390002351254225, + 0.14530594646930695, + -6.511132717132568 + ], + [ + -0.00885070115327835, + -0.9963232278823853, + -0.08521556854248047, + -0.9434732794761658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3488, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_238469839", + "mask_path": "../../mask/hdr_front_03488.png" + }, + { + "file_path": "../../rgb/hdr_front_03489.png", + "transform_matrix": [ + [ + 0.14365144073963165, + -0.08544900268316269, + 0.985932469367981, + 8.943532943725586 + ], + [ + -0.9896275401115417, + -0.01365665439516306, + 0.14300620555877686, + -6.5265913009643555 + ], + [ + 0.0012448005145415664, + -0.9962489008903503, + -0.08652447909116745, + -0.9320399165153503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3489, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_338469982", + "mask_path": "../../mask/hdr_front_03489.png" + }, + { + "file_path": "../../rgb/hdr_front_03490.png", + "transform_matrix": [ + [ + 0.14365555346012115, + -0.08261790126562119, + 0.986173152923584, + 8.863433837890625 + ], + [ + -0.9896252751350403, + -0.014210966415703297, + 0.14296787977218628, + -6.546027660369873 + ], + [ + 0.0022027657832950354, + -0.9964800477027893, + -0.08380226790904999, + -0.9236804246902466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3490, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_438469409", + "mask_path": "../../mask/hdr_front_03490.png" + }, + { + "file_path": "../../rgb/hdr_front_03491.png", + "transform_matrix": [ + [ + 0.14799924194812775, + -0.08009200543165207, + 0.9857390522956848, + 8.793251037597656 + ], + [ + -0.9889801144599915, + -0.008157754316926003, + 0.14782306551933289, + -6.563985824584961 + ], + [ + -0.003798025893047452, + -0.9967541694641113, + -0.08041674643754959, + -0.922513484954834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3491, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_538469791", + "mask_path": "../../mask/hdr_front_03491.png" + }, + { + "file_path": "../../rgb/hdr_front_03492.png", + "transform_matrix": [ + [ + 0.14826272428035736, + -0.07607726752758026, + 0.9860174655914307, + 8.72258186340332 + ], + [ + -0.988943874835968, + -0.00851678941398859, + 0.1480456441640854, + -6.579461574554443 + ], + [ + -0.0028652038890868425, + -0.9970656633377075, + -0.07649886608123779, + -0.9205304384231567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3492, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_638469219", + "mask_path": "../../mask/hdr_front_03492.png" + }, + { + "file_path": "../../rgb/hdr_front_03493.png", + "transform_matrix": [ + [ + 0.1418326050043106, + -0.07482821494340897, + 0.9870583415031433, + 8.643040657043457 + ], + [ + -0.9898898601531982, + -0.009432620368897915, + 0.14152438938617706, + -6.5911054611206055 + ], + [ + -0.0012794678332284093, + -0.9971518516540527, + -0.07540953159332275, + -0.9073617458343506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3493, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_738469600", + "mask_path": "../../mask/hdr_front_03493.png" + }, + { + "file_path": "../../rgb/hdr_front_03494.png", + "transform_matrix": [ + [ + 0.12937957048416138, + -0.08165429532527924, + 0.9882274866104126, + 8.565834999084473 + ], + [ + -0.9915921092033386, + -0.013148793950676918, + 0.12873363494873047, + -6.6038007736206055 + ], + [ + 0.0024823492858558893, + -0.9965740442276001, + -0.08266893029212952, + -0.8921308517456055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3494, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_838468313", + "mask_path": "../../mask/hdr_front_03494.png" + }, + { + "file_path": "../../rgb/hdr_front_03495.png", + "transform_matrix": [ + [ + 0.12493596225976944, + -0.08597910404205322, + 0.9884324073791504, + 8.482812881469727 + ], + [ + -0.9921595454216003, + -0.014081425033509731, + 0.12418218702077866, + -6.618552207946777 + ], + [ + 0.0032414624001830816, + -0.9961974620819092, + -0.08706425875425339, + -0.8807326555252075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3495, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_938469171", + "mask_path": "../../mask/hdr_front_03495.png" + }, + { + "file_path": "../../rgb/hdr_front_03496.png", + "transform_matrix": [ + [ + 0.12946534156799316, + -0.08414199948310852, + 0.9880075454711914, + 8.395873069763184 + ], + [ + -0.9915777444839478, + -0.014520405791699886, + 0.12869657576084137, + -6.63640022277832 + ], + [ + 0.0035174854565411806, + -0.9963480234146118, + -0.08531320840120316, + -0.8806650638580322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3496, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_38467645", + "mask_path": "../../mask/hdr_front_03496.png" + }, + { + "file_path": "../../rgb/hdr_front_03497.png", + "transform_matrix": [ + [ + 0.1316511034965515, + -0.08159591257572174, + 0.9879322648048401, + 8.324175834655762 + ], + [ + -0.9912954568862915, + -0.009651963599026203, + 0.1313021183013916, + -6.647392749786377 + ], + [ + -0.0011782285291701555, + -0.9966187477111816, + -0.08215634524822235, + -0.8796267509460449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3497, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_138468503", + "mask_path": "../../mask/hdr_front_03497.png" + }, + { + "file_path": "../../rgb/hdr_front_03498.png", + "transform_matrix": [ + [ + 0.1255710870027542, + -0.08478225022554398, + 0.9884554147720337, + 8.241969108581543 + ], + [ + -0.9920700192451477, + -0.00532676512375474, + 0.12557342648506165, + -6.650822162628174 + ], + [ + -0.005381125956773758, + -0.9963852763175964, + -0.0847788080573082, + -0.8627735376358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3498, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_238469839", + "mask_path": "../../mask/hdr_front_03498.png" + }, + { + "file_path": "../../rgb/hdr_front_03499.png", + "transform_matrix": [ + [ + 0.11200916767120361, + -0.08898064494132996, + 0.9897153973579407, + 8.167825698852539 + ], + [ + -0.9937066435813904, + -0.011029191315174103, + 0.11146930605173111, + -6.655731201171875 + ], + [ + 0.0009971503168344498, + -0.9959722757339478, + -0.0896560326218605, + -0.8461518883705139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3499, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_338470697", + "mask_path": "../../mask/hdr_front_03499.png" + }, + { + "file_path": "../../rgb/hdr_front_03500.png", + "transform_matrix": [ + [ + 0.10725924372673035, + -0.08971253782510757, + 0.9901753067970276, + 8.100310325622559 + ], + [ + -0.994212806224823, + -0.015718970447778702, + 0.10627241432666779, + -6.667524814605713 + ], + [ + 0.006030568853020668, + -0.9958437085151672, + -0.09087935090065002, + -0.8340340852737427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_438470125", + "mask_path": "../../mask/hdr_front_03500.png" + }, + { + "file_path": "../../rgb/hdr_front_03501.png", + "transform_matrix": [ + [ + 0.11145487427711487, + -0.08646271377801895, + 0.9900011420249939, + 8.024978637695312 + ], + [ + -0.9937694072723389, + -0.010117480531334877, + 0.11099549382925034, + -6.679728984832764 + ], + [ + 0.00041934536420740187, + -0.9962037801742554, + -0.0870516449213028, + -0.8292357325553894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3501, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_538470745", + "mask_path": "../../mask/hdr_front_03501.png" + }, + { + "file_path": "../../rgb/hdr_front_03502.png", + "transform_matrix": [ + [ + 0.11718481779098511, + -0.0860523134469986, + 0.9893749356269836, + 7.959234237670898 + ], + [ + -0.993104100227356, + -0.006701433565467596, + 0.11704365909099579, + -6.687860012054443 + ], + [ + -0.0034416469279676676, + -0.996268093585968, + -0.08624421805143356, + -0.8266967535018921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3502, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_638469457", + "mask_path": "../../mask/hdr_front_03502.png" + }, + { + "file_path": "../../rgb/hdr_front_03503.png", + "transform_matrix": [ + [ + 0.11559604853391647, + -0.0872940793633461, + 0.9894530773162842, + 7.890603065490723 + ], + [ + -0.9932883381843567, + -0.006179528776556253, + 0.11549892276525497, + -6.690400123596191 + ], + [ + -0.00396801857277751, + -0.9961634278297424, + -0.08742252737283707, + -0.8170703649520874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3503, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_738470077", + "mask_path": "../../mask/hdr_front_03503.png" + }, + { + "file_path": "../../rgb/hdr_front_03504.png", + "transform_matrix": [ + [ + 0.10504120588302612, + -0.08825664222240448, + 0.9905438423156738, + 7.817272186279297 + ], + [ + -0.9944626688957214, + -0.0060963984578847885, + 0.10491358488798141, + -6.695479393005371 + ], + [ + -0.0032205686438828707, + -0.99607914686203, + -0.08840830624103546, + -0.8036588430404663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3504, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_838470220", + "mask_path": "../../mask/hdr_front_03504.png" + }, + { + "file_path": "../../rgb/hdr_front_03505.png", + "transform_matrix": [ + [ + 0.09281144291162491, + -0.09056662768125534, + 0.9915562272071838, + 7.742494583129883 + ], + [ + -0.9956730604171753, + -0.013028030283749104, + 0.09200683236122131, + -6.702661991119385 + ], + [ + 0.004585277754813433, + -0.9958052039146423, + -0.0913839042186737, + -0.7920339107513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3505, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_938470363", + "mask_path": "../../mask/hdr_front_03505.png" + }, + { + "file_path": "../../rgb/hdr_front_03506.png", + "transform_matrix": [ + [ + 0.08866599947214127, + -0.08927087485790253, + 0.9920529723167419, + 7.65974235534668 + ], + [ + -0.996051013469696, + -0.012498319149017334, + 0.08789865672588348, + -6.710616111755371 + ], + [ + 0.0045522041618824005, + -0.9959290027618408, + -0.09002653509378433, + -0.7830394506454468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3506, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_38470029", + "mask_path": "../../mask/hdr_front_03506.png" + }, + { + "file_path": "../../rgb/hdr_front_03507.png", + "transform_matrix": [ + [ + 0.09309982508420944, + -0.08714959025382996, + 0.9918354153633118, + 7.5761637687683105 + ], + [ + -0.9956567883491516, + -0.00782990176230669, + 0.0927705317735672, + -6.721633434295654 + ], + [ + -0.0003189397102687508, + -0.9961645007133484, + -0.08750003576278687, + -0.7816942930221558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3507, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_138470411", + "mask_path": "../../mask/hdr_front_03507.png" + }, + { + "file_path": "../../rgb/hdr_front_03508.png", + "transform_matrix": [ + [ + 0.0925678163766861, + -0.08323682844638824, + 0.9922211766242981, + 7.504469394683838 + ], + [ + -0.9956963658332825, + -0.003263463731855154, + 0.09261824935674667, + -6.7275190353393555 + ], + [ + -0.004471170250326395, + -0.996524453163147, + -0.08318068087100983, + -0.7780333757400513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3508, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_238470315", + "mask_path": "../../mask/hdr_front_03508.png" + }, + { + "file_path": "../../rgb/hdr_front_03509.png", + "transform_matrix": [ + [ + 0.08463552594184875, + -0.08027663826942444, + 0.9931729435920715, + 7.422767162322998 + ], + [ + -0.9963930249214172, + -0.0006738834781572223, + 0.08485545963048935, + -6.725776195526123 + ], + [ + -0.006142627913504839, + -0.9967724084854126, + -0.08004411309957504, + -0.764802873134613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3509, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_338471651", + "mask_path": "../../mask/hdr_front_03509.png" + }, + { + "file_path": "../../rgb/hdr_front_03510.png", + "transform_matrix": [ + [ + 0.0712166354060173, + -0.08394895493984222, + 0.9939219355583191, + 7.3490729331970215 + ], + [ + -0.9974609017372131, + -0.006019551306962967, + 0.07096178829669952, + -6.725094318389893 + ], + [ + 2.5796800400712527e-05, + -0.9964519739151001, + -0.08416448533535004, + -0.7522289156913757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3510, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_438470602", + "mask_path": "../../mask/hdr_front_03510.png" + }, + { + "file_path": "../../rgb/hdr_front_03511.png", + "transform_matrix": [ + [ + 0.06444793194532394, + -0.08517134934663773, + 0.9942798614501953, + 7.270254611968994 + ], + [ + -0.9979120492935181, + -0.009743710979819298, + 0.06384871155023575, + -6.729873180389404 + ], + [ + 0.004249893594533205, + -0.9963186979293823, + -0.08562147617340088, + -0.7413902878761292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3511, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_538470029", + "mask_path": "../../mask/hdr_front_03511.png" + }, + { + "file_path": "../../rgb/hdr_front_03512.png", + "transform_matrix": [ + [ + 0.06812313944101334, + -0.07982082664966583, + 0.9944786429405212, + 7.182344436645508 + ], + [ + -0.9976759552955627, + -0.006842403206974268, + 0.06779294461011887, + -6.740243911743164 + ], + [ + 0.0013933359878137708, + -0.9967858195304871, + -0.08010143786668777, + -0.7356899380683899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3512, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_638469457", + "mask_path": "../../mask/hdr_front_03512.png" + }, + { + "file_path": "../../rgb/hdr_front_03513.png", + "transform_matrix": [ + [ + 0.07569762319326401, + -0.07719707489013672, + 0.9941381216049194, + 7.115368366241455 + ], + [ + -0.9971299171447754, + -0.004543547052890062, + 0.07557262480258942, + -6.748961448669434 + ], + [ + -0.0013170704478397965, + -0.9970054626464844, + -0.07731945067644119, + -0.7375391721725464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3513, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_738469123", + "mask_path": "../../mask/hdr_front_03513.png" + }, + { + "file_path": "../../rgb/hdr_front_03514.png", + "transform_matrix": [ + [ + 0.0767638236284256, + -0.07546191662549973, + 0.9941895008087158, + 7.043655872344971 + ], + [ + -0.997046172618866, + -0.0033063997980207205, + 0.07673344016075134, + -6.755044937133789 + ], + [ + -0.0025032630655914545, + -0.9971432685852051, + -0.07549282908439636, + -0.7351672649383545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3514, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_838469266", + "mask_path": "../../mask/hdr_front_03514.png" + }, + { + "file_path": "../../rgb/hdr_front_03515.png", + "transform_matrix": [ + [ + 0.06978198885917664, + -0.07580608874559402, + 0.9946778416633606, + 6.966104984283447 + ], + [ + -0.9975283741950989, + 0.0029243575409054756, + 0.07020483911037445, + -6.756316661834717 + ], + [ + -0.00823074672371149, + -0.9971182942390442, + -0.07541464269161224, + -0.719146728515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3515, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_938471794", + "mask_path": "../../mask/hdr_front_03515.png" + }, + { + "file_path": "../../rgb/hdr_front_03516.png", + "transform_matrix": [ + [ + 0.055682577192783356, + -0.0809318870306015, + 0.9951630234718323, + 6.893392562866211 + ], + [ + -0.9984413385391235, + -0.0007369040395133197, + 0.055806081742048264, + -6.758759498596191 + ], + [ + -0.0037831529043614864, + -0.9967193603515625, + -0.08084677159786224, + -0.7053577899932861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3516, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_38470268", + "mask_path": "../../mask/hdr_front_03516.png" + }, + { + "file_path": "../../rgb/hdr_front_03517.png", + "transform_matrix": [ + [ + 0.04633317142724991, + -0.08306871354579926, + 0.9954662322998047, + 6.810400009155273 + ], + [ + -0.9989252686500549, + -0.0050707003101706505, + 0.046071041375398636, + -6.763514518737793 + ], + [ + 0.0012206489918753505, + -0.9965309500694275, + -0.08321437984704971, + -0.6945300102233887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3517, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_138469457", + "mask_path": "../../mask/hdr_front_03517.png" + }, + { + "file_path": "../../rgb/hdr_front_03518.png", + "transform_matrix": [ + [ + 0.04690694808959961, + -0.07947447150945663, + 0.9957327246665955, + 6.715465545654297 + ], + [ + -0.9988970756530762, + -0.0016511415597051382, + 0.04692423343658447, + -6.772815704345703 + ], + [ + -0.0020851832814514637, + -0.9968355298042297, + -0.07946427166461945, + -0.6881730556488037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3518, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_238469123", + "mask_path": "../../mask/hdr_front_03518.png" + }, + { + "file_path": "../../rgb/hdr_front_03519.png", + "transform_matrix": [ + [ + 0.053746405988931656, + -0.076816126704216, + 0.9955956339836121, + 6.637096881866455 + ], + [ + -0.9985314607620239, + 0.0026405001990497112, + 0.0541086345911026, + -6.779577732086182 + ], + [ + -0.006785285193473101, + -0.9970418214797974, + -0.07656140625476837, + -0.6872274279594421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3519, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_338470697", + "mask_path": "../../mask/hdr_front_03519.png" + }, + { + "file_path": "../../rgb/hdr_front_03520.png", + "transform_matrix": [ + [ + 0.05367916449904442, + -0.07534842193126678, + 0.9957114458084106, + 6.559759616851807 + ], + [ + -0.9985235333442688, + 0.004255823325365782, + 0.05415282025933266, + -6.7812700271606445 + ], + [ + -0.008317899890244007, + -0.9971482157707214, + -0.07500872761011124, + -0.6792454719543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_438470602", + "mask_path": "../../mask/hdr_front_03520.png" + }, + { + "file_path": "../../rgb/hdr_front_03521.png", + "transform_matrix": [ + [ + 0.0441633015871048, + -0.07330337911844254, + 0.9963313937187195, + 6.475554466247559 + ], + [ + -0.998981237411499, + 0.0060241143219172955, + 0.04472397640347481, + -6.779428958892822 + ], + [ + -0.009280432015657425, + -0.9972915649414062, + -0.07296265661716461, + -0.662345290184021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3521, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_538470745", + "mask_path": "../../mask/hdr_front_03521.png" + }, + { + "file_path": "../../rgb/hdr_front_03522.png", + "transform_matrix": [ + [ + 0.03156058117747307, + -0.08038900792598724, + 0.996263861656189, + 6.400505065917969 + ], + [ + -0.9994987845420837, + -7.895105227362365e-05, + 0.031656697392463684, + -6.781103610992432 + ], + [ + -0.002466194098815322, + -0.9967635869979858, + -0.08035120368003845, + -0.6494963765144348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3522, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_638469696", + "mask_path": "../../mask/hdr_front_03522.png" + }, + { + "file_path": "../../rgb/hdr_front_03523.png", + "transform_matrix": [ + [ + 0.026199551299214363, + -0.08417651802301407, + 0.9961063861846924, + 6.309405326843262 + ], + [ + -0.999656617641449, + -0.002736553782597184, + 0.026061678305268288, + -6.787471294403076 + ], + [ + 0.0005321174394339323, + -0.9964470863342285, + -0.0842193141579628, + -0.6380465626716614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3523, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_738469123", + "mask_path": "../../mask/hdr_front_03523.png" + }, + { + "file_path": "../../rgb/hdr_front_03524.png", + "transform_matrix": [ + [ + 0.03008708916604519, + -0.08266475051641464, + 0.996123194694519, + 6.212546348571777 + ], + [ + -0.9995458722114563, + -0.0008027934236451983, + 0.03012385033071041, + -6.797194004058838 + ], + [ + -0.0016904983203858137, + -0.9965771436691284, + -0.08265135437250137, + -0.6323475241661072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3524, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_838471651", + "mask_path": "../../mask/hdr_front_03524.png" + }, + { + "file_path": "../../rgb/hdr_front_03525.png", + "transform_matrix": [ + [ + 0.03344239667057991, + -0.07994308322668076, + 0.9962383508682251, + 6.1423444747924805 + ], + [ + -0.9994153380393982, + 0.00442707072943449, + 0.0339042991399765, + -6.799651622772217 + ], + [ + -0.007120831403881311, + -0.9967896342277527, + -0.07974829524755478, + -0.6333214640617371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3525, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_938470840", + "mask_path": "../../mask/hdr_front_03525.png" + }, + { + "file_path": "../../rgb/hdr_front_03526.png", + "transform_matrix": [ + [ + 0.02913360670208931, + -0.07865294069051743, + 0.9964762926101685, + 6.06038236618042 + ], + [ + -0.9995014667510986, + 0.009850404225289822, + 0.02999955415725708, + -6.796746253967285 + ], + [ + -0.012175243347883224, + -0.9968534708023071, + -0.0783267542719841, + -0.622053861618042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3526, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_38470029", + "mask_path": "../../mask/hdr_front_03526.png" + }, + { + "file_path": "../../rgb/hdr_front_03527.png", + "transform_matrix": [ + [ + 0.017102178186178207, + -0.07869389653205872, + 0.9967520833015442, + 5.983076095581055 + ], + [ + -0.9997549057006836, + 0.012668149545788765, + 0.018153853714466095, + -6.7956223487854 + ], + [ + -0.014055600389838219, + -0.9968184232711792, + -0.07845795899629593, + -0.603256106376648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3527, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_138469696", + "mask_path": "../../mask/hdr_front_03527.png" + }, + { + "file_path": "../../rgb/hdr_front_03528.png", + "transform_matrix": [ + [ + 0.007532787974923849, + -0.08157993108034134, + 0.9966383576393127, + 5.91133451461792 + ], + [ + -0.9999634623527527, + 0.0034150576684623957, + 0.007837459444999695, + -6.7939372062683105 + ], + [ + -0.004042955581098795, + -0.9966609477996826, + -0.0815512165427208, + -0.5929316878318787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3528, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_238470077", + "mask_path": "../../mask/hdr_front_03528.png" + }, + { + "file_path": "../../rgb/hdr_front_03529.png", + "transform_matrix": [ + [ + 0.007319057360291481, + -0.08065558969974518, + 0.9967151284217834, + 5.821429252624512 + ], + [ + -0.9999731779098511, + -0.0003502822946757078, + 0.007314635906368494, + -6.799625396728516 + ], + [ + -0.0002408341533737257, + -0.9967420101165771, + -0.08065599203109741, + -0.5824531316757202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3529, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_338472604", + "mask_path": "../../mask/hdr_front_03529.png" + }, + { + "file_path": "../../rgb/hdr_front_03530.png", + "transform_matrix": [ + [ + 0.014694920741021633, + -0.08111365139484406, + 0.9965965151786804, + 5.738886833190918 + ], + [ + -0.999889075756073, + 0.0012138066813349724, + 0.014842262491583824, + -6.805417537689209 + ], + [ + -0.002413584617897868, + -0.9967041611671448, + -0.08108681440353394, + -0.581824779510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3530, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_438471555", + "mask_path": "../../mask/hdr_front_03530.png" + }, + { + "file_path": "../../rgb/hdr_front_03531.png", + "transform_matrix": [ + [ + 0.015586580149829388, + -0.08197243511676788, + 0.9965127110481262, + 5.667055606842041 + ], + [ + -0.9998416900634766, + 0.007272245828062296, + 0.016236858442425728, + -6.802878379821777 + ], + [ + -0.008577857166528702, + -0.9966080784797668, + -0.08184611052274704, + -0.5758828520774841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3531, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_538470029", + "mask_path": "../../mask/hdr_front_03531.png" + }, + { + "file_path": "../../rgb/hdr_front_03532.png", + "transform_matrix": [ + [ + 0.007625292520970106, + -0.08437412977218628, + 0.9964050054550171, + 5.588209629058838 + ], + [ + -0.9998776912689209, + 0.012962516397237778, + 0.008749515749514103, + -6.798977375030518 + ], + [ + -0.01365414634346962, + -0.9963498711585999, + -0.08426497131586075, + -0.5579723715782166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3532, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_638470172", + "mask_path": "../../mask/hdr_front_03532.png" + }, + { + "file_path": "../../rgb/hdr_front_03533.png", + "transform_matrix": [ + [ + -0.006841796450316906, + -0.08917278796434402, + 0.9959927201271057, + 5.515635013580322 + ], + [ + -0.9999386668205261, + 0.009283178485929966, + -0.006037765648216009, + -6.798140048980713 + ], + [ + -0.008707573637366295, + -0.9959729313850403, + -0.08923082798719406, + -0.5413306951522827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3533, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_738469600", + "mask_path": "../../mask/hdr_front_03533.png" + }, + { + "file_path": "../../rgb/hdr_front_03534.png", + "transform_matrix": [ + [ + -0.012869339436292648, + -0.09084070473909378, + 0.9957823753356934, + 5.434758186340332 + ], + [ + -0.9998946785926819, + 0.007846646942198277, + -0.012206676416099072, + -6.798874378204346 + ], + [ + -0.0067046876065433025, + -0.9958345890045166, + -0.09093212336301804, + -0.5280762910842896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3534, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_838468551", + "mask_path": "../../mask/hdr_front_03534.png" + }, + { + "file_path": "../../rgb/hdr_front_03535.png", + "transform_matrix": [ + [ + -0.009380738250911236, + -0.08930736780166626, + 0.995959997177124, + 5.3477888107299805 + ], + [ + -0.9999238848686218, + 0.008817930705845356, + -0.008627375587821007, + -6.8015360832214355 + ], + [ + -0.00801181886345148, + -0.9959651231765747, + -0.08938329666852951, + -0.5263498425483704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3535, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_938472032", + "mask_path": "../../mask/hdr_front_03535.png" + }, + { + "file_path": "../../rgb/hdr_front_03536.png", + "transform_matrix": [ + [ + -0.007995077408850193, + -0.0881267637014389, + 0.996077299118042, + 5.277988433837891 + ], + [ + -0.999919593334198, + 0.01052062213420868, + -0.00709511898458004, + -6.802255153656006 + ], + [ + -0.009854080155491829, + -0.9960537552833557, + -0.0882037803530693, + -0.526166558265686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3536, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_38469552", + "mask_path": "../../mask/hdr_front_03536.png" + }, + { + "file_path": "../../rgb/hdr_front_03537.png", + "transform_matrix": [ + [ + -0.013955174013972282, + -0.08594687283039093, + 0.9962020516395569, + 5.202478885650635 + ], + [ + -0.9998205900192261, + 0.013961606658995152, + -0.012801332399249077, + -6.797975063323975 + ], + [ + -0.012808344326913357, + -0.9962019324302673, + -0.08612629026174545, + -0.5102691054344177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3537, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_138471603", + "mask_path": "../../mask/hdr_front_03537.png" + }, + { + "file_path": "../../rgb/hdr_front_03538.png", + "transform_matrix": [ + [ + -0.0259476900100708, + -0.08912045508623123, + 0.9956828355789185, + 5.140579700469971 + ], + [ + -0.99962317943573, + 0.011245607398450375, + -0.02504381723701954, + -6.792085647583008 + ], + [ + -0.008965140208601952, + -0.9959574937820435, + -0.08937866240739822, + -0.49296748638153076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3538, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_238469362", + "mask_path": "../../mask/hdr_front_03538.png" + }, + { + "file_path": "../../rgb/hdr_front_03539.png", + "transform_matrix": [ + [ + -0.030143707990646362, + -0.09265441447496414, + 0.9952418804168701, + 5.077555179595947 + ], + [ + -0.9995444416999817, + 0.004261629190295935, + -0.029877280816435814, + -6.792567253112793 + ], + [ + -0.0014730903785675764, + -0.9956892132759094, + -0.09274066984653473, + -0.47884178161621094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3539, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_338469028", + "mask_path": "../../mask/hdr_front_03539.png" + }, + { + "file_path": "../../rgb/hdr_front_03540.png", + "transform_matrix": [ + [ + -0.026894625276327133, + -0.08969177305698395, + 0.9956064224243164, + 5.000368595123291 + ], + [ + -0.9996381402015686, + 0.0030096808914095163, + -0.02673240378499031, + -6.791622161865234 + ], + [ + -0.0005987802287563682, + -0.9959650039672852, + -0.08974026143550873, + -0.4726834297180176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3540, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_438468933", + "mask_path": "../../mask/hdr_front_03540.png" + }, + { + "file_path": "../../rgb/hdr_front_03541.png", + "transform_matrix": [ + [ + -0.021608594805002213, + -0.09069228917360306, + 0.9956445693969727, + 4.929300308227539 + ], + [ + -0.9997613430023193, + 0.005158697254955769, + -0.021228041499853134, + -6.787517547607422 + ], + [ + -0.003211007919162512, + -0.9958655834197998, + -0.09078212082386017, + -0.47185856103897095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3541, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_538470745", + "mask_path": "../../mask/hdr_front_03541.png" + }, + { + "file_path": "../../rgb/hdr_front_03542.png", + "transform_matrix": [ + [ + -0.02328873984515667, + -0.09239863604307175, + 0.9954497218132019, + 4.861617088317871 + ], + [ + -0.9996978044509888, + 0.009990849532186985, + -0.02246076427400112, + -6.782132148742676 + ], + [ + -0.007870042696595192, + -0.9956720471382141, + -0.09260338544845581, + -0.4620363712310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3542, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_638470888", + "mask_path": "../../mask/hdr_front_03542.png" + }, + { + "file_path": "../../rgb/hdr_front_03543.png", + "transform_matrix": [ + [ + -0.03345053642988205, + -0.091552734375, + 0.9952383041381836, + 4.799657344818115 + ], + [ + -0.9993771314620972, + 0.014273219741880894, + -0.03227664530277252, + -6.776752471923828 + ], + [ + -0.011250237934291363, + -0.9956979751586914, + -0.09197314083576202, + -0.44628608226776123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3543, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_738469839", + "mask_path": "../../mask/hdr_front_03543.png" + }, + { + "file_path": "../../rgb/hdr_front_03544.png", + "transform_matrix": [ + [ + -0.041392095386981964, + -0.09498127549886703, + 0.9946182370185852, + 4.739426612854004 + ], + [ + -0.9991346597671509, + 0.00798855908215046, + -0.04081718996167183, + -6.776446342468262 + ], + [ + -0.0040686954744160175, + -0.9954469799995422, + -0.09522975236177444, + -0.4334084093570709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3544, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_838469743", + "mask_path": "../../mask/hdr_front_03544.png" + }, + { + "file_path": "../../rgb/hdr_front_03545.png", + "transform_matrix": [ + [ + -0.04072404280304909, + -0.09122805297374725, + 0.994996964931488, + 4.666843414306641 + ], + [ + -0.9991670250892639, + 0.006320031825453043, + -0.04031524807214737, + -6.778106212615967 + ], + [ + -0.0026105311699211597, + -0.9958099722862244, + -0.09140944480895996, + -0.4256036877632141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3545, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_938469886", + "mask_path": "../../mask/hdr_front_03545.png" + }, + { + "file_path": "../../rgb/hdr_left_00678.png", + "transform_matrix": [ + [ + 0.906231701374054, + -0.16879136860370636, + 0.38762539625167847, + 5.199869632720947 + ], + [ + -0.39332079887390137, + -0.00033504818566143513, + 0.919401228427887, + -6.781149864196777 + ], + [ + -0.1550571173429489, + -0.9856517910957336, + -0.0666927844285965, + -0.4906527101993561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 678, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_638468503", + "mask_path": "../../mask/hdr_left_00678.png" + }, + { + "file_path": "../../rgb/hdr_left_00679.png", + "transform_matrix": [ + [ + 0.9049819707870483, + -0.15709206461906433, + 0.3953854739665985, + 5.2927470207214355 + ], + [ + -0.4012767970561981, + -0.006372204050421715, + 0.9159346222877502, + -6.802098751068115 + ], + [ + -0.1413666009902954, + -0.98756343126297, + -0.06880412995815277, + -0.5108482837677002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 679, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_738469123", + "mask_path": "../../mask/hdr_left_00679.png" + }, + { + "file_path": "../../rgb/hdr_left_00680.png", + "transform_matrix": [ + [ + 0.9067042469978333, + -0.15180693566799164, + 0.39349982142448425, + 5.38745641708374 + ], + [ + -0.3990897536277771, + -0.006996863521635532, + 0.9168851375579834, + -6.815434455871582 + ], + [ + -0.13643626868724823, + -0.9883855581283569, + -0.06692866235971451, + -0.5181241035461426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 680, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_838469028", + "mask_path": "../../mask/hdr_left_00680.png" + }, + { + "file_path": "../../rgb/hdr_left_00681.png", + "transform_matrix": [ + [ + 0.9085260033607483, + -0.14451198279857635, + 0.39204177260398865, + 5.453135967254639 + ], + [ + -0.39660146832466125, + -0.003002643585205078, + 0.9179859757423401, + -6.821150302886963 + ], + [ + -0.131482794880867, + -0.9894985556602478, + -0.060041643679142, + -0.5264749526977539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 681, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_938468217", + "mask_path": "../../mask/hdr_left_00681.png" + }, + { + "file_path": "../../rgb/hdr_left_00682.png", + "transform_matrix": [ + [ + 0.9087786674499512, + -0.14180618524551392, + 0.3924439251422882, + 5.531031131744385 + ], + [ + -0.395835280418396, + 0.004643110558390617, + 0.9183098077774048, + -6.830358028411865 + ], + [ + -0.13204416632652283, + -0.9898836016654968, + -0.0519123338162899, + -0.5374624133110046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 682, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_38469552", + "mask_path": "../../mask/hdr_left_00682.png" + }, + { + "file_path": "../../rgb/hdr_left_00683.png", + "transform_matrix": [ + [ + 0.9053905606269836, + -0.14577153325080872, + 0.39877140522003174, + 5.619937419891357 + ], + [ + -0.4011605381965637, + 0.013915936462581158, + 0.9159020781517029, + -6.849307537078857 + ], + [ + -0.13906170427799225, + -0.9892204403877258, + -0.045878421515226364, + -0.5534362196922302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 683, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_138469696", + "mask_path": "../../mask/hdr_left_00683.png" + }, + { + "file_path": "../../rgb/hdr_left_00684.png", + "transform_matrix": [ + [ + 0.9008661508560181, + -0.14320141077041626, + 0.4097970128059387, + 5.691122531890869 + ], + [ + -0.4119177758693695, + 0.015893984586000443, + 0.9110822677612305, + -6.872546195983887 + ], + [ + -0.1369815468788147, + -0.9895659685134888, + -0.04466884583234787, + -0.5553698539733887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 684, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_238470077", + "mask_path": "../../mask/hdr_left_00684.png" + }, + { + "file_path": "../../rgb/hdr_left_00685.png", + "transform_matrix": [ + [ + 0.8956436514854431, + -0.1367107629776001, + 0.42324066162109375, + 5.757155418395996 + ], + [ + -0.4255859851837158, + 0.013055323623120785, + 0.9048237800598145, + -6.890774250030518 + ], + [ + -0.12922468781471252, + -0.9905250668525696, + -0.04648926481604576, + -0.5657358765602112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 685, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_338468551", + "mask_path": "../../mask/hdr_left_00685.png" + }, + { + "file_path": "../../rgb/hdr_left_00686.png", + "transform_matrix": [ + [ + 0.891620397567749, + -0.133821502327919, + 0.43255606293678284, + 5.853302001953125 + ], + [ + -0.43591606616973877, + 0.004619459621608257, + 0.8999754786491394, + -6.919826984405518 + ], + [ + -0.12243423610925674, + -0.9909946918487549, + -0.054216139018535614, + -0.5806601643562317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 686, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_438465833", + "mask_path": "../../mask/hdr_left_00686.png" + }, + { + "file_path": "../../rgb/hdr_left_00687.png", + "transform_matrix": [ + [ + 0.8928051590919495, + -0.1364431083202362, + 0.4292810559272766, + 5.94354772567749 + ], + [ + -0.43283888697624207, + 0.0039580767042934895, + 0.9014626145362854, + -6.938688278198242 + ], + [ + -0.12469750642776489, + -0.9906400442123413, + -0.05552409961819649, + -0.5916871428489685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 687, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_538467884", + "mask_path": "../../mask/hdr_left_00687.png" + }, + { + "file_path": "../../rgb/hdr_left_00688.png", + "transform_matrix": [ + [ + 0.894650936126709, + -0.1319061517715454, + 0.4268493056297302, + 6.00765323638916 + ], + [ + -0.42996540665626526, + 0.005331507883965969, + 0.9028297066688538, + -6.948334693908691 + ], + [ + -0.1213645190000534, + -0.9912478923797607, + -0.05194523185491562, + -0.6015072464942932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 688, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_638469457", + "mask_path": "../../mask/hdr_left_00688.png" + }, + { + "file_path": "../../rgb/hdr_left_00689.png", + "transform_matrix": [ + [ + 0.8951207399368286, + -0.130110964179039, + 0.4264152944087982, + 6.0885515213012695 + ], + [ + -0.4293147623538971, + 0.006311031524091959, + 0.9031329154968262, + -6.963969707489014 + ], + [ + -0.12019860744476318, + -0.9914793968200684, + -0.0502094142138958, + -0.614144504070282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 689, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_738468408", + "mask_path": "../../mask/hdr_left_00689.png" + }, + { + "file_path": "../../rgb/hdr_left_00690.png", + "transform_matrix": [ + [ + 0.8924070000648499, + -0.13175374269485474, + 0.431567519903183, + 6.17576265335083 + ], + [ + -0.43478044867515564, + 0.004823626484721899, + 0.9005235433578491, + -6.987761497497559 + ], + [ + -0.12072906643152237, + -0.9912708401679993, + -0.05297932028770447, + -0.6195122599601746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 690, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_838469028", + "mask_path": "../../mask/hdr_left_00690.png" + }, + { + "file_path": "../../rgb/hdr_left_00691.png", + "transform_matrix": [ + [ + 0.8890685439109802, + -0.1243605837225914, + 0.4405583143234253, + 6.242916107177734 + ], + [ + -0.4436068534851074, + 0.0035204305313527584, + 0.896214485168457, + -7.014981269836426 + ], + [ + -0.11300471425056458, + -0.9922308325767517, + -0.052037306129932404, + -0.6169362664222717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 691, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_938469886", + "mask_path": "../../mask/hdr_left_00691.png" + }, + { + "file_path": "../../rgb/hdr_left_00692.png", + "transform_matrix": [ + [ + 0.8842044472694397, + -0.11654376983642578, + 0.452327162027359, + 6.304544925689697 + ], + [ + -0.45569559931755066, + -0.0025507912505418062, + 0.890131950378418, + -7.038574695587158 + ], + [ + -0.10258553177118301, + -0.9931823015213013, + -0.05536389350891113, + -0.6248269081115723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_38471698", + "mask_path": "../../mask/hdr_left_00692.png" + }, + { + "file_path": "../../rgb/hdr_left_00693.png", + "transform_matrix": [ + [ + 0.8804682493209839, + -0.11356478929519653, + 0.4603027403354645, + 6.389369964599609 + ], + [ + -0.46421462297439575, + -0.00922653079032898, + 0.8856746554374695, + -7.066526412963867 + ], + [ + -0.09633444249629974, + -0.9934877753257751, + -0.06084209680557251, + -0.6372652053833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 693, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_138470649", + "mask_path": "../../mask/hdr_left_00693.png" + }, + { + "file_path": "../../rgb/hdr_left_00694.png", + "transform_matrix": [ + [ + 0.8816822171211243, + -0.11636751890182495, + 0.45726925134658813, + 6.476679801940918 + ], + [ + -0.46164432168006897, + -0.012333434075117111, + 0.8869794011116028, + -7.093144416809082 + ], + [ + -0.09757588803768158, + -0.9931296706199646, + -0.0645945593714714, + -0.6453208923339844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 694, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_238470315", + "mask_path": "../../mask/hdr_left_00694.png" + }, + { + "file_path": "../../rgb/hdr_left_00695.png", + "transform_matrix": [ + [ + 0.8826879858970642, + -0.11373429745435715, + 0.45598945021629333, + 6.549807548522949 + ], + [ + -0.4602087140083313, + -0.01256317738443613, + 0.887721836566925, + -7.11437463760376 + ], + [ + -0.09523574262857437, + -0.993431806564331, + -0.06343087553977966, + -0.6538369655609131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 695, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_338468790", + "mask_path": "../../mask/hdr_left_00695.png" + }, + { + "file_path": "../../rgb/hdr_left_00696.png", + "transform_matrix": [ + [ + 0.8827887773513794, + -0.11279019713401794, + 0.4560288190841675, + 6.63139533996582 + ], + [ + -0.4600566029548645, + -0.011185807175934315, + 0.8878191709518433, + -7.1447272300720215 + ], + [ + -0.09503623098134995, + -0.9935559630393982, + -0.06176457181572914, + -0.6646695733070374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 696, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_438470363", + "mask_path": "../../mask/hdr_left_00696.png" + }, + { + "file_path": "../../rgb/hdr_left_00697.png", + "transform_matrix": [ + [ + 0.8794032335281372, + -0.11441760510206223, + 0.4621238708496094, + 6.718648433685303 + ], + [ + -0.46615082025527954, + -0.009753854013979435, + 0.8846514225006104, + -7.1830291748046875 + ], + [ + -0.09671221673488617, + -0.9933848977088928, + -0.06191343069076538, + -0.6718938946723938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 697, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_538469791", + "mask_path": "../../mask/hdr_left_00697.png" + }, + { + "file_path": "../../rgb/hdr_left_00698.png", + "transform_matrix": [ + [ + 0.8739053606987, + -0.1087460070848465, + 0.4737759530544281, + 6.7808732986450195 + ], + [ + -0.47744324803352356, + -0.008944240398705006, + 0.8786170482635498, + -7.21055269241333 + ], + [ + -0.09130851924419403, + -0.9940293431282043, + -0.0597364641726017, + -0.6716939210891724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 698, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_638470411", + "mask_path": "../../mask/hdr_left_00698.png" + }, + { + "file_path": "../../rgb/hdr_left_00699.png", + "transform_matrix": [ + [ + 0.8668586015701294, + -0.10150770843029022, + 0.48811089992523193, + 6.843714714050293 + ], + [ + -0.49171182513237, + -0.012426773086190224, + 0.8706693649291992, + -7.239565849304199 + ], + [ + -0.08231401443481445, + -0.9947571754455566, + -0.06068478897213936, + -0.6818785667419434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 699, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_738470554", + "mask_path": "../../mask/hdr_left_00699.png" + }, + { + "file_path": "../../rgb/hdr_left_00700.png", + "transform_matrix": [ + [ + 0.8623979687690735, + -0.09635370224714279, + 0.4969765245914459, + 6.938398361206055 + ], + [ + -0.5004169940948486, + -0.013901223428547382, + 0.8656730055809021, + -7.276827812194824 + ], + [ + -0.07650221139192581, + -0.9952501058578491, + -0.060205407440662384, + -0.6919158101081848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 700, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_838469743", + "mask_path": "../../mask/hdr_left_00700.png" + }, + { + "file_path": "../../rgb/hdr_left_00701.png", + "transform_matrix": [ + [ + 0.8639559149742126, + -0.0964852049946785, + 0.4942375421524048, + 7.03097677230835 + ], + [ + -0.4976055324077606, + -0.01299740094691515, + 0.8673060536384583, + -7.307206630706787 + ], + [ + -0.0772583931684494, + -0.9952495694160461, + -0.05924074724316597, + -0.6944829821586609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 701, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_938469648", + "mask_path": "../../mask/hdr_left_00701.png" + }, + { + "file_path": "../../rgb/hdr_left_00702.png", + "transform_matrix": [ + [ + 0.8657850623130798, + -0.09126719832420349, + 0.49202269315719604, + 7.100314140319824 + ], + [ + -0.49493831396102905, + -0.011096806265413761, + 0.868857204914093, + -7.325637340545654 + ], + [ + -0.07383827865123749, + -0.9957646131515503, + -0.05477907881140709, + -0.7021308541297913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 702, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_38469791", + "mask_path": "../../mask/hdr_left_00702.png" + }, + { + "file_path": "../../rgb/hdr_left_00703.png", + "transform_matrix": [ + [ + 0.8658073544502258, + -0.08939715474843979, + 0.492326945066452, + 7.188350200653076 + ], + [ + -0.49466848373413086, + -0.0047155944630503654, + 0.8690688610076904, + -7.354272365570068 + ], + [ + -0.0753706619143486, + -0.9959849715232849, + -0.04830474406480789, + -0.7111124396324158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 703, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_138470888", + "mask_path": "../../mask/hdr_left_00703.png" + }, + { + "file_path": "../../rgb/hdr_left_00704.png", + "transform_matrix": [ + [ + 0.860408365726471, + -0.09301731735467911, + 0.5010439157485962, + 7.2791829109191895 + ], + [ + -0.5030410289764404, + 0.002271127188578248, + 0.8642594814300537, + -7.3904314041137695 + ], + [ + -0.08152902871370316, + -0.9956619143486023, + -0.044837430119514465, + -0.7150787115097046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 704, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_238470554", + "mask_path": "../../mask/hdr_left_00704.png" + }, + { + "file_path": "../../rgb/hdr_left_00705.png", + "transform_matrix": [ + [ + 0.8531617522239685, + -0.08561864495277405, + 0.5145720839500427, + 7.338632583618164 + ], + [ + -0.5160219073295593, + 0.005945596378296614, + 0.8565546870231628, + -7.417623996734619 + ], + [ + -0.07639649510383606, + -0.996310293674469, + -0.03910853713750839, + -0.7163261771202087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 705, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_338469982", + "mask_path": "../../mask/hdr_left_00705.png" + }, + { + "file_path": "../../rgb/hdr_left_00706.png", + "transform_matrix": [ + [ + 0.8466800451278687, + -0.07757051289081573, + 0.5264177322387695, + 7.409019470214844 + ], + [ + -0.5278084874153137, + 0.0029939552769064903, + 0.8493580222129822, + -7.444450378417969 + ], + [ + -0.06746120750904083, + -0.9969823956489563, + -0.038407448679208755, + -0.7286434173583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 706, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_438473224", + "mask_path": "../../mask/hdr_left_00706.png" + }, + { + "file_path": "../../rgb/hdr_left_00707.png", + "transform_matrix": [ + [ + 0.8453488945960999, + -0.07433543354272842, + 0.529017448425293, + 7.509607315063477 + ], + [ + -0.5305983424186707, + -0.0018059941940009594, + 0.8476213812828064, + -7.475494861602783 + ], + [ + -0.06205290928483009, + -0.9972317218780518, + -0.04096895083785057, + -0.7364789247512817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 707, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_538470506", + "mask_path": "../../mask/hdr_left_00707.png" + }, + { + "file_path": "../../rgb/hdr_left_00708.png", + "transform_matrix": [ + [ + 0.8511102199554443, + -0.07776564359664917, + 0.5191953182220459, + 7.597309112548828 + ], + [ + -0.5209982991218567, + -0.003438857151195407, + 0.8535507917404175, + -7.495661735534668 + ], + [ + -0.06459148973226547, + -0.9969658255577087, + -0.04344261810183525, + -0.7409190535545349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 708, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_638469696", + "mask_path": "../../mask/hdr_left_00708.png" + }, + { + "file_path": "../../rgb/hdr_left_00709.png", + "transform_matrix": [ + [ + 0.8609902858734131, + -0.0746455267071724, + 0.5031141042709351, + 7.671845436096191 + ], + [ + -0.5045291185379028, + -0.00011469981109257787, + 0.8633946776390076, + -7.5129780769348145 + ], + [ + -0.06439083069562912, + -0.9972101449966431, + -0.03775959089398384, + -0.7517858743667603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 709, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_738470077", + "mask_path": "../../mask/hdr_left_00709.png" + }, + { + "file_path": "../../rgb/hdr_left_00710.png", + "transform_matrix": [ + [ + 0.8699865341186523, + -0.07329095155000687, + 0.48759812116622925, + 7.762526035308838 + ], + [ + -0.4885196387767792, + 0.00599734578281641, + 0.8725323677062988, + -7.537642002105713 + ], + [ + -0.06687301397323608, + -0.9972925782203674, + -0.03058645874261856, + -0.7634260654449463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_838470458", + "mask_path": "../../mask/hdr_left_00710.png" + }, + { + "file_path": "../../rgb/hdr_left_00711.png", + "transform_matrix": [ + [ + 0.876913845539093, + -0.07579462975263596, + 0.47463366389274597, + 7.8510332107543945 + ], + [ + -0.4753638207912445, + 0.009253017604351044, + 0.8797406554222107, + -7.563397407531738 + ], + [ + -0.07107140868902206, + -0.9970805644989014, + -0.027915921062231064, + -0.7615352272987366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 711, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_938470363", + "mask_path": "../../mask/hdr_left_00711.png" + }, + { + "file_path": "../../rgb/hdr_left_00712.png", + "transform_matrix": [ + [ + 0.8842698931694031, + -0.07175317406654358, + 0.46143054962158203, + 7.917430400848389 + ], + [ + -0.4618665277957916, + 0.011388265527784824, + 0.8868763446807861, + -7.584435939788818 + ], + [ + -0.06889108568429947, + -0.9973574876785278, + -0.023070087656378746, + -0.7633414268493652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 712, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_38469552", + "mask_path": "../../mask/hdr_left_00712.png" + }, + { + "file_path": "../../rgb/hdr_left_00713.png", + "transform_matrix": [ + [ + 0.893831729888916, + -0.06829146295785904, + 0.44317159056663513, + 7.989914417266846 + ], + [ + -0.4435909688472748, + 0.009727878496050835, + 0.8961766362190247, + -7.600910663604736 + ], + [ + -0.06551231443881989, + -0.9976180195808411, + -0.02159838192164898, + -0.7752126455307007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 713, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_138469696", + "mask_path": "../../mask/hdr_left_00713.png" + }, + { + "file_path": "../../rgb/hdr_left_00714.png", + "transform_matrix": [ + [ + 0.9077868461608887, + -0.06958377361297607, + 0.4136194586753845, + 8.083759307861328 + ], + [ + -0.4141536056995392, + 0.0072458661161363125, + 0.9101781249046326, + -7.613072872161865 + ], + [ + -0.06633064895868301, + -0.997549831867218, + -0.022240664809942245, + -0.789451539516449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 714, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_238469839", + "mask_path": "../../mask/hdr_left_00714.png" + }, + { + "file_path": "../../rgb/hdr_left_00715.png", + "transform_matrix": [ + [ + 0.9266809821128845, + -0.0723208636045456, + 0.3688250482082367, + 8.178699493408203 + ], + [ + -0.369475781917572, + 0.004654502496123314, + 0.9292287230491638, + -7.618034362792969 + ], + [ + -0.06891931593418121, + -0.9973706007003784, + -0.022407561540603638, + -0.7944351434707642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 715, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_338469505", + "mask_path": "../../mask/hdr_left_00715.png" + }, + { + "file_path": "../../rgb/hdr_left_00716.png", + "transform_matrix": [ + [ + 0.944034993648529, + -0.07161727547645569, + 0.32197633385658264, + 8.250069618225098 + ], + [ + -0.32213079929351807, + 0.009699811227619648, + 0.9466454386711121, + -7.6083526611328125 + ], + [ + -0.07091927528381348, + -0.9973850846290588, + -0.013913164846599102, + -0.8052818775177002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 716, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_438470125", + "mask_path": "../../mask/hdr_left_00716.png" + }, + { + "file_path": "../../rgb/hdr_left_00717.png", + "transform_matrix": [ + [ + 0.9571534395217896, + -0.07555790990591049, + 0.27955013513565063, + 8.328340530395508 + ], + [ + -0.27875977754592896, + 0.0210272166877985, + 0.9601306319236755, + -7.602807521820068 + ], + [ + -0.0784236267209053, + -0.9969196915626526, + -0.0009362328564748168, + -0.8163748383522034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 717, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_538470268", + "mask_path": "../../mask/hdr_left_00717.png" + }, + { + "file_path": "../../rgb/hdr_left_00718.png", + "transform_matrix": [ + [ + 0.9658650159835815, + -0.08285234868526459, + 0.2454388290643692, + 8.40749454498291 + ], + [ + -0.2440505027770996, + 0.026645993813872337, + 0.9693964719772339, + -7.600938320159912 + ], + [ + -0.08685672283172607, + -0.9962055683135986, + 0.005516281351447105, + -0.8174633383750916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 718, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_638469696", + "mask_path": "../../mask/hdr_left_00718.png" + }, + { + "file_path": "../../rgb/hdr_left_00721.png", + "transform_matrix": [ + [ + 0.981181800365448, + -0.083987757563591, + 0.1738625317811966, + 8.609230995178223 + ], + [ + -0.1718829870223999, + 0.03030768409371376, + 0.9846510291099548, + -7.574731349945068 + ], + [ + -0.08796799927949905, + -0.9960057735443115, + 0.015301288105547428, + -0.8455148935317993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 721, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_938470602", + "mask_path": "../../mask/hdr_left_00721.png" + }, + { + "file_path": "../../rgb/hdr_left_00722.png", + "transform_matrix": [ + [ + 0.9817076325416565, + -0.09474936872720718, + 0.16514411568641663, + 8.679986000061035 + ], + [ + -0.16318325698375702, + 0.028136959299445152, + 0.9861944913864136, + -7.566984176635742 + ], + [ + -0.09808795154094696, + -0.9951034784317017, + 0.012160763144493103, + -0.860034704208374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 722, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_38469076", + "mask_path": "../../mask/hdr_left_00722.png" + }, + { + "file_path": "../../rgb/hdr_left_00723.png", + "transform_matrix": [ + [ + 0.9826924800872803, + -0.09453916549682617, + 0.15930399298667908, + 8.731239318847656 + ], + [ + -0.15736024081707, + 0.02771933376789093, + 0.9871521592140198, + -7.556514739990234 + ], + [ + -0.09774033725261688, + -0.9951352477073669, + 0.01236287783831358, + -0.8679882884025574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 723, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_138468980", + "mask_path": "../../mask/hdr_left_00723.png" + }, + { + "file_path": "../../rgb/hdr_left_00724.png", + "transform_matrix": [ + [ + 0.9826601147651672, + -0.09631820768117905, + 0.15843550860881805, + 8.78715991973877 + ], + [ + -0.1561579555273056, + 0.030789343640208244, + 0.9872519969940186, + -7.546053886413574 + ], + [ + -0.09996847063302994, + -0.9948743581771851, + 0.01521461084485054, + -0.8752044439315796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 724, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_238469362", + "mask_path": "../../mask/hdr_left_00724.png" + }, + { + "file_path": "../../rgb/hdr_left_00725.png", + "transform_matrix": [ + [ + 0.9815243482589722, + -0.10308068990707397, + 0.1611962914466858, + 8.844705581665039 + ], + [ + -0.15875674784183502, + 0.03150254487991333, + 0.9868150353431702, + -7.534526348114014 + ], + [ + -0.1067996546626091, + -0.9941740036010742, + 0.01455575879663229, + -0.8856271505355835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 725, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_338469266", + "mask_path": "../../mask/hdr_left_00725.png" + }, + { + "file_path": "../../rgb/hdr_left_00726.png", + "transform_matrix": [ + [ + 0.9795219302177429, + -0.1108751893043518, + 0.16805799305438995, + 8.8995943069458 + ], + [ + -0.16616012156009674, + 0.026207398623228073, + 0.9857504367828369, + -7.527284145355225 + ], + [ + -0.11369962990283966, + -0.9934887886047363, + 0.007247685920447111, + -0.8860211372375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 726, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_438469409", + "mask_path": "../../mask/hdr_left_00726.png" + }, + { + "file_path": "../../rgb/hdr_left_00728.png", + "transform_matrix": [ + [ + 0.9759657382965088, + -0.10205712169408798, + 0.19254882633686066, + 9.003273010253906 + ], + [ + -0.19033139944076538, + 0.031130103394389153, + 0.9812262654304504, + -7.524266719818115 + ], + [ + -0.10613518953323364, + -0.994291365146637, + 0.010957241989672184, + -0.892657458782196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 728, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_638468503", + "mask_path": "../../mask/hdr_left_00728.png" + }, + { + "file_path": "../../rgb/hdr_left_00729.png", + "transform_matrix": [ + [ + 0.9750490784645081, + -0.09584241360425949, + 0.2002333700656891, + 9.092248916625977 + ], + [ + -0.19879065454006195, + 0.024470213800668716, + 0.9797364473342896, + -7.528518199920654 + ], + [ + -0.09880005568265915, + -0.9950958490371704, + 0.004807089921087027, + -0.8991411924362183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 729, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_738466262", + "mask_path": "../../mask/hdr_left_00729.png" + }, + { + "file_path": "../../rgb/hdr_left_00730.png", + "transform_matrix": [ + [ + 0.9754822850227356, + -0.09812366217374802, + 0.19699235260486603, + 9.173627853393555 + ], + [ + -0.19630607962608337, + 0.016695959493517876, + 0.9804004430770874, + -7.5239973068237305 + ], + [ + -0.09948945790529251, + -0.9950342178344727, + -0.0029756578151136637, + -0.909466564655304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 730, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_838469982", + "mask_path": "../../mask/hdr_left_00730.png" + }, + { + "file_path": "../../rgb/hdr_left_00731.png", + "transform_matrix": [ + [ + 0.976116418838501, + -0.09801874309778214, + 0.19387878477573395, + 9.227598190307617 + ], + [ + -0.19317017495632172, + 0.016760077327489853, + 0.9810221195220947, + -7.5168986320495605 + ], + [ + -0.09940797835588455, + -0.9950434565544128, + -0.0025745078455656767, + -0.9213377237319946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 731, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_938469648", + "mask_path": "../../mask/hdr_left_00731.png" + }, + { + "file_path": "../../rgb/hdr_left_00732.png", + "transform_matrix": [ + [ + 0.9762158393859863, + -0.10023652762174606, + 0.19223693013191223, + 9.30378532409668 + ], + [ + -0.1912957727909088, + 0.019009321928024292, + 0.9813483357429504, + -7.513788223266602 + ], + [ + -0.1020212396979332, + -0.9947820901870728, + -0.0006176173337735236, + -0.9348348379135132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 732, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_38470268", + "mask_path": "../../mask/hdr_left_00732.png" + }, + { + "file_path": "../../rgb/hdr_left_00733.png", + "transform_matrix": [ + [ + 0.9749898314476013, + -0.10447685420513153, + 0.19616135954856873, + 9.390722274780273 + ], + [ + -0.19543196260929108, + 0.0172745231539011, + 0.980565071105957, + -7.519024848937988 + ], + [ + -0.10583493858575821, + -0.9943773746490479, + -0.003575626527890563, + -0.9423197507858276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 733, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_138469457", + "mask_path": "../../mask/hdr_left_00733.png" + }, + { + "file_path": "../../rgb/hdr_left_00734.png", + "transform_matrix": [ + [ + 0.9735763072967529, + -0.10172512382268906, + 0.2044532299041748, + 9.460674285888672 + ], + [ + -0.20383156836032867, + 0.016580361872911453, + 0.9788655638694763, + -7.523751258850098 + ], + [ + -0.10296512395143509, + -0.9946743845939636, + -0.00459253927692771, + -0.9439300298690796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 734, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_238470554", + "mask_path": "../../mask/hdr_left_00734.png" + }, + { + "file_path": "../../rgb/hdr_left_00735.png", + "transform_matrix": [ + [ + 0.9719129204750061, + -0.09522867947816849, + 0.2152135968208313, + 9.538227081298828 + ], + [ + -0.21487151086330414, + 0.01395444292575121, + 0.9765426516532898, + -7.527907848358154 + ], + [ + -0.09599804878234863, + -0.9953576326370239, + -0.006899425759911537, + -0.9553872346878052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 735, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_338470458", + "mask_path": "../../mask/hdr_left_00735.png" + }, + { + "file_path": "../../rgb/hdr_left_00736.png", + "transform_matrix": [ + [ + 0.9708670377731323, + -0.0926322266459465, + 0.22098968923091888, + 9.642353057861328 + ], + [ + -0.22132153809070587, + 0.006804193370044231, + 0.9751770496368408, + -7.529531478881836 + ], + [ + -0.09183648228645325, + -0.9956771731376648, + -0.013895534910261631, + -0.9709050059318542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 736, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_438470125", + "mask_path": "../../mask/hdr_left_00736.png" + }, + { + "file_path": "../../rgb/hdr_left_00737.png", + "transform_matrix": [ + [ + 0.9712300896644592, + -0.09660562127828598, + 0.21766802668571472, + 9.730754852294922 + ], + [ + -0.21830201148986816, + 0.004086616914719343, + 0.9758726954460144, + -7.524994373321533 + ], + [ + -0.09516431391239166, + -0.9953144192695618, + -0.017120150849223137, + -0.9867885112762451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 737, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_538470506", + "mask_path": "../../mask/hdr_left_00737.png" + }, + { + "file_path": "../../rgb/hdr_left_00738.png", + "transform_matrix": [ + [ + 0.9720345735549927, + -0.09452023357152939, + 0.214975968003273, + 9.799647331237793 + ], + [ + -0.21539095044136047, + 0.0059112077578902245, + 0.9765100479125977, + -7.525258541107178 + ], + [ + -0.09357070922851562, + -0.9955055117607117, + -0.014612899161875248, + -0.997423529624939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 738, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_638469696", + "mask_path": "../../mask/hdr_left_00738.png" + }, + { + "file_path": "../../rgb/hdr_left_00739.png", + "transform_matrix": [ + [ + 0.9715976715087891, + -0.09732005000114441, + 0.21570046246051788, + 9.882537841796875 + ], + [ + -0.21582980453968048, + 0.009322705678641796, + 0.9763864874839783, + -7.532327651977539 + ], + [ + -0.09703288972377777, + -0.9952094554901123, + -0.011946645565330982, + -1.0099481344223022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 739, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_738470315", + "mask_path": "../../mask/hdr_left_00739.png" + }, + { + "file_path": "../../rgb/hdr_left_00740.png", + "transform_matrix": [ + [ + 0.9685772657394409, + -0.10874944180250168, + 0.22367753088474274, + 9.964584350585938 + ], + [ + -0.22386904060840607, + 0.01060284860432148, + 0.9745616316795349, + -7.543097972869873 + ], + [ + -0.10835463553667068, + -0.994012713432312, + -0.01407595258206129, + -1.0160853862762451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 740, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_838469982", + "mask_path": "../../mask/hdr_left_00740.png" + }, + { + "file_path": "../../rgb/hdr_left_00741.png", + "transform_matrix": [ + [ + 0.9657805562019348, + -0.10987602174282074, + 0.23493626713752747, + 10.027172088623047 + ], + [ + -0.23497211933135986, + 0.012807253748178482, + 0.9719177484512329, + -7.55081844329834 + ], + [ + -0.1097993329167366, + -0.9938628077507019, + -0.013448799960315228, + -1.0200347900390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 741, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_938469648", + "mask_path": "../../mask/hdr_left_00741.png" + }, + { + "file_path": "../../rgb/hdr_left_00742.png", + "transform_matrix": [ + [ + 0.962743878364563, + -0.10826081037521362, + 0.24779796600341797, + 10.099810600280762 + ], + [ + -0.24809689819812775, + 0.01091444306075573, + 0.9686737656593323, + -7.557320594787598 + ], + [ + -0.1075739786028862, + -0.9940626621246338, + -0.016351355239748955, + -1.0329418182373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 742, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_38469552", + "mask_path": "../../mask/hdr_left_00742.png" + }, + { + "file_path": "../../rgb/hdr_left_00743.png", + "transform_matrix": [ + [ + 0.9606801867485046, + -0.11493394523859024, + 0.2527522146701813, + 10.195363998413086 + ], + [ + -0.2543092966079712, + 0.0011521154083311558, + 0.9671222567558289, + -7.562897682189941 + ], + [ + -0.11144636571407318, + -0.9933724999427795, + -0.0281219519674778, + -1.0544341802597046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 743, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_138469219", + "mask_path": "../../mask/hdr_left_00743.png" + }, + { + "file_path": "../../rgb/hdr_left_00744.png", + "transform_matrix": [ + [ + 0.9619014859199524, + -0.12493842095136642, + 0.24317865073680878, + 10.279565811157227 + ], + [ + -0.2449546754360199, + 0.0011817528866231441, + 0.9695338606834412, + -7.565191745758057 + ], + [ + -0.12141939252614975, + -0.992163896560669, + -0.029467515647411346, + -1.0709953308105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 744, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_238468885", + "mask_path": "../../mask/hdr_left_00744.png" + }, + { + "file_path": "../../rgb/hdr_left_00745.png", + "transform_matrix": [ + [ + 0.9666227102279663, + -0.12412898987531662, + 0.22412575781345367, + 10.354741096496582 + ], + [ + -0.22508013248443604, + 0.006464230827987194, + 0.9743189215660095, + -7.5582427978515625 + ], + [ + -0.1223900094628334, + -0.992245078086853, + -0.02169049344956875, + -1.0873109102249146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 745, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_338469743", + "mask_path": "../../mask/hdr_left_00745.png" + }, + { + "file_path": "../../rgb/hdr_left_00746.png", + "transform_matrix": [ + [ + 0.9717580676078796, + -0.12535536289215088, + 0.1999305933713913, + 10.446159362792969 + ], + [ + -0.19983042776584625, + 0.013502976857125759, + 0.9797374606132507, + -7.547729015350342 + ], + [ + -0.12551499903202057, + -0.9920200109481812, + -0.011928186751902103, + -1.1035306453704834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 746, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_438468933", + "mask_path": "../../mask/hdr_left_00746.png" + }, + { + "file_path": "../../rgb/hdr_left_00747.png", + "transform_matrix": [ + [ + 0.9743786454200745, + -0.13320030272006989, + 0.18122868239879608, + 10.53167724609375 + ], + [ + -0.18102258443832397, + 0.013758361339569092, + 0.9833827018737793, + -7.545956611633301 + ], + [ + -0.1334802508354187, + -0.9909936785697937, + -0.010706400498747826, + -1.108518123626709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 747, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_538468837", + "mask_path": "../../mask/hdr_left_00747.png" + }, + { + "file_path": "../../rgb/hdr_left_00748.png", + "transform_matrix": [ + [ + 0.9769331216812134, + -0.1332060694694519, + 0.16690629720687866, + 10.596199989318848 + ], + [ + -0.1661105751991272, + 0.017144018784165382, + 0.9859579801559448, + -7.544445514678955 + ], + [ + -0.13419702649116516, + -0.9909401535987854, + -0.005378369707614183, + -1.111322045326233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 748, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_638468980", + "mask_path": "../../mask/hdr_left_00748.png" + }, + { + "file_path": "../../rgb/hdr_left_00749.png", + "transform_matrix": [ + [ + 0.9789259433746338, + -0.12891805171966553, + 0.15837910771369934, + 10.667131423950195 + ], + [ + -0.15696419775485992, + 0.021127773448824883, + 0.9873782992362976, + -7.539972305297852 + ], + [ + -0.1306370496749878, + -0.9914302229881287, + 0.0004470153362490237, + -1.124887228012085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 749, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_738468885", + "mask_path": "../../mask/hdr_left_00749.png" + }, + { + "file_path": "../../rgb/hdr_left_00750.png", + "transform_matrix": [ + [ + 0.9801380038261414, + -0.12715522944927216, + 0.15218761563301086, + 10.761768341064453 + ], + [ + -0.15075992047786713, + 0.020834673196077347, + 0.9883508682250977, + -7.535141468048096 + ], + [ + -0.1288447380065918, + -0.9916640520095825, + 0.0012509466614574194, + -1.142392635345459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 750, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_838469028", + "mask_path": "../../mask/hdr_left_00750.png" + }, + { + "file_path": "../../rgb/hdr_left_00751.png", + "transform_matrix": [ + [ + 0.9814943075180054, + -0.13069581985473633, + 0.13995510339736938, + 10.851847648620605 + ], + [ + -0.1387912482023239, + 0.018017340451478958, + 0.9901577234268188, + -7.527284145355225 + ], + [ + -0.1319310963153839, + -0.9912588000297546, + -0.00045551336370408535, + -1.1579606533050537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 751, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_938469648", + "mask_path": "../../mask/hdr_left_00751.png" + }, + { + "file_path": "../../rgb/hdr_left_00752.png", + "transform_matrix": [ + [ + 0.9825935363769531, + -0.1271335929632187, + 0.13545066118240356, + 10.916115760803223 + ], + [ + -0.1338811069726944, + 0.020850621163845062, + 0.9907779693603516, + -7.5184454917907715 + ], + [ + -0.1287853866815567, + -0.9916664958000183, + 0.003466901136562228, + -1.1676937341690063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 752, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_38467884", + "mask_path": "../../mask/hdr_left_00752.png" + }, + { + "file_path": "../../rgb/hdr_left_00753.png", + "transform_matrix": [ + [ + 0.9827947616577148, + -0.1264948546886444, + 0.13458608090877533, + 10.989516258239746 + ], + [ + -0.132217675447464, + 0.026975616812705994, + 0.9908536076545715, + -7.510270595550537 + ], + [ + -0.12896841764450073, + -0.9916004538536072, + 0.009786639362573624, + -1.1769111156463623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 753, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_138467550", + "mask_path": "../../mask/hdr_left_00753.png" + }, + { + "file_path": "../../rgb/hdr_left_00754.png", + "transform_matrix": [ + [ + 0.9815561771392822, + -0.1302182525396347, + 0.13996632397174835, + 11.069772720336914 + ], + [ + -0.13746137917041779, + 0.02807498164474964, + 0.9901091456413269, + -7.508429050445557 + ], + [ + -0.13285984098911285, + -0.9910878539085388, + 0.009657197631895542, + -1.183769941329956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 754, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_238469123", + "mask_path": "../../mask/hdr_left_00754.png" + }, + { + "file_path": "../../rgb/hdr_left_00755.png", + "transform_matrix": [ + [ + 0.9801560640335083, + -0.12939658761024475, + 0.1501685231924057, + 11.139983177185059 + ], + [ + -0.1475961059331894, + 0.029300829395651817, + 0.9886136054992676, + -7.509008884429932 + ], + [ + -0.13232329487800598, + -0.991159975528717, + 0.009620958007872105, + -1.1847782135009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 755, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_338469266", + "mask_path": "../../mask/hdr_left_00755.png" + }, + { + "file_path": "../../rgb/hdr_left_00756.png", + "transform_matrix": [ + [ + 0.978789746761322, + -0.12282644957304001, + 0.16396397352218628, + 11.203351974487305 + ], + [ + -0.1612124741077423, + 0.03208298608660698, + 0.9863982200622559, + -7.5047712326049805 + ], + [ + -0.12641620635986328, + -0.9919095039367676, + 0.011601345613598824, + -1.1906700134277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 756, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_438467741", + "mask_path": "../../mask/hdr_left_00756.png" + }, + { + "file_path": "../../rgb/hdr_left_00757.png", + "transform_matrix": [ + [ + 0.977815568447113, + -0.11495471745729446, + 0.1751059591770172, + 11.294054985046387 + ], + [ + -0.1728336215019226, + 0.029523668810725212, + 0.9845083355903625, + -7.500010967254639 + ], + [ + -0.11834365129470825, + -0.9929319620132446, + 0.009000665508210659, + -1.20099675655365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 757, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_538469076", + "mask_path": "../../mask/hdr_left_00757.png" + }, + { + "file_path": "../../rgb/hdr_left_00758.png", + "transform_matrix": [ + [ + 0.9783815741539001, + -0.1170845702290535, + 0.1704719066619873, + 11.383426666259766 + ], + [ + -0.16819864511489868, + 0.029103262349963188, + 0.9853234887123108, + -7.491419315338135 + ], + [ + -0.12032745778560638, + -0.9926954507827759, + 0.00878063216805458, + -1.2158969640731812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 758, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_638469219", + "mask_path": "../../mask/hdr_left_00758.png" + }, + { + "file_path": "../../rgb/hdr_left_00759.png", + "transform_matrix": [ + [ + 0.9793668985366821, + -0.11711369454860687, + 0.1646958738565445, + 11.434222221374512 + ], + [ + -0.16202783584594727, + 0.032014716416597366, + 0.9862667918205261, + -7.478846549987793 + ], + [ + -0.12077801674604416, + -0.9926023483276367, + 0.012378482148051262, + -1.2276808023452759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 759, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_738469362", + "mask_path": "../../mask/hdr_left_00759.png" + }, + { + "file_path": "../../rgb/hdr_left_00760.png", + "transform_matrix": [ + [ + 0.9799982309341431, + -0.11610473692417145, + 0.1616264134645462, + 11.494559288024902 + ], + [ + -0.158640056848526, + 0.034578897058963776, + 0.9867307543754578, + -7.472848892211914 + ], + [ + -0.12015298008918762, + -0.9926348924636841, + 0.015468400903046131, + -1.2363263368606567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 760, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_838468790", + "mask_path": "../../mask/hdr_left_00760.png" + }, + { + "file_path": "../../rgb/hdr_left_00761.png", + "transform_matrix": [ + [ + 0.9790237545967102, + -0.12011459469795227, + 0.16457541286945343, + 11.570670127868652 + ], + [ + -0.16178768873214722, + 0.032670579850673676, + 0.986284613609314, + -7.476143836975098 + ], + [ + -0.12384394556283951, + -0.9922223091125488, + 0.012552211992442608, + -1.24763822555542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 761, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_938470840", + "mask_path": "../../mask/hdr_left_00761.png" + }, + { + "file_path": "../../rgb/hdr_left_00762.png", + "transform_matrix": [ + [ + 0.9769304394721985, + -0.12367835640907288, + 0.17409902811050415, + 11.634753227233887 + ], + [ + -0.1711544394493103, + 0.034129951149225235, + 0.9846528768539429, + -7.477570056915283 + ], + [ + -0.12772223353385925, + -0.9917352795600891, + 0.012174493633210659, + -1.248368740081787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 762, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_38470506", + "mask_path": "../../mask/hdr_left_00762.png" + }, + { + "file_path": "../../rgb/hdr_left_00763.png", + "transform_matrix": [ + [ + 0.9748069643974304, + -0.12239696085453033, + 0.18646790087223053, + 11.687420845031738 + ], + [ + -0.1834511011838913, + 0.03557147830724716, + 0.982384979724884, + -7.472766399383545 + ], + [ + -0.12687388062477112, + -0.991843581199646, + 0.01222146861255169, + -1.2507003545761108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 763, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_138469457", + "mask_path": "../../mask/hdr_left_00763.png" + }, + { + "file_path": "../../rgb/hdr_left_00764.png", + "transform_matrix": [ + [ + 0.9735482931137085, + -0.11147915571928024, + 0.19943933188915253, + 11.75748348236084 + ], + [ + -0.19665062427520752, + 0.0355876199901104, + 0.9798276424407959, + -7.471188545227051 + ], + [ + -0.1163279116153717, + -0.9931294322013855, + 0.012723825871944427, + -1.2557612657546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 764, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_238470077", + "mask_path": "../../mask/hdr_left_00764.png" + }, + { + "file_path": "../../rgb/hdr_left_00765.png", + "transform_matrix": [ + [ + 0.9752238392829895, + -0.09547897428274155, + 0.19955487549304962, + 11.842436790466309 + ], + [ + -0.19730013608932495, + 0.032596614211797714, + 0.9798009991645813, + -7.466372489929199 + ], + [ + -0.10005521774291992, + -0.9948976635932922, + 0.012950985692441463, + -1.25278902053833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 765, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_338470220", + "mask_path": "../../mask/hdr_left_00765.png" + }, + { + "file_path": "../../rgb/hdr_left_00767.png", + "transform_matrix": [ + [ + 0.9772148728370667, + -0.09378858655691147, + 0.19040703773498535, + 11.915994644165039 + ], + [ + -0.18805663287639618, + 0.03337391838431358, + 0.981590986251831, + -7.454289436340332 + ], + [ + -0.09841666370630264, + -0.9950326681137085, + 0.014975925907492638, + -1.2603752613067627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 767, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_538470506", + "mask_path": "../../mask/hdr_left_00767.png" + }, + { + "file_path": "../../rgb/hdr_left_00769.png", + "transform_matrix": [ + [ + 0.9734401702880859, + -0.10528288781642914, + 0.2032972127199173, + 12.001434326171875 + ], + [ + -0.19948814809322357, + 0.045639194548130035, + 0.9788367748260498, + -7.457798004150391 + ], + [ + -0.11233308166265488, + -0.9933945536613464, + 0.02342434599995613, + -1.26795494556427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 769, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_738471031", + "mask_path": "../../mask/hdr_left_00769.png" + }, + { + "file_path": "../../rgb/hdr_left_00772.png", + "transform_matrix": [ + [ + 0.9687636494636536, + -0.08332829922437668, + 0.23356619477272034, + 12.05070972442627 + ], + [ + -0.2289203405380249, + 0.06165552884340286, + 0.9714906215667725, + -7.419074058532715 + ], + [ + -0.09535330533981323, + -0.9946130514144897, + 0.040654104202985764, + -1.2512376308441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 772, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594243_38470745", + "mask_path": "../../mask/hdr_left_00772.png" + }, + { + "file_path": "../../rgb/hdr_left_00824.png", + "transform_matrix": [ + [ + 0.9817966818809509, + -0.05290179327130318, + 0.18241851031780243, + 12.297677993774414 + ], + [ + -0.18213365972042084, + 0.010197784751653671, + 0.9832209348678589, + -7.505738735198975 + ], + [ + -0.053874414414167404, + -0.9985476732254028, + 0.0003769586328417063, + -1.2621301412582397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 824, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594248_238469839", + "mask_path": "../../mask/hdr_left_00824.png" + }, + { + "file_path": "../../rgb/hdr_left_00832.png", + "transform_matrix": [ + [ + 0.9916513562202454, + -0.04787638783454895, + 0.11973059922456741, + 12.621528625488281 + ], + [ + -0.1191319152712822, + 0.015178868547081947, + 0.9927623867988586, + -7.53211784362793 + ], + [ + -0.049347251653671265, + -0.9987379312515259, + 0.009348543360829353, + -1.3018726110458374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 832, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_38471221", + "mask_path": "../../mask/hdr_left_00832.png" + }, + { + "file_path": "../../rgb/hdr_left_00834.png", + "transform_matrix": [ + [ + 0.9966259598731995, + -0.03486648574471474, + 0.07430391013622284, + 12.68958568572998 + ], + [ + -0.07355303317308426, + 0.022347528487443924, + 0.9970409274101257, + -7.512402057647705 + ], + [ + -0.03642381727695465, + -0.9991421699523926, + 0.01970759406685829, + -1.2929164171218872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 834, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_238469362", + "mask_path": "../../mask/hdr_left_00834.png" + }, + { + "file_path": "../../rgb/hdr_left_00836.png", + "transform_matrix": [ + [ + 0.9994966387748718, + -0.026355473324656487, + 0.017659321427345276, + 12.771382331848145 + ], + [ + -0.01671323925256729, + 0.035695042461156845, + 0.9992229342460632, + -7.471933841705322 + ], + [ + -0.026965344324707985, + -0.999015212059021, + 0.03523658961057663, + -1.2987921237945557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 836, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_438470602", + "mask_path": "../../mask/hdr_left_00836.png" + }, + { + "file_path": "../../rgb/hdr_left_00843.png", + "transform_matrix": [ + [ + 0.997276246547699, + -0.00703252200037241, + -0.0734207034111023, + 13.06149959564209 + ], + [ + 0.0736304372549057, + 0.036700643599033356, + 0.9966100454330444, + -7.3454694747924805 + ], + [ + -0.004314095247536898, + -0.9993016123771667, + 0.037118490785360336, + -1.3076844215393066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 843, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_138469457", + "mask_path": "../../mask/hdr_left_00843.png" + }, + { + "file_path": "../../rgb/hdr_left_00844.png", + "transform_matrix": [ + [ + 0.9967263340950012, + -0.007205041591078043, + -0.08052751421928406, + 13.115679740905762 + ], + [ + 0.08072870969772339, + 0.03433660790324211, + 0.9961445331573486, + -7.328488826751709 + ], + [ + -0.004412221256643534, + -0.9993844032287598, + 0.03480585664510727, + -1.31330406665802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 844, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_238468885", + "mask_path": "../../mask/hdr_left_00844.png" + }, + { + "file_path": "../../rgb/hdr_left_00846.png", + "transform_matrix": [ + [ + 0.9962801337242126, + -0.020207710564136505, + -0.08377069234848022, + 13.218990325927734 + ], + [ + 0.0843873992562294, + 0.031889401376247406, + 0.9959226250648499, + -7.316189289093018 + ], + [ + -0.017453918233513832, + -0.9992871284484863, + 0.033476050943136215, + -1.3267053365707397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 846, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_438469409", + "mask_path": "../../mask/hdr_left_00846.png" + }, + { + "file_path": "../../rgb/hdr_left_00847.png", + "transform_matrix": [ + [ + 0.9967547655105591, + -0.026738174259662628, + -0.07592669129371643, + 13.270179748535156 + ], + [ + 0.07660775631666183, + 0.025441521778702736, + 0.9967365860939026, + -7.314047336578369 + ], + [ + -0.024719225242733955, + -0.9993186593055725, + 0.027407310903072357, + -1.3296648263931274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 847, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_538468837", + "mask_path": "../../mask/hdr_left_00847.png" + }, + { + "file_path": "../../rgb/hdr_left_00849.png", + "transform_matrix": [ + [ + 0.9981536865234375, + -0.02647033892571926, + -0.05466800928115845, + 13.354089736938477 + ], + [ + 0.05540848523378372, + 0.028098154813051224, + 0.9980682730674744, + -7.295302391052246 + ], + [ + -0.02488313801586628, + -0.9992546439170837, + 0.029512956738471985, + -1.3407785892486572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 849, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_738469839", + "mask_path": "../../mask/hdr_left_00849.png" + }, + { + "file_path": "../../rgb/hdr_left_00850.png", + "transform_matrix": [ + [ + 0.997805655002594, + -0.029310034587979317, + -0.059369347989559174, + 13.406054496765137 + ], + [ + 0.06003797426819801, + 0.022485272958874702, + 0.9979428648948669, + -7.275623321533203 + ], + [ + -0.027914801612496376, + -0.999317467212677, + 0.024195652455091476, + -1.3478673696517944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 850, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_838468551", + "mask_path": "../../mask/hdr_left_00850.png" + }, + { + "file_path": "../../rgb/hdr_left_00856.png", + "transform_matrix": [ + [ + 0.9970673322677612, + -0.062427423894405365, + -0.044267937541007996, + 13.676215171813965 + ], + [ + 0.04629162326455116, + 0.031351204961538315, + 0.9984357953071594, + -7.187492847442627 + ], + [ + -0.060941923409700394, + -0.9975570440292358, + 0.03414912521839142, + -1.388837456703186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 856, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_438470363", + "mask_path": "../../mask/hdr_left_00856.png" + }, + { + "file_path": "../../rgb/hdr_left_00857.png", + "transform_matrix": [ + [ + 0.9966526031494141, + -0.06347085535526276, + -0.05152599886059761, + 13.733685493469238 + ], + [ + 0.053443122655153275, + 0.02888604626059532, + 0.998153030872345, + -7.161909103393555 + ], + [ + -0.061865244060754776, + -0.9975656270980835, + 0.03218143805861473, + -1.3886175155639648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 857, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_538469791", + "mask_path": "../../mask/hdr_left_00857.png" + }, + { + "file_path": "../../rgb/hdr_left_00859.png", + "transform_matrix": [ + [ + 0.9957553148269653, + -0.0677143931388855, + -0.06233812868595123, + 13.823568344116211 + ], + [ + 0.0645146444439888, + 0.030444517731666565, + 0.9974522590637207, + -7.13131046295166 + ], + [ + -0.06564401090145111, + -0.9972401261329651, + 0.03468386083841324, + -1.3963834047317505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 859, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_738469839", + "mask_path": "../../mask/hdr_left_00859.png" + }, + { + "file_path": "../../rgb/hdr_left_00860.png", + "transform_matrix": [ + [ + 0.9951526522636414, + -0.07995006442070007, + -0.0572626069188118, + 13.875575065612793 + ], + [ + 0.05982286110520363, + 0.030002301558852196, + 0.9977580308914185, + -7.120433330535889 + ], + [ + -0.0780528113245964, + -0.9963473081588745, + 0.034639712423086166, + -1.4041155576705933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 860, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_838469028", + "mask_path": "../../mask/hdr_left_00860.png" + }, + { + "file_path": "../../rgb/hdr_left_00862.png", + "transform_matrix": [ + [ + 0.9964500069618225, + -0.07818704098463058, + -0.031210999935865402, + 13.963608741760254 + ], + [ + 0.033392537385225296, + 0.026751015335321426, + 0.9990841746330261, + -7.102617263793945 + ], + [ + -0.07728052139282227, + -0.9965797662734985, + 0.02926691249012947, + -1.4096580743789673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 862, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_38469076", + "mask_path": "../../mask/hdr_left_00862.png" + }, + { + "file_path": "../../rgb/hdr_left_00863.png", + "transform_matrix": [ + [ + 0.9965674877166748, + -0.07788778841495514, + -0.02805030345916748, + 14.022111892700195 + ], + [ + 0.02981187216937542, + 0.021546989679336548, + 0.999323308467865, + -7.083676815032959 + ], + [ + -0.07723066210746765, + -0.9967293739318848, + 0.02379501238465309, + -1.4176974296569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 863, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_138469696", + "mask_path": "../../mask/hdr_left_00863.png" + }, + { + "file_path": "../../rgb/hdr_left_00869.png", + "transform_matrix": [ + [ + 0.9973078966140747, + -0.07331731170415878, + -0.0011905947467312217, + 14.289493560791016 + ], + [ + 0.001434685429558158, + 0.0032764675561338663, + 0.9999935626983643, + -7.0373406410217285 + ], + [ + -0.07331293076276779, + -0.9973033666610718, + 0.003372839419171214, + -1.4480806589126587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 869, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_738470554", + "mask_path": "../../mask/hdr_left_00869.png" + }, + { + "file_path": "../../rgb/hdr_left_00870.png", + "transform_matrix": [ + [ + 0.9971675872802734, + -0.07477950304746628, + -0.008049122989177704, + 14.349710464477539 + ], + [ + 0.008508955128490925, + 0.005833163857460022, + 0.9999468326568604, + -7.020878314971924 + ], + [ + -0.0747285708785057, + -0.997183084487915, + 0.006452941335737705, + -1.4605684280395508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 870, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_838470458", + "mask_path": "../../mask/hdr_left_00870.png" + }, + { + "file_path": "../../rgb/hdr_left_00871.png", + "transform_matrix": [ + [ + 0.9972896575927734, + -0.07195110619068146, + -0.015372227877378464, + 14.401331901550293 + ], + [ + 0.016157004982233047, + 0.010337860323488712, + 0.9998160600662231, + -7.006789207458496 + ], + [ + -0.07177895307540894, + -0.9973546266555786, + 0.011472356505692005, + -1.4693485498428345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 871, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_938468694", + "mask_path": "../../mask/hdr_left_00871.png" + }, + { + "file_path": "../../rgb/hdr_left_00872.png", + "transform_matrix": [ + [ + 0.9967113733291626, + -0.07934943586587906, + -0.016430919989943504, + 14.456080436706543 + ], + [ + 0.017250197008252144, + 0.009650619700551033, + 0.9998046159744263, + -7.000177383422852 + ], + [ + -0.07917536050081253, + -0.9968002438545227, + 0.010987681336700916, + -1.4772984981536865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 872, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_38469552", + "mask_path": "../../mask/hdr_left_00872.png" + }, + { + "file_path": "../../rgb/hdr_left_00873.png", + "transform_matrix": [ + [ + 0.9959038496017456, + -0.09009968489408493, + -0.007588770240545273, + 14.506438255310059 + ], + [ + 0.008618741296231747, + 0.011047990061342716, + 0.9999018311500549, + -6.993757724761963 + ], + [ + -0.0900069996714592, + -0.9958714842796326, + 0.011779285036027431, + -1.4831514358520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 873, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_138468980", + "mask_path": "../../mask/hdr_left_00873.png" + }, + { + "file_path": "../../rgb/hdr_left_00875.png", + "transform_matrix": [ + [ + 0.9964106678962708, + -0.08402539044618607, + 0.010278092697262764, + 14.622092247009277 + ], + [ + -0.009392607025802135, + 0.010927225463092327, + 0.9998961687088013, + -6.9709625244140625 + ], + [ + -0.0841289684176445, + -0.9964037537574768, + 0.010098789818584919, + -1.5010374784469604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 875, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_338470220", + "mask_path": "../../mask/hdr_left_00875.png" + }, + { + "file_path": "../../rgb/hdr_left_00876.png", + "transform_matrix": [ + [ + 0.9962171316146851, + -0.08686208724975586, + 0.0025311133358627558, + 14.691258430480957 + ], + [ + -0.001934447675012052, + 0.006952990312129259, + 0.9999739527702332, + -6.95618200302124 + ], + [ + -0.08687741309404373, + -0.9961961507797241, + 0.006758662406355143, + -1.5160776376724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 876, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_438470840", + "mask_path": "../../mask/hdr_left_00876.png" + }, + { + "file_path": "../../rgb/hdr_left_00877.png", + "transform_matrix": [ + [ + 0.996369481086731, + -0.08507736772298813, + -0.003105371491983533, + 14.747279167175293 + ], + [ + 0.0038569853641092777, + 0.008671906776726246, + 0.9999549984931946, + -6.943472862243652 + ], + [ + -0.08504660427570343, + -0.9963366389274597, + 0.008968565613031387, + -1.5235695838928223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 877, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_538470506", + "mask_path": "../../mask/hdr_left_00877.png" + }, + { + "file_path": "../../rgb/hdr_left_00878.png", + "transform_matrix": [ + [ + 0.9959008097648621, + -0.09044931828975677, + 0.0006828613113611937, + 14.80748176574707 + ], + [ + 8.870939200278372e-05, + 0.008526197634637356, + 0.999963641166687, + -6.938701152801514 + ], + [ + -0.09045184403657913, + -0.9958645701408386, + 0.008499270305037498, + -1.531142234802246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 878, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_638470172", + "mask_path": "../../mask/hdr_left_00878.png" + }, + { + "file_path": "../../rgb/hdr_left_00879.png", + "transform_matrix": [ + [ + 0.9948586821556091, + -0.10027630627155304, + 0.014168876223266125, + 14.867558479309082 + ], + [ + -0.013807330280542374, + 0.00429900549352169, + 0.9998953938484192, + -6.934165954589844 + ], + [ + -0.10032672435045242, + -0.9949504137039185, + 0.0028923607897013426, + -1.5368194580078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 879, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_738469600", + "mask_path": "../../mask/hdr_left_00879.png" + }, + { + "file_path": "../../rgb/hdr_left_00880.png", + "transform_matrix": [ + [ + 0.99454665184021, + -0.09904250502586365, + 0.03267497569322586, + 14.916478157043457 + ], + [ + -0.03227607533335686, + 0.005627737380564213, + 0.9994631409645081, + -6.930808067321777 + ], + [ + -0.09917320311069489, + -0.9950673580169678, + 0.0024003481958061457, + -1.540290355682373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 880, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_838470220", + "mask_path": "../../mask/hdr_left_00880.png" + }, + { + "file_path": "../../rgb/hdr_left_00881.png", + "transform_matrix": [ + [ + 0.9940668344497681, + -0.09726293385028839, + 0.04869263991713524, + 14.97652530670166 + ], + [ + -0.048054859042167664, + 0.008890495635569096, + 0.9988051056861877, + -6.9194207191467285 + ], + [ + -0.09757962077856064, + -0.9952189922332764, + 0.004163792822510004, + -1.5471835136413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 881, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_938469648", + "mask_path": "../../mask/hdr_left_00881.png" + }, + { + "file_path": "../../rgb/hdr_left_00882.png", + "transform_matrix": [ + [ + 0.9933600425720215, + -0.10038354247808456, + 0.05620376393198967, + 15.0471773147583 + ], + [ + -0.055530279874801636, + 0.009493178687989712, + 0.9984119534492493, + -6.9063262939453125 + ], + [ + -0.1007576584815979, + -0.994903564453125, + 0.0038558226078748703, + -1.565408706665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 882, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_38470029", + "mask_path": "../../mask/hdr_left_00882.png" + }, + { + "file_path": "../../rgb/hdr_left_00883.png", + "transform_matrix": [ + [ + 0.9931132793426514, + -0.09886179119348526, + 0.06286849081516266, + 15.102558135986328 + ], + [ + -0.062205106019973755, + 0.009781385771930218, + 0.9980154633522034, + -6.898805618286133 + ], + [ + -0.09928053617477417, + -0.9950531721115112, + 0.0035643174778670073, + -1.5767759084701538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 883, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_138470411", + "mask_path": "../../mask/hdr_left_00883.png" + }, + { + "file_path": "../../rgb/hdr_left_00884.png", + "transform_matrix": [ + [ + 0.9918922781944275, + -0.1016526073217392, + 0.07626477628946304, + 15.162497520446777 + ], + [ + -0.0755351185798645, + 0.011013339273631573, + 0.9970822334289551, + -6.890588283538818 + ], + [ + -0.10219594091176987, + -0.9947590231895447, + 0.0032457078341394663, + -1.586210012435913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 884, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_238470792", + "mask_path": "../../mask/hdr_left_00884.png" + }, + { + "file_path": "../../rgb/hdr_left_00885.png", + "transform_matrix": [ + [ + 0.9892897605895996, + -0.1106136217713356, + 0.09523851424455643, + 15.223639488220215 + ], + [ + -0.09441931545734406, + 0.012632571160793304, + 0.995452344417572, + -6.893426895141602 + ], + [ + -0.11131369322538376, + -0.9937832355499268, + 0.002053214004263282, + -1.592631459236145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 885, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_338470935", + "mask_path": "../../mask/hdr_left_00885.png" + }, + { + "file_path": "../../rgb/hdr_left_03432.png", + "transform_matrix": [ + [ + -0.9404955506324768, + -0.11701969802379608, + -0.3190208971500397, + 14.719131469726562 + ], + [ + 0.3185019791126251, + 0.023615125566720963, + -0.9476280212402344, + -6.352310657501221 + ], + [ + 0.11842484772205353, + -0.992848813533783, + 0.015061079524457455, + -1.4943737983703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3432, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_38468599", + "mask_path": "../../mask/hdr_left_03432.png" + }, + { + "file_path": "../../rgb/hdr_left_03433.png", + "transform_matrix": [ + [ + -0.9418829083442688, + -0.11620389670133591, + -0.3152032792568207, + 14.66438102722168 + ], + [ + 0.314931720495224, + 0.021175963804125786, + -0.9488781690597534, + -6.345550060272217 + ], + [ + 0.11693806201219559, + -0.9929996132850647, + 0.016651010140776634, + -1.4891645908355713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3433, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_138469934", + "mask_path": "../../mask/hdr_left_03433.png" + }, + { + "file_path": "../../rgb/hdr_left_03434.png", + "transform_matrix": [ + [ + -0.9405016899108887, + -0.1148771196603775, + -0.31978073716163635, + 14.610754013061523 + ], + [ + 0.31968939304351807, + 0.01971994899213314, + -0.9473171830177307, + -6.340264797210693 + ], + [ + 0.11513112485408783, + -0.9931840300559998, + 0.01817835122346878, + -1.4777166843414307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3434, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_238468647", + "mask_path": "../../mask/hdr_left_03434.png" + }, + { + "file_path": "../../rgb/hdr_left_03435.png", + "transform_matrix": [ + [ + -0.9384108781814575, + -0.12042251229286194, + -0.32385721802711487, + 14.554121971130371 + ], + [ + 0.3248770534992218, + 0.011615045368671417, + -0.9456849098205566, + -6.333293914794922 + ], + [ + 0.11764336377382278, + -0.9926548600196838, + 0.028222830966114998, + -1.465537428855896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3435, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_338468790", + "mask_path": "../../mask/hdr_left_03435.png" + }, + { + "file_path": "../../rgb/hdr_left_03436.png", + "transform_matrix": [ + [ + -0.938686192035675, + -0.1235906183719635, + -0.3218594193458557, + 14.490375518798828 + ], + [ + 0.3234286606311798, + 0.007704445626586676, + -0.9462212324142456, + -6.325400352478027 + ], + [ + 0.11942380666732788, + -0.9923034906387329, + 0.03274069353938103, + -1.460632085800171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3436, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_438470363", + "mask_path": "../../mask/hdr_left_03436.png" + }, + { + "file_path": "../../rgb/hdr_left_03437.png", + "transform_matrix": [ + [ + -0.9399475455284119, + -0.12860813736915588, + -0.3161620795726776, + 14.430068016052246 + ], + [ + 0.3170132040977478, + 0.014343821443617344, + -0.9483126401901245, + -6.316226005554199 + ], + [ + 0.12649568915367126, + -0.9915918111801147, + 0.027288030833005905, + -1.4519946575164795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3437, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_538469552", + "mask_path": "../../mask/hdr_left_03437.png" + }, + { + "file_path": "../../rgb/hdr_left_03438.png", + "transform_matrix": [ + [ + -0.9409219026565552, + -0.12719303369522095, + -0.31382760405540466, + 14.373714447021484 + ], + [ + 0.31478601694107056, + 0.013022586703300476, + -0.9490733742713928, + -6.30418062210083 + ], + [ + 0.12480233609676361, + -0.9917925000190735, + 0.027785344049334526, + -1.4487216472625732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3438, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_638469457", + "mask_path": "../../mask/hdr_left_03438.png" + }, + { + "file_path": "../../rgb/hdr_left_03439.png", + "transform_matrix": [ + [ + -0.9401418566703796, + -0.1287280172109604, + -0.3155350387096405, + 14.317109107971191 + ], + [ + 0.3167860805988312, + 0.011181644164025784, + -0.9484310746192932, + -6.28873872756958 + ], + [ + 0.1256178468465805, + -0.99161696434021, + 0.030266914516687393, + -1.435072422027588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3439, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_738470315", + "mask_path": "../../mask/hdr_left_03439.png" + }, + { + "file_path": "../../rgb/hdr_left_03440.png", + "transform_matrix": [ + [ + -0.9384641051292419, + -0.1313031166791916, + -0.3194442689418793, + 14.26291275024414 + ], + [ + 0.32130783796310425, + 0.007317552343010902, + -0.9469466209411621, + -6.275823593139648 + ], + [ + 0.1266745775938034, + -0.9913152456283569, + 0.03532145544886589, + -1.4202075004577637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3440, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_838470458", + "mask_path": "../../mask/hdr_left_03440.png" + }, + { + "file_path": "../../rgb/hdr_left_03441.png", + "transform_matrix": [ + [ + -0.9394567012786865, + -0.13045072555541992, + -0.31686535477638245, + 14.199590682983398 + ], + [ + 0.3188135325908661, + 0.006228662561625242, + -0.9477970004081726, + -6.270010471343994 + ], + [ + 0.12561443448066711, + -0.9914352893829346, + 0.03573789447546005, + -1.4155237674713135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3441, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_938470363", + "mask_path": "../../mask/hdr_left_03441.png" + }, + { + "file_path": "../../rgb/hdr_left_03442.png", + "transform_matrix": [ + [ + -0.9403789043426514, + -0.13839416205883026, + -0.310699999332428, + 14.137276649475098 + ], + [ + 0.311655193567276, + 0.015272165648639202, + -0.9500725269317627, + -6.262381076812744 + ], + [ + 0.1362295299768448, + -0.9902594685554504, + 0.028769636526703835, + -1.3989076614379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3442, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_38470029", + "mask_path": "../../mask/hdr_left_03442.png" + }, + { + "file_path": "../../rgb/hdr_left_03443.png", + "transform_matrix": [ + [ + -0.941238522529602, + -0.13968412578105927, + -0.3075033724308014, + 14.088566780090332 + ], + [ + 0.3078218400478363, + 0.019864287227392197, + -0.9512366652488708, + -6.2498650550842285 + ], + [ + 0.13898099958896637, + -0.9899969100952148, + 0.024300791323184967, + -1.385610818862915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3443, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_138469219", + "mask_path": "../../mask/hdr_left_03443.png" + }, + { + "file_path": "../../rgb/hdr_left_03444.png", + "transform_matrix": [ + [ + -0.9426692128181458, + -0.1320604532957077, + -0.30648770928382874, + 14.042531967163086 + ], + [ + 0.3089238703250885, + 0.0021400279365479946, + -0.9510842561721802, + -6.236133575439453 + ], + [ + 0.12625652551651, + -0.9912394285202026, + 0.03877929598093033, + -1.3942500352859497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3444, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_238468885", + "mask_path": "../../mask/hdr_left_03444.png" + }, + { + "file_path": "../../rgb/hdr_left_03446.png", + "transform_matrix": [ + [ + -0.9441308379173279, + -0.12047257274389267, + -0.3067624866962433, + 13.94973087310791 + ], + [ + 0.31099969148635864, + -0.017634518444538116, + -0.9502463936805725, + -6.228885173797607 + ], + [ + 0.10906901210546494, + -0.9925600290298462, + 0.054116226732730865, + -1.3962392807006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3446, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_438469171", + "mask_path": "../../mask/hdr_left_03446.png" + }, + { + "file_path": "../../rgb/hdr_left_03447.png", + "transform_matrix": [ + [ + -0.9483665823936462, + -0.11696559935808182, + -0.294821560382843, + 13.881945610046387 + ], + [ + 0.297695130109787, + -0.007508257403969765, + -0.9546314477920532, + -6.224640369415283 + ], + [ + 0.10944543778896332, + -0.9931076169013977, + 0.04194067046046257, + -1.395262360572815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3447, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_538469552", + "mask_path": "../../mask/hdr_left_03447.png" + }, + { + "file_path": "../../rgb/hdr_left_03448.png", + "transform_matrix": [ + [ + -0.9525637030601501, + -0.11229116469621658, + -0.2828659117221832, + 13.825315475463867 + ], + [ + 0.2846691608428955, + -2.5930299671017565e-05, + -0.9586257934570312, + -6.219222545623779 + ], + [ + 0.10763785988092422, + -0.9936753511428833, + 0.03199053183197975, + -1.3913476467132568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3448, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_638469696", + "mask_path": "../../mask/hdr_left_03448.png" + }, + { + "file_path": "../../rgb/hdr_left_03449.png", + "transform_matrix": [ + [ + -0.9555255174636841, + -0.1063818633556366, + -0.2750525176525116, + 13.767117500305176 + ], + [ + 0.2768038809299469, + -0.0017707160441204906, + -0.9609248042106628, + -6.215728759765625 + ], + [ + 0.10173791646957397, + -0.9943239092826843, + 0.03113887459039688, + -1.3847973346710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3449, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_738470315", + "mask_path": "../../mask/hdr_left_03449.png" + }, + { + "file_path": "../../rgb/hdr_left_03450.png", + "transform_matrix": [ + [ + -0.957290768623352, + -0.09991741925477982, + -0.2713130712509155, + 13.715255737304688 + ], + [ + 0.27359113097190857, + -0.009586416184902191, + -0.9617982506752014, + -6.213470458984375 + ], + [ + 0.09349947422742844, + -0.9949496388435364, + 0.03651350736618042, + -1.3757383823394775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3450, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_838470220", + "mask_path": "../../mask/hdr_left_03450.png" + }, + { + "file_path": "../../rgb/hdr_left_03452.png", + "transform_matrix": [ + [ + -0.9618763327598572, + -0.09951818734407425, + -0.2547353208065033, + 13.609492301940918 + ], + [ + 0.2577221691608429, + -0.018191087990999222, + -0.9660477638244629, + -6.218942165374756 + ], + [ + 0.09150540828704834, + -0.9948694705963135, + 0.04314562305808067, + -1.3655846118927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3452, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_38469791", + "mask_path": "../../mask/hdr_left_03452.png" + }, + { + "file_path": "../../rgb/hdr_left_03453.png", + "transform_matrix": [ + [ + -0.9680156707763672, + -0.09581299871206284, + -0.23187385499477386, + 13.538135528564453 + ], + [ + 0.23469242453575134, + -0.01912066899240017, + -0.971881628036499, + -6.231790065765381 + ], + [ + 0.0886853039264679, + -0.9952158331871033, + 0.04099569469690323, + -1.3623632192611694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3453, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_138470172", + "mask_path": "../../mask/hdr_left_03453.png" + }, + { + "file_path": "../../rgb/hdr_left_03454.png", + "transform_matrix": [ + [ + -0.973820149898529, + -0.0937342569231987, + -0.20709459483623505, + 13.481634140014648 + ], + [ + 0.2096801996231079, + -0.018523195758461952, + -0.9775945544242859, + -6.240515232086182 + ], + [ + 0.08779804408550262, + -0.9954249858856201, + 0.03769247978925705, + -1.3509896993637085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3454, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_238470077", + "mask_path": "../../mask/hdr_left_03454.png" + }, + { + "file_path": "../../rgb/hdr_left_03455.png", + "transform_matrix": [ + [ + -0.9778115749359131, + -0.08336327970027924, + -0.1921849101781845, + 13.428391456604004 + ], + [ + 0.1943238228559494, + -0.018274806439876556, + -0.9807671904563904, + -6.243264198303223 + ], + [ + 0.0782478079199791, + -0.9963516592979431, + 0.03406878560781479, + -1.349861979484558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3455, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_338470220", + "mask_path": "../../mask/hdr_left_03455.png" + }, + { + "file_path": "../../rgb/hdr_left_03456.png", + "transform_matrix": [ + [ + -0.978280246257782, + -0.07650082558393478, + -0.19265331327915192, + 13.374017715454102 + ], + [ + 0.19433201849460602, + -0.01507088728249073, + -0.9808200001716614, + -6.242842674255371 + ], + [ + 0.07213008403778076, + -0.9969556331634521, + 0.02961011230945587, + -1.3444396257400513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3456, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_438470602", + "mask_path": "../../mask/hdr_left_03456.png" + }, + { + "file_path": "../../rgb/hdr_left_03457.png", + "transform_matrix": [ + [ + -0.9751481413841248, + -0.08199599385261536, + -0.20582160353660583, + 13.32044506072998 + ], + [ + 0.20754891633987427, + -0.013038069009780884, + -0.978137731552124, + -6.240050792694092 + ], + [ + 0.07751984894275665, + -0.9965474009513855, + 0.029732227325439453, + -1.3297903537750244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3457, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_538470745", + "mask_path": "../../mask/hdr_left_03457.png" + }, + { + "file_path": "../../rgb/hdr_left_03458.png", + "transform_matrix": [ + [ + -0.9734358191490173, + -0.08728443831205368, + -0.2116699367761612, + 13.250075340270996 + ], + [ + 0.21382105350494385, + -0.01597178541123867, + -0.9767422676086426, + -6.245223045349121 + ], + [ + 0.08187364041805267, + -0.9960554242134094, + 0.03421075642108917, + -1.3254607915878296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3458, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_638470172", + "mask_path": "../../mask/hdr_left_03458.png" + }, + { + "file_path": "../../rgb/hdr_left_03459.png", + "transform_matrix": [ + [ + -0.9741148948669434, + -0.09066537022590637, + -0.20707480609416962, + 13.168045997619629 + ], + [ + 0.2095046490430832, + -0.018052849918603897, + -0.9776410460472107, + -6.250856876373291 + ], + [ + 0.0848998874425888, + -0.9957178235054016, + 0.036580365151166916, + -1.3199620246887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3459, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_738470077", + "mask_path": "../../mask/hdr_left_03459.png" + }, + { + "file_path": "../../rgb/hdr_left_03460.png", + "transform_matrix": [ + [ + -0.9749565720558167, + -0.08922788500785828, + -0.20371079444885254, + 13.098037719726562 + ], + [ + 0.20618724822998047, + -0.019378868862986565, + -0.9783205986022949, + -6.250152111053467 + ], + [ + 0.08334577828645706, + -0.9958227276802063, + 0.037291206419467926, + -1.3164386749267578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3460, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_838471889", + "mask_path": "../../mask/hdr_left_03460.png" + }, + { + "file_path": "../../rgb/hdr_left_03461.png", + "transform_matrix": [ + [ + -0.9746609926223755, + -0.08429823070764542, + -0.2071951925754547, + 13.024557113647461 + ], + [ + 0.2097247838973999, + -0.022251203656196594, + -0.9775072336196899, + -6.248015880584717 + ], + [ + 0.07779177278280258, + -0.9961921572685242, + 0.03936680406332016, + -1.3175711631774902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3461, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_938470125", + "mask_path": "../../mask/hdr_left_03461.png" + }, + { + "file_path": "../../rgb/hdr_left_03462.png", + "transform_matrix": [ + [ + -0.9723241329193115, + -0.07818373292684555, + -0.22016598284244537, + 12.958922386169434 + ], + [ + 0.22273863852024078, + -0.0257609561085701, + -0.9745377898216248, + -6.246519565582275 + ], + [ + 0.07052130252122879, + -0.9966061115264893, + 0.0424625389277935, + -1.3130557537078857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3462, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_38469552", + "mask_path": "../../mask/hdr_left_03462.png" + }, + { + "file_path": "../../rgb/hdr_left_03463.png", + "transform_matrix": [ + [ + -0.970421314239502, + -0.08009272068738937, + -0.22774425148963928, + 12.884358406066895 + ], + [ + 0.23032796382904053, + -0.02453027106821537, + -0.9728037714958191, + -6.247817039489746 + ], + [ + 0.0723278746008873, + -0.9964855909347534, + 0.04225229471921921, + -1.305802345275879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3463, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_138470411", + "mask_path": "../../mask/hdr_left_03463.png" + }, + { + "file_path": "../../rgb/hdr_left_03464.png", + "transform_matrix": [ + [ + -0.9706631302833557, + -0.08396963775157928, + -0.2253044694662094, + 12.786821365356445 + ], + [ + 0.227805957198143, + -0.02138058841228485, + -0.9734718203544617, + -6.251421928405762 + ], + [ + 0.07692492753267288, + -0.9962389469146729, + 0.03988213464617729, + -1.3088418245315552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3464, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_238471746", + "mask_path": "../../mask/hdr_left_03464.png" + }, + { + "file_path": "../../rgb/hdr_left_03465.png", + "transform_matrix": [ + [ + -0.9722039699554443, + -0.08096114546060562, + -0.21969234943389893, + 12.710521697998047 + ], + [ + 0.22163595259189606, + -0.015745673328638077, + -0.9750022888183594, + -6.251099586486816 + ], + [ + 0.07547809183597565, + -0.9965929388999939, + 0.03325191140174866, + -1.3111400604248047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3465, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_338469505", + "mask_path": "../../mask/hdr_left_03465.png" + }, + { + "file_path": "../../rgb/hdr_left_03466.png", + "transform_matrix": [ + [ + -0.9725116491317749, + -0.07840066403150558, + -0.21925850212574005, + 12.632258415222168 + ], + [ + 0.2211596965789795, + -0.016343047842383385, + -0.975100576877594, + -6.243038654327393 + ], + [ + 0.07286518812179565, + -0.9967880249023438, + 0.03323287516832352, + -1.3068829774856567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3466, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_438470602", + "mask_path": "../../mask/hdr_left_03466.png" + }, + { + "file_path": "../../rgb/hdr_left_03467.png", + "transform_matrix": [ + [ + -0.9708371162414551, + -0.07520551979541779, + -0.22763866186141968, + 12.554282188415527 + ], + [ + 0.2295217365026474, + -0.01730949617922306, + -0.9731495976448059, + -6.231244087219238 + ], + [ + 0.06924590468406677, + -0.9970178604125977, + 0.03406600281596184, + -1.2882139682769775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3467, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_538470506", + "mask_path": "../../mask/hdr_left_03467.png" + }, + { + "file_path": "../../rgb/hdr_left_03468.png", + "transform_matrix": [ + [ + -0.9671780467033386, + -0.07845719158649445, + -0.2416839301586151, + 12.495257377624512 + ], + [ + 0.24382001161575317, + -0.018750745803117752, + -0.9696391820907593, + -6.223785400390625 + ], + [ + 0.07154341787099838, + -0.9967411756515503, + 0.03726474195718765, + -1.274965763092041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3468, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_638476848", + "mask_path": "../../mask/hdr_left_03468.png" + }, + { + "file_path": "../../rgb/hdr_left_03469.png", + "transform_matrix": [ + [ + -0.9648140668869019, + -0.0776098370552063, + -0.251217782497406, + 12.422171592712402 + ], + [ + 0.25361111760139465, + -0.022536305710673332, + -0.9670436382293701, + -6.221481800079346 + ], + [ + 0.06939057260751724, + -0.9967290759086609, + 0.04142606258392334, + -1.2699984312057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3469, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_738470077", + "mask_path": "../../mask/hdr_left_03469.png" + }, + { + "file_path": "../../rgb/hdr_left_03470.png", + "transform_matrix": [ + [ + -0.9654446244239807, + -0.07446470856666565, + -0.2497430443763733, + 12.325955390930176 + ], + [ + 0.2519986033439636, + -0.02246173284947872, + -0.9674668908119202, + -6.220193862915039 + ], + [ + 0.06643247604370117, + -0.9969707131385803, + 0.0404505655169487, + -1.2704566717147827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3470, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_838472604", + "mask_path": "../../mask/hdr_left_03470.png" + }, + { + "file_path": "../../rgb/hdr_left_03471.png", + "transform_matrix": [ + [ + -0.9675074815750122, + -0.07015345245599747, + -0.24291513860225677, + 12.25595760345459 + ], + [ + 0.24464191496372223, + -0.017040884122252464, + -0.9694637060165405, + -6.216849327087402 + ], + [ + 0.06387174129486084, + -0.9973908066749573, + 0.033649660646915436, + -1.271119236946106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3471, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_938469648", + "mask_path": "../../mask/hdr_left_03471.png" + }, + { + "file_path": "../../rgb/hdr_left_03472.png", + "transform_matrix": [ + [ + -0.9675669074058533, + -0.0672195553779602, + -0.24350742995738983, + 12.183268547058105 + ], + [ + 0.2449081391096115, + -0.013323105871677399, + -0.9694546461105347, + -6.209018230438232 + ], + [ + 0.06192203611135483, + -0.9976493120193481, + 0.029353614896535873, + -1.2703003883361816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3472, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_38473844", + "mask_path": "../../mask/hdr_left_03472.png" + }, + { + "file_path": "../../rgb/hdr_left_03473.png", + "transform_matrix": [ + [ + -0.9652260541915894, + -0.06635445356369019, + -0.2528549134731293, + 12.110180854797363 + ], + [ + 0.25399476289749146, + -0.009205319918692112, + -0.9671617150306702, + -6.1973395347595215 + ], + [ + 0.06184786930680275, + -0.9977537393569946, + 0.025738902390003204, + -1.2546905279159546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3473, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_138470888", + "mask_path": "../../mask/hdr_left_03473.png" + }, + { + "file_path": "../../rgb/hdr_left_03474.png", + "transform_matrix": [ + [ + -0.9614113569259644, + -0.07207176834344864, + -0.2655065953731537, + 12.050024032592773 + ], + [ + 0.2668874263763428, + -0.010081147775053978, + -0.9636750221252441, + -6.189062595367432 + ], + [ + 0.06677713990211487, + -0.9973485469818115, + 0.028927180916070938, + -1.2392889261245728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3474, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_238473415", + "mask_path": "../../mask/hdr_left_03474.png" + }, + { + "file_path": "../../rgb/hdr_left_03475.png", + "transform_matrix": [ + [ + -0.9605157375335693, + -0.07378073781728745, + -0.2682642936706543, + 11.982142448425293 + ], + [ + 0.2698095142841339, + -0.011653957888484001, + -0.9628431797027588, + -6.18535041809082 + ], + [ + 0.06791293621063232, + -0.997206449508667, + 0.031100556254386902, + -1.2347513437271118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3475, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_338470220", + "mask_path": "../../mask/hdr_left_03475.png" + }, + { + "file_path": "../../rgb/hdr_left_03476.png", + "transform_matrix": [ + [ + -0.963616132736206, + -0.07412033528089523, + -0.25680720806121826, + 11.891776084899902 + ], + [ + 0.2583451271057129, + -0.011801699176430702, + -0.965980589389801, + -6.185484409332275 + ], + [ + 0.06856804341077805, + -0.9971794486045837, + 0.030520938336849213, + -1.2348154783248901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3476, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_438472032", + "mask_path": "../../mask/hdr_left_03476.png" + }, + { + "file_path": "../../rgb/hdr_left_03477.png", + "transform_matrix": [ + [ + -0.9674386978149414, + -0.07353881746530533, + -0.242187038064003, + 11.816286087036133 + ], + [ + 0.24342426657676697, + -0.008219579234719276, + -0.9698850512504578, + -6.181056499481201 + ], + [ + 0.069333516061306, + -0.9972585439682007, + 0.025853075087070465, + -1.2314164638519287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3477, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_538470029", + "mask_path": "../../mask/hdr_left_03477.png" + }, + { + "file_path": "../../rgb/hdr_left_03478.png", + "transform_matrix": [ + [ + -0.9695904850959778, + -0.06931676715612411, + -0.23471154272556305, + 11.738737106323242 + ], + [ + 0.2354925125837326, + -0.0032022877130657434, + -0.9718708992004395, + -6.175291538238525 + ], + [ + 0.06661533564329147, + -0.9975895881652832, + 0.019428487867116928, + -1.228327989578247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3478, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_638471126", + "mask_path": "../../mask/hdr_left_03478.png" + }, + { + "file_path": "../../rgb/hdr_left_03479.png", + "transform_matrix": [ + [ + -0.9693173170089722, + -0.06916368007659912, + -0.23588187992572784, + 11.669755935668945 + ], + [ + 0.23644176125526428, + 9.419395064469427e-05, + -0.9716456532478333, + -6.168042182922363 + ], + [ + 0.06722480803728104, + -0.9976053833961487, + 0.016261879354715347, + -1.2195569276809692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3479, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_738470554", + "mask_path": "../../mask/hdr_left_03479.png" + }, + { + "file_path": "../../rgb/hdr_left_03480.png", + "transform_matrix": [ + [ + -0.9700170159339905, + -0.07179892808198929, + -0.23218916356563568, + 11.605300903320312 + ], + [ + 0.23295272886753082, + -0.002334177726879716, + -0.9724852442741394, + -6.163206100463867 + ], + [ + 0.06928142160177231, + -0.9974163770675659, + 0.01898995228111744, + -1.2118796110153198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3480, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_838471174", + "mask_path": "../../mask/hdr_left_03480.png" + }, + { + "file_path": "../../rgb/hdr_left_03481.png", + "transform_matrix": [ + [ + -0.9736396670341492, + -0.06729166209697723, + -0.2179391235113144, + 11.527523040771484 + ], + [ + 0.2186792939901352, + -0.003746334696188569, + -0.9757896065711975, + -6.163638114929199 + ], + [ + 0.06484603136777878, + -0.9977263808250427, + 0.018362874165177345, + -1.2073429822921753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3481, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_938469409", + "mask_path": "../../mask/hdr_left_03481.png" + }, + { + "file_path": "../../rgb/hdr_left_03482.png", + "transform_matrix": [ + [ + -0.9785971641540527, + -0.06379558891057968, + -0.19564659893512726, + 11.454054832458496 + ], + [ + 0.19602380692958832, + 0.00035293103428557515, + -0.980599045753479, + -6.171454906463623 + ], + [ + 0.06262694299221039, + -0.9979629516601562, + 0.012160076759755611, + -1.2078179121017456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3482, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_38470745", + "mask_path": "../../mask/hdr_left_03482.png" + }, + { + "file_path": "../../rgb/hdr_left_03483.png", + "transform_matrix": [ + [ + -0.9809372425079346, + -0.06283001601696014, + -0.18388719856739044, + 11.383772850036621 + ], + [ + 0.1837584227323532, + 0.007871690206229687, + -0.9829398393630981, + -6.178443431854248 + ], + [ + 0.06320562958717346, + -0.9979932308197021, + 0.0038239143323153257, + -1.209572434425354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3483, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_138470411", + "mask_path": "../../mask/hdr_left_03483.png" + }, + { + "file_path": "../../rgb/hdr_left_03484.png", + "transform_matrix": [ + [ + -0.9817377924919128, + -0.06284596025943756, + -0.1795581430196762, + 11.306600570678711 + ], + [ + 0.1793215125799179, + 0.009431893937289715, + -0.983745276927948, + -6.176845550537109 + ], + [ + 0.0635179802775383, + -0.997978687286377, + 0.002009986201301217, + -1.1980888843536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3484, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_238471746", + "mask_path": "../../mask/hdr_left_03484.png" + }, + { + "file_path": "../../rgb/hdr_left_03485.png", + "transform_matrix": [ + [ + -0.981351375579834, + -0.05939636752009392, + -0.1828152984380722, + 11.234236717224121 + ], + [ + 0.182804673910141, + 0.005658963695168495, + -0.9831328988075256, + -6.1726555824279785 + ], + [ + 0.059429068118333817, + -0.9982184767723083, + 0.005304503254592419, + -1.1852257251739502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3485, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_338470697", + "mask_path": "../../mask/hdr_left_03485.png" + }, + { + "file_path": "../../rgb/hdr_left_03486.png", + "transform_matrix": [ + [ + -0.981077253818512, + -0.06527204066514969, + -0.18228262662887573, + 11.166459083557129 + ], + [ + 0.1828034371137619, + -0.0020469706505537033, + -0.9831473231315613, + -6.176799297332764 + ], + [ + 0.06379889696836472, + -0.9978654980659485, + 0.013940192759037018, + -1.1760632991790771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3486, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_438470125", + "mask_path": "../../mask/hdr_left_03486.png" + }, + { + "file_path": "../../rgb/hdr_left_03487.png", + "transform_matrix": [ + [ + -0.9832750558853149, + -0.06561705470085144, + -0.16989578306674957, + 11.085286140441895 + ], + [ + 0.1705944985151291, + -0.005155392922461033, + -0.9853277802467346, + -6.188205718994141 + ], + [ + 0.06377842277288437, + -0.9978315830230713, + 0.016263078898191452, + -1.1738548278808594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3487, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_538469314", + "mask_path": "../../mask/hdr_left_03487.png" + }, + { + "file_path": "../../rgb/hdr_left_03488.png", + "transform_matrix": [ + [ + -0.9866212010383606, + -0.06196889653801918, + -0.15079233050346375, + 11.011504173278809 + ], + [ + 0.1511036604642868, + -0.00034145370591431856, + -0.9885178208351135, + -6.199027061462402 + ], + [ + 0.06120586767792702, + -0.9980781674385071, + 0.009700614959001541, + -1.1735260486602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3488, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_638469219", + "mask_path": "../../mask/hdr_left_03488.png" + }, + { + "file_path": "../../rgb/hdr_left_03489.png", + "transform_matrix": [ + [ + -0.988540530204773, + -0.06221805512905121, + -0.137536883354187, + 10.94444465637207 + ], + [ + 0.1377251297235489, + 0.001273278146982193, + -0.9904695153236389, + -6.20298957824707 + ], + [ + 0.061800211668014526, + -0.9980617761611938, + 0.007310306187719107, + -1.1714937686920166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3489, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_738470792", + "mask_path": "../../mask/hdr_left_03489.png" + }, + { + "file_path": "../../rgb/hdr_left_03490.png", + "transform_matrix": [ + [ + -0.9890987873077393, + -0.06539608538150787, + -0.13193528354167938, + 10.870363235473633 + ], + [ + 0.13198977708816528, + 0.003505571046844125, + -0.991244912147522, + -6.202354907989502 + ], + [ + 0.06528604030609131, + -0.9978533387184143, + 0.005164262838661671, + -1.1558160781860352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_838469982", + "mask_path": "../../mask/hdr_left_03490.png" + }, + { + "file_path": "../../rgb/hdr_left_03491.png", + "transform_matrix": [ + [ + -0.9880741834640503, + -0.07172148674726486, + -0.13625498116016388, + 10.81125545501709 + ], + [ + 0.13666994869709015, + -0.0008876120555214584, + -0.9906162023544312, + -6.2009968757629395 + ], + [ + 0.07092750817537308, + -0.9974243640899658, + 0.010679196566343307, + -1.1438403129577637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3491, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_938469886", + "mask_path": "../../mask/hdr_left_03491.png" + }, + { + "file_path": "../../rgb/hdr_left_03492.png", + "transform_matrix": [ + [ + -0.9874787330627441, + -0.07810547202825546, + -0.1370592713356018, + 10.747706413269043 + ], + [ + 0.13787142932415009, + -0.005076417233794928, + -0.9904370903968811, + -6.203441143035889 + ], + [ + 0.07666278630495071, + -0.9969322085380554, + 0.01578136906027794, + -1.1332812309265137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3492, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_38470268", + "mask_path": "../../mask/hdr_left_03492.png" + }, + { + "file_path": "../../rgb/hdr_left_03493.png", + "transform_matrix": [ + [ + -0.9885437488555908, + -0.08089294284582138, + -0.12742646038532257, + 10.66463565826416 + ], + [ + 0.12814849615097046, + -0.0037763153668493032, + -0.9917477965354919, + -6.216154098510742 + ], + [ + 0.07974418997764587, + -0.9967156648635864, + 0.0140993632376194, + -1.1261149644851685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3493, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_138470172", + "mask_path": "../../mask/hdr_left_03493.png" + }, + { + "file_path": "../../rgb/hdr_left_03494.png", + "transform_matrix": [ + [ + -0.990648090839386, + -0.07888609170913696, + -0.11132587492465973, + 10.594696044921875 + ], + [ + 0.11174260079860687, + -0.0008744551450945437, + -0.9937368035316467, + -6.226142406463623 + ], + [ + 0.07829465717077255, + -0.9968833327293396, + 0.009681218303740025, + -1.1241157054901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3494, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_238469362", + "mask_path": "../../mask/hdr_left_03494.png" + }, + { + "file_path": "../../rgb/hdr_left_03495.png", + "transform_matrix": [ + [ + -0.9917051196098328, + -0.07815056294202805, + -0.10204552114009857, + 10.523656845092773 + ], + [ + 0.102405846118927, + -0.000606206594966352, + -0.9947425127029419, + -6.232690334320068 + ], + [ + 0.07767782360315323, + -0.9969413876533508, + 0.008604253642261028, + -1.120911717414856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3495, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_338469266", + "mask_path": "../../mask/hdr_left_03495.png" + }, + { + "file_path": "../../rgb/hdr_left_03496.png", + "transform_matrix": [ + [ + -0.9915729761123657, + -0.07855352014303207, + -0.10301519930362701, + 10.453069686889648 + ], + [ + 0.10311372578144073, + 0.0028119883500039577, + -0.9946655631065369, + -6.23583459854126 + ], + [ + 0.07842415571212769, + -0.9969059824943542, + 0.005311656277626753, + -1.1065411567687988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3496, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_438469409", + "mask_path": "../../mask/hdr_left_03496.png" + }, + { + "file_path": "../../rgb/hdr_left_03497.png", + "transform_matrix": [ + [ + -0.9902854561805725, + -0.08488231897354126, + -0.11013509333133698, + 10.383940696716309 + ], + [ + 0.11101795732975006, + -0.005737368017435074, + -0.9938018321990967, + -6.241416931152344 + ], + [ + 0.08372429758310318, + -0.9963744878768921, + 0.015105093829333782, + -1.095243215560913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3497, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_538468122", + "mask_path": "../../mask/hdr_left_03497.png" + }, + { + "file_path": "../../rgb/hdr_left_03498.png", + "transform_matrix": [ + [ + -0.990003228187561, + -0.08778468519449234, + -0.11039609462022781, + 10.303707122802734 + ], + [ + 0.11176981776952744, + -0.010875321924686432, + -0.993674635887146, + -6.250457286834717 + ], + [ + 0.0860288217663765, + -0.9960801601409912, + 0.020578285679221153, + -1.0846768617630005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3498, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_638469457", + "mask_path": "../../mask/hdr_left_03498.png" + }, + { + "file_path": "../../rgb/hdr_left_03499.png", + "transform_matrix": [ + [ + -0.9914765954017639, + -0.08426493406295776, + -0.09936609864234924, + 10.216609954833984 + ], + [ + 0.10057529807090759, + -0.010217675007879734, + -0.9948769807815552, + -6.264011383056641 + ], + [ + 0.08281794935464859, + -0.9963910579681396, + 0.018605554476380348, + -1.0803594589233398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3499, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_738468885", + "mask_path": "../../mask/hdr_left_03499.png" + }, + { + "file_path": "../../rgb/hdr_left_03500.png", + "transform_matrix": [ + [ + -0.9925720691680908, + -0.08054354786872864, + -0.0911775529384613, + 10.143696784973145 + ], + [ + 0.09204819798469543, + -0.007155690807849169, + -0.9957288503646851, + -6.270570755004883 + ], + [ + 0.07954709231853485, + -0.9967254400253296, + 0.014516429975628853, + -1.0809943675994873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3500, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_838469266", + "mask_path": "../../mask/hdr_left_03500.png" + }, + { + "file_path": "../../rgb/hdr_left_03501.png", + "transform_matrix": [ + [ + -0.9925259351730347, + -0.08022082597017288, + -0.0919615626335144, + 10.063352584838867 + ], + [ + 0.09273117035627365, + -0.005913630593568087, + -0.9956735968589783, + -6.271071434020996 + ], + [ + 0.07932993024587631, + -0.9967595934867859, + 0.013308406807482243, + -1.0706086158752441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_938469171", + "mask_path": "../../mask/hdr_left_03501.png" + }, + { + "file_path": "../../rgb/hdr_left_03502.png", + "transform_matrix": [ + [ + -0.9910117387771606, + -0.08221316337585449, + -0.10553046315908432, + 9.987664222717285 + ], + [ + 0.10649077594280243, + -0.007372296880930662, + -0.9942863583564758, + -6.270556926727295 + ], + [ + 0.08096542954444885, + -0.9965875744819641, + 0.016060978174209595, + -1.052056074142456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3502, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_38469314", + "mask_path": "../../mask/hdr_left_03502.png" + }, + { + "file_path": "../../rgb/hdr_left_03503.png", + "transform_matrix": [ + [ + -0.9897148013114929, + -0.08394360542297363, + -0.1158362552523613, + 9.914093971252441 + ], + [ + 0.11733746528625488, + -0.01315965037792921, + -0.9930049180984497, + -6.27459716796875 + ], + [ + 0.08183204382658005, + -0.9963836669921875, + 0.022874033078551292, + -1.0420061349868774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3503, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_138470411", + "mask_path": "../../mask/hdr_left_03503.png" + }, + { + "file_path": "../../rgb/hdr_left_03504.png", + "transform_matrix": [ + [ + -0.989978015422821, + -0.07864684611558914, + -0.11729506403207779, + 9.835136413574219 + ], + [ + 0.11817296594381332, + -0.0065866499207913876, + -0.9929711818695068, + -6.2827372550964355 + ], + [ + 0.07732146978378296, + -0.996880829334259, + 0.01581457071006298, + -1.033651351928711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3504, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_238470554", + "mask_path": "../../mask/hdr_left_03504.png" + }, + { + "file_path": "../../rgb/hdr_left_03505.png", + "transform_matrix": [ + [ + -0.99083012342453, + -0.07552240788936615, + -0.11203533411026001, + 9.759805679321289 + ], + [ + 0.1125524491071701, + -0.0026123980060219765, + -0.9936423897743225, + -6.289571285247803 + ], + [ + 0.07474957406520844, + -0.9971407055854797, + 0.011088673956692219, + -1.0333127975463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3505, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_338470458", + "mask_path": "../../mask/hdr_left_03505.png" + }, + { + "file_path": "../../rgb/hdr_left_03506.png", + "transform_matrix": [ + [ + -0.9910567402839661, + -0.0752221867442131, + -0.11021904647350311, + 9.682609558105469 + ], + [ + 0.11064746230840683, + -0.0015389712061733007, + -0.9938585162162781, + -6.295765399932861 + ], + [ + 0.07459058612585068, + -0.9971656799316406, + 0.009848354384303093, + -1.0304404497146606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3506, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_438469886", + "mask_path": "../../mask/hdr_left_03506.png" + }, + { + "file_path": "../../rgb/hdr_left_03507.png", + "transform_matrix": [ + [ + -0.9905378222465515, + -0.07516482472419739, + -0.11482645571231842, + 9.598631858825684 + ], + [ + 0.11525717377662659, + -0.00140372384339571, + -0.9933346509933472, + -6.301309108734131 + ], + [ + 0.07450264692306519, + -0.9971701502799988, + 0.010053729638457298, + -1.0154844522476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3507, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_538469791", + "mask_path": "../../mask/hdr_left_03507.png" + }, + { + "file_path": "../../rgb/hdr_left_03508.png", + "transform_matrix": [ + [ + -0.9890621304512024, + -0.07801485806703568, + -0.1251789629459381, + 9.523235321044922 + ], + [ + 0.12618161737918854, + -0.008038370870053768, + -0.9919745922088623, + -6.307315826416016 + ], + [ + 0.07638251781463623, + -0.9969198703765869, + 0.017794489860534668, + -1.000532865524292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3508, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_638470411", + "mask_path": "../../mask/hdr_left_03508.png" + }, + { + "file_path": "../../rgb/hdr_left_03509.png", + "transform_matrix": [ + [ + -0.9889125227928162, + -0.08269887417554855, + -0.12334033846855164, + 9.447022438049316 + ], + [ + 0.12505000829696655, + -0.015802675858139992, + -0.9920245409011841, + -6.316036701202393 + ], + [ + 0.08009019494056702, + -0.9964492917060852, + 0.02596896141767502, + -0.9906971454620361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3509, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_738470554", + "mask_path": "../../mask/hdr_left_03509.png" + }, + { + "file_path": "../../rgb/hdr_left_03510.png", + "transform_matrix": [ + [ + -0.9906918406486511, + -0.0849895179271698, + -0.10633109509944916, + 9.35873794555664 + ], + [ + 0.10817217826843262, + -0.017345959320664406, + -0.9939808249473572, + -6.335705757141113 + ], + [ + 0.08263354003429413, + -0.9962309002876282, + 0.026378003880381584, + -0.9827249646186829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3510, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_838470697", + "mask_path": "../../mask/hdr_left_03510.png" + }, + { + "file_path": "../../rgb/hdr_left_03511.png", + "transform_matrix": [ + [ + -0.9935290217399597, + -0.08301887661218643, + -0.07751018553972244, + 9.287670135498047 + ], + [ + 0.07886812835931778, + -0.013199545443058014, + -0.9967976212501526, + -6.358033180236816 + ], + [ + 0.08172991871833801, + -0.9964605569839478, + 0.0196616780012846, + -0.9809892177581787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3511, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_938469886", + "mask_path": "../../mask/hdr_left_03511.png" + }, + { + "file_path": "../../rgb/hdr_left_03512.png", + "transform_matrix": [ + [ + -0.995642900466919, + -0.07929418981075287, + -0.04906713590025902, + 9.221211433410645 + ], + [ + 0.05012114718556404, + -0.011356120929121971, + -0.9986785054206848, + -6.3743133544921875 + ], + [ + 0.0786321833729744, + -0.9967865943908691, + 0.015280960127711296, + -0.9787349700927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3512, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_38469552", + "mask_path": "../../mask/hdr_left_03512.png" + }, + { + "file_path": "../../rgb/hdr_left_03513.png", + "transform_matrix": [ + [ + -0.996391773223877, + -0.0785999670624733, + -0.03202124685049057, + 9.143996238708496 + ], + [ + 0.03295707702636719, + -0.010637620463967323, + -0.9994001388549805, + -6.3860273361206055 + ], + [ + 0.07821217179298401, + -0.996849536895752, + 0.013189664110541344, + -0.9635860919952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3513, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_138470649", + "mask_path": "../../mask/hdr_left_03513.png" + }, + { + "file_path": "../../rgb/hdr_left_03514.png", + "transform_matrix": [ + [ + -0.9959993958473206, + -0.08233530819416046, + -0.03472726047039032, + 9.076010704040527 + ], + [ + 0.03620266541838646, + -0.016493801027536392, + -0.999208390712738, + -6.398146152496338 + ], + [ + 0.08169732987880707, + -0.996468186378479, + 0.0194085706025362, + -0.9504225254058838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3514, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_238469839", + "mask_path": "../../mask/hdr_left_03514.png" + }, + { + "file_path": "../../rgb/hdr_left_03515.png", + "transform_matrix": [ + [ + -0.9959585070610046, + -0.08220624178647995, + -0.03617599606513977, + 9.006611824035645 + ], + [ + 0.038471855223178864, + -0.02651696279644966, + -0.998907744884491, + -6.4137725830078125 + ], + [ + 0.08115717023611069, + -0.9962624907493591, + 0.029572421684861183, + -0.9401283264160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3515, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_338469982", + "mask_path": "../../mask/hdr_left_03515.png" + }, + { + "file_path": "../../rgb/hdr_left_03516.png", + "transform_matrix": [ + [ + -0.9961853623390198, + -0.0793750137090683, + -0.03625155985355377, + 8.926534652709961 + ], + [ + 0.03850708529353142, + -0.02707124873995781, + -0.9988915920257568, + -6.433212757110596 + ], + [ + 0.07830566167831421, + -0.9964772462844849, + 0.030024485662579536, + -0.9316522479057312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3516, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_438469409", + "mask_path": "../../mask/hdr_left_03516.png" + }, + { + "file_path": "../../rgb/hdr_left_03517.png", + "transform_matrix": [ + [ + -0.9965354800224304, + -0.07679262012243271, + -0.03193359076976776, + 8.855875968933105 + ], + [ + 0.03363790735602379, + -0.02100345864892006, + -0.9992132782936096, + -6.4508466720581055 + ], + [ + 0.07606149464845657, + -0.9968259334564209, + 0.02351384051144123, + -0.9296023845672607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3517, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_538469791", + "mask_path": "../../mask/hdr_left_03517.png" + }, + { + "file_path": "../../rgb/hdr_left_03518.png", + "transform_matrix": [ + [ + -0.9968420267105103, + -0.07277438044548035, + -0.03177599236369133, + 8.785205841064453 + ], + [ + 0.03341108560562134, + -0.021361680701375008, + -0.9992133378982544, + -6.466309070587158 + ], + [ + 0.07203833758831024, + -0.9971197247505188, + 0.02372569590806961, + -0.9274057745933533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3518, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_638469219", + "mask_path": "../../mask/hdr_left_03518.png" + }, + { + "file_path": "../../rgb/hdr_left_03519.png", + "transform_matrix": [ + [ + -0.9966970086097717, + -0.07160884886980057, + -0.0383036769926548, + 8.70640754699707 + ], + [ + 0.03999239578843117, + -0.022298773750662804, + -0.9989511370658875, + -6.478372573852539 + ], + [ + 0.07067961990833282, + -0.9971835613250732, + 0.02508893422782421, + -0.914313793182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3519, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_738469600", + "mask_path": "../../mask/hdr_left_03519.png" + }, + { + "file_path": "../../rgb/hdr_left_03520.png", + "transform_matrix": [ + [ + -0.995617687702179, + -0.07859703153371811, + -0.05067463591694832, + 8.630563735961914 + ], + [ + 0.05286604166030884, + -0.026054466143250465, + -0.9982617497444153, + -6.491908073425293 + ], + [ + 0.07714009284973145, + -0.9965659976005554, + 0.030095400288701057, + -0.9000418782234192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3520, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_838468313", + "mask_path": "../../mask/hdr_left_03520.png" + }, + { + "file_path": "../../rgb/hdr_left_03521.png", + "transform_matrix": [ + [ + -0.9950308203697205, + -0.08297980576753616, + -0.055026475340127945, + 8.548008918762207 + ], + [ + 0.05744148790836334, + -0.027000686153769493, + -0.9979836940765381, + -6.506961822509766 + ], + [ + 0.08132673799991608, + -0.9961854219436646, + 0.03163299709558487, + -0.8890684843063354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3521, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_938469171", + "mask_path": "../../mask/hdr_left_03521.png" + }, + { + "file_path": "../../rgb/hdr_left_03522.png", + "transform_matrix": [ + [ + -0.9954261183738708, + -0.08108368515968323, + -0.050518810749053955, + 8.460573196411133 + ], + [ + 0.05289477854967117, + -0.027425816282629967, + -0.9982234835624695, + -6.524513244628906 + ], + [ + 0.07955410331487656, + -0.9963299632072449, + 0.03158928081393242, + -0.8888909816741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_38467645", + "mask_path": "../../mask/hdr_left_03522.png" + }, + { + "file_path": "../../rgb/hdr_left_03523.png", + "transform_matrix": [ + [ + -0.9957383275032043, + -0.07850909233093262, + -0.04838811978697777, + 8.388648986816406 + ], + [ + 0.05029933154582977, + -0.022550538182258606, + -0.9984796047210693, + -6.535323619842529 + ], + [ + 0.07729854434728622, + -0.9966583251953125, + 0.026403391733765602, + -0.8871217966079712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3523, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_138468503", + "mask_path": "../../mask/hdr_left_03523.png" + }, + { + "file_path": "../../rgb/hdr_left_03524.png", + "transform_matrix": [ + [ + -0.9951639175415039, + -0.08177464455366135, + -0.05442129075527191, + 8.307103157043457 + ], + [ + 0.056089673191308975, + -0.01824372448027134, + -0.9982590675354004, + -6.539121150970459 + ], + [ + 0.08063942939043045, + -0.9964838624000549, + 0.02274220995604992, + -0.8700442910194397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_238469839", + "mask_path": "../../mask/hdr_left_03524.png" + }, + { + "file_path": "../../rgb/hdr_left_03525.png", + "transform_matrix": [ + [ + -0.9939634799957275, + -0.08614987879991531, + -0.06793263554573059, + 8.23444652557373 + ], + [ + 0.07023566961288452, + -0.023986412212252617, + -0.9972419738769531, + -6.544983386993408 + ], + [ + 0.08428281545639038, + -0.995993435382843, + 0.029892412945628166, + -0.8544620275497437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3525, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_338470697", + "mask_path": "../../mask/hdr_left_03525.png" + }, + { + "file_path": "../../rgb/hdr_left_03526.png", + "transform_matrix": [ + [ + -0.9935585856437683, + -0.08694374561309814, + -0.0726776048541069, + 8.16745376586914 + ], + [ + 0.0754208117723465, + -0.028689520433545113, + -0.9967390298843384, + -6.557141304016113 + ], + [ + 0.0845751240849495, + -0.9958000779151917, + 0.03506208583712578, + -0.8429571390151978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_438470125", + "mask_path": "../../mask/hdr_left_03526.png" + }, + { + "file_path": "../../rgb/hdr_left_03527.png", + "transform_matrix": [ + [ + -0.9941347241401672, + -0.08363909274339676, + -0.06856150925159454, + 8.091681480407715 + ], + [ + 0.07071640342473984, + -0.02307625114917755, + -0.9972294569015503, + -6.5690107345581055 + ], + [ + 0.08182521909475327, + -0.9962289333343506, + 0.02885556034743786, + -0.8372810482978821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3527, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_538470745", + "mask_path": "../../mask/hdr_left_03527.png" + }, + { + "file_path": "../../rgb/hdr_left_03528.png", + "transform_matrix": [ + [ + -0.9945548176765442, + -0.08315398544073105, + -0.06281859427690506, + 8.025300025939941 + ], + [ + 0.06466051191091537, + -0.01964350789785385, + -0.9977139234542847, + -6.576728820800781 + ], + [ + 0.08172991871833801, + -0.9963431358337402, + 0.024913325905799866, + -0.8342821598052979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3528, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_638469457", + "mask_path": "../../mask/hdr_left_03528.png" + }, + { + "file_path": "../../rgb/hdr_left_03529.png", + "transform_matrix": [ + [ + -0.9943486452102661, + -0.08441649377346039, + -0.06437931954860687, + 7.956837177276611 + ], + [ + 0.06621500104665756, + -0.019126178696751595, + -0.997622013092041, + -6.579371452331543 + ], + [ + 0.08298441767692566, + -0.9962469935417175, + 0.02460772916674614, + -0.8246947526931763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3529, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_738470077", + "mask_path": "../../mask/hdr_left_03529.png" + }, + { + "file_path": "../../rgb/hdr_left_03530.png", + "transform_matrix": [ + [ + -0.9935140609741211, + -0.08551674336194992, + -0.07494406402111053, + 7.884674072265625 + ], + [ + 0.07683826237916946, + -0.019072934985160828, + -0.9968611001968384, + -6.5851664543151855 + ], + [ + 0.08381890505552292, + -0.9961541891098022, + 0.025520190596580505, + -0.8114377856254578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3530, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_838470220", + "mask_path": "../../mask/hdr_left_03530.png" + }, + { + "file_path": "../../rgb/hdr_left_03531.png", + "transform_matrix": [ + [ + -0.9923042058944702, + -0.08798649162054062, + -0.08712456375360489, + 7.8112287521362305 + ], + [ + 0.08972496539354324, + -0.026037471368908882, + -0.9956261515617371, + -6.593252658843994 + ], + [ + 0.08533313870429993, + -0.9957813620567322, + 0.03373167663812637, + -0.8008485436439514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3531, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_938470363", + "mask_path": "../../mask/hdr_left_03531.png" + }, + { + "file_path": "../../rgb/hdr_left_03532.png", + "transform_matrix": [ + [ + -0.9920374751091003, + -0.08674486726522446, + -0.09130758792161942, + 7.72894287109375 + ], + [ + 0.09383561462163925, + -0.025518376380205154, + -0.9952606558799744, + -6.601491928100586 + ], + [ + 0.0840037390589714, + -0.995903730392456, + 0.03345494344830513, + -0.7917435765266418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3532, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_38470029", + "mask_path": "../../mask/hdr_left_03532.png" + }, + { + "file_path": "../../rgb/hdr_left_03533.png", + "transform_matrix": [ + [ + -0.992618203163147, + -0.08456557244062424, + -0.08693501353263855, + 7.644894123077393 + ], + [ + 0.08899030089378357, + -0.020838547497987747, + -0.9958145618438721, + -6.612159729003906 + ], + [ + 0.08240000158548355, + -0.9962000250816345, + 0.02821023389697075, + -0.7896992564201355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3533, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_138470411", + "mask_path": "../../mask/hdr_left_03533.png" + }, + { + "file_path": "../../rgb/hdr_left_03534.png", + "transform_matrix": [ + [ + -0.9928867816925049, + -0.0806596428155899, + -0.08757784962654114, + 7.573289394378662 + ], + [ + 0.08916423469781876, + -0.016273239627480507, + -0.9958840012550354, + -6.618048191070557 + ], + [ + 0.0789024606347084, + -0.9966088533401489, + 0.02334943786263466, + -0.785271406173706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3534, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_238470315", + "mask_path": "../../mask/hdr_left_03534.png" + }, + { + "file_path": "../../rgb/hdr_left_03535.png", + "transform_matrix": [ + [ + -0.9923756122589111, + -0.07780306786298752, + -0.09558837115764618, + 7.4924798011779785 + ], + [ + 0.09693446755409241, + -0.013703628443181515, + -0.9951964020729065, + -6.616844177246094 + ], + [ + 0.07611942291259766, + -0.9968745708465576, + 0.021140947937965393, + -0.771621823310852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3535, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_338471651", + "mask_path": "../../mask/hdr_left_03535.png" + }, + { + "file_path": "../../rgb/hdr_left_03536.png", + "transform_matrix": [ + [ + -0.9906965494155884, + -0.08165107667446136, + -0.10887323319911957, + 7.420217037200928 + ], + [ + 0.11077187210321426, + -0.019081799313426018, + -0.9936626553535461, + -6.617156982421875 + ], + [ + 0.07905612140893936, + -0.9964783787727356, + 0.02794891595840454, + -0.7600059509277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3536, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_438470602", + "mask_path": "../../mask/hdr_left_03536.png" + }, + { + "file_path": "../../rgb/hdr_left_03537.png", + "transform_matrix": [ + [ + -0.9898276329040527, + -0.08296217769384384, + -0.11557872593402863, + 7.342120170593262 + ], + [ + 0.1178351417183876, + -0.022821249440312386, + -0.9927709102630615, + -6.622455596923828 + ], + [ + 0.07972478866577148, + -0.9962913990020752, + 0.032364968210458755, + -0.7497156858444214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3537, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_538470029", + "mask_path": "../../mask/hdr_left_03537.png" + }, + { + "file_path": "../../rgb/hdr_left_03538.png", + "transform_matrix": [ + [ + -0.9906686544418335, + -0.07756336778402328, + -0.11206868290901184, + 7.253854274749756 + ], + [ + 0.11392419040203094, + -0.019911721348762512, + -0.9932898879051208, + -6.632535457611084 + ], + [ + 0.0748114138841629, + -0.9967886209487915, + 0.028562264516949654, + -0.7432866096496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3538, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_638469457", + "mask_path": "../../mask/hdr_left_03538.png" + }, + { + "file_path": "../../rgb/hdr_left_03539.png", + "transform_matrix": [ + [ + -0.9916952848434448, + -0.07484038174152374, + -0.10459175705909729, + 7.18607759475708 + ], + [ + 0.10618282109498978, + -0.017595291137695312, + -0.9941908717155457, + -6.640691757202148 + ], + [ + 0.07256529480218887, + -0.9970402717590332, + 0.02539593167603016, + -0.7446381449699402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3539, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_738469123", + "mask_path": "../../mask/hdr_left_03539.png" + }, + { + "file_path": "../../rgb/hdr_left_03540.png", + "transform_matrix": [ + [ + -0.9919323325157166, + -0.07309124618768692, + -0.10357467085123062, + 7.114261627197266 + ], + [ + 0.10503066331148148, + -0.016355568543076515, + -0.9943344593048096, + -6.646690845489502 + ], + [ + 0.07098311185836792, + -0.9971911907196045, + 0.02390044368803501, + -0.7420003414154053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3540, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_838469266", + "mask_path": "../../mask/hdr_left_03540.png" + }, + { + "file_path": "../../rgb/hdr_left_03541.png", + "transform_matrix": [ + [ + -0.99114990234375, + -0.07352682948112488, + -0.11052455008029938, + 7.0374650955200195 + ], + [ + 0.11156182736158371, + -0.010140594094991684, + -0.9937057495117188, + -6.648421764373779 + ], + [ + 0.0719432383775711, + -0.997241735458374, + 0.018253637477755547, + -0.7253860235214233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3541, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_938471794", + "mask_path": "../../mask/hdr_left_03541.png" + }, + { + "file_path": "../../rgb/hdr_left_03542.png", + "transform_matrix": [ + [ + -0.989093542098999, + -0.07883752882480621, + -0.12441234290599823, + 6.966231822967529 + ], + [ + 0.12587420642375946, + -0.013833151198923588, + -0.991949737071991, + -6.651913166046143 + ], + [ + 0.07648184150457382, + -0.9967915415763855, + 0.023605890572071075, + -0.712482213973999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3542, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_38470268", + "mask_path": "../../mask/hdr_left_03542.png" + }, + { + "file_path": "../../rgb/hdr_left_03543.png", + "transform_matrix": [ + [ + -0.9877070188522339, + -0.08109710365533829, + -0.13363412022590637, + 6.884220123291016 + ], + [ + 0.13551975786685944, + -0.018186181783676147, + -0.9906076788902283, + -6.657392501831055 + ], + [ + 0.07790511101484299, + -0.9965403079986572, + 0.028952879831194878, + -0.7023546099662781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3543, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_138469457", + "mask_path": "../../mask/hdr_left_03543.png" + }, + { + "file_path": "../../rgb/hdr_left_03544.png", + "transform_matrix": [ + [ + -0.9880595803260803, + -0.07749523967504501, + -0.13316386938095093, + 6.789252281188965 + ], + [ + 0.13468831777572632, + -0.014765392057597637, + -0.9907779097557068, + -6.666625499725342 + ], + [ + 0.07481435686349869, + -0.9968833923339844, + 0.025026792660355568, + -0.6953625679016113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3544, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_238469123", + "mask_path": "../../mask/hdr_left_03544.png" + }, + { + "file_path": "../../rgb/hdr_left_03545.png", + "transform_matrix": [ + [ + -0.9891530871391296, + -0.07474708557128906, + -0.12644705176353455, + 6.710173606872559 + ], + [ + 0.12757249176502228, + -0.010459540411829948, + -0.9917740225791931, + -6.672852516174316 + ], + [ + 0.07280964404344559, + -0.9971476793289185, + 0.01988176256418228, + -0.6937054991722107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3545, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_338470697", + "mask_path": "../../mask/hdr_left_03545.png" + }, + { + "file_path": "../../rgb/hdr_left_03546.png", + "transform_matrix": [ + [ + -0.9892494678497314, + -0.07328023761510849, + -0.12655283510684967, + 6.632854461669922 + ], + [ + 0.12753361463546753, + -0.008844194002449512, + -0.991794764995575, + -6.6745405197143555 + ], + [ + 0.07155969738960266, + -0.9972721934318542, + 0.018094809725880623, + -0.6854436993598938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3546, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_438470602", + "mask_path": "../../mask/hdr_left_03546.png" + }, + { + "file_path": "../../rgb/hdr_left_03547.png", + "transform_matrix": [ + [ + -0.9881287217140198, + -0.07136006653308868, + -0.13604889810085297, + 6.549676895141602 + ], + [ + 0.1368960291147232, + -0.007094913627952337, + -0.9905600547790527, + -6.673395156860352 + ], + [ + 0.06972117722034454, + -0.9974254369735718, + 0.016779599711298943, + -0.6682832837104797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3547, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_538470745", + "mask_path": "../../mask/hdr_left_03547.png" + }, + { + "file_path": "../../rgb/hdr_left_03548.png", + "transform_matrix": [ + [ + -0.9858070611953735, + -0.07861143350601196, + -0.14833982288837433, + 6.475906848907471 + ], + [ + 0.14981825649738312, + -0.01322203129529953, + -0.9886251091957092, + -6.676056385040283 + ], + [ + 0.07575587928295135, + -0.9968177080154419, + 0.024811796844005585, + -0.6567167043685913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3548, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_638469696", + "mask_path": "../../mask/hdr_left_03548.png" + }, + { + "file_path": "../../rgb/hdr_left_03549.png", + "transform_matrix": [ + [ + -0.9846957325935364, + -0.08246955275535583, + -0.15353508293628693, + 6.385340213775635 + ], + [ + 0.15533943474292755, + -0.015889085829257965, + -0.9877333641052246, + -6.682852745056152 + ], + [ + 0.07901839166879654, + -0.9964669346809387, + 0.028456689789891243, + -0.645879864692688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3549, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_738469123", + "mask_path": "../../mask/hdr_left_03549.png" + }, + { + "file_path": "../../rgb/hdr_left_03550.png", + "transform_matrix": [ + [ + -0.9854104518890381, + -0.08090660721063614, + -0.14973440766334534, + 6.288085460662842 + ], + [ + 0.1513315886259079, + -0.013948514126241207, + -0.9883846640586853, + -6.692263603210449 + ], + [ + 0.07787825912237167, + -0.9966241717338562, + 0.025988735258579254, + -0.6398290395736694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3550, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_838471651", + "mask_path": "../../mask/hdr_left_03550.png" + }, + { + "file_path": "../../rgb/hdr_left_03551.png", + "transform_matrix": [ + [ + -0.9861209988594055, + -0.0781407579779625, + -0.14649033546447754, + 6.2175517082214355 + ], + [ + 0.14760948717594147, + -0.00871224794536829, + -0.9890074133872986, + -6.694430351257324 + ], + [ + 0.07600551843643188, + -0.9969043135643005, + 0.020125648006796837, + -0.6400166749954224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3551, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_938470840", + "mask_path": "../../mask/hdr_left_03551.png" + }, + { + "file_path": "../../rgb/hdr_left_03552.png", + "transform_matrix": [ + [ + -0.9855701327323914, + -0.07690724730491638, + -0.15078705549240112, + 6.136051654815674 + ], + [ + 0.15148545801639557, + -0.0032958355732262135, + -0.9884540438652039, + -6.691818714141846 + ], + [ + 0.07552230358123779, + -0.997032880783081, + 0.014898610301315784, + -0.6281182765960693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3552, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_38470029", + "mask_path": "../../mask/hdr_left_03552.png" + }, + { + "file_path": "../../rgb/hdr_left_03553.png", + "transform_matrix": [ + [ + -0.9836633801460266, + -0.0771065503358841, + -0.16266803443431854, + 6.060001850128174 + ], + [ + 0.16319172084331512, + -0.0004977820790372789, + -0.9865942001342773, + -6.691601753234863 + ], + [ + 0.0759919062256813, + -0.997022807598114, + 0.013072805479168892, + -0.6091378927230835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3553, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_138469696", + "mask_path": "../../mask/hdr_left_03553.png" + }, + { + "file_path": "../../rgb/hdr_left_03554.png", + "transform_matrix": [ + [ + -0.9818297624588013, + -0.08011873066425323, + -0.17202110588550568, + 5.989229679107666 + ], + [ + 0.17334085702896118, + -0.009766834788024426, + -0.9848135113716125, + -6.690720558166504 + ], + [ + 0.07722190022468567, + -0.9967374801635742, + 0.02347721718251705, + -0.6000850200653076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3554, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_238470077", + "mask_path": "../../mask/hdr_left_03554.png" + }, + { + "file_path": "../../rgb/hdr_left_03555.png", + "transform_matrix": [ + [ + -0.9818631410598755, + -0.07919719070196152, + -0.1722569763660431, + 5.899353504180908 + ], + [ + 0.17384275794029236, + -0.01353268139064312, + -0.9846804141998291, + -6.696453094482422 + ], + [ + 0.07565281540155411, + -0.9967671632766724, + 0.027055101469159126, + -0.5899258852005005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3555, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_338472604", + "mask_path": "../../mask/hdr_left_03555.png" + }, + { + "file_path": "../../rgb/hdr_left_03556.png", + "transform_matrix": [ + [ + -0.9830835461616516, + -0.07955806702375412, + -0.1649763286113739, + 5.816044330596924 + ], + [ + 0.16643020510673523, + -0.011957391165196896, + -0.985980749130249, + -6.701657295227051 + ], + [ + 0.0764700248837471, + -0.9967585802078247, + 0.02499597892165184, + -0.5891086459159851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3556, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_438471555", + "mask_path": "../../mask/hdr_left_03556.png" + }, + { + "file_path": "../../rgb/hdr_left_03557.png", + "transform_matrix": [ + [ + -0.9831657409667969, + -0.08040512353181839, + -0.16407336294651031, + 5.744113922119141 + ], + [ + 0.16507263481616974, + -0.005896961782127619, + -0.9862637519836426, + -6.699006080627441 + ], + [ + 0.07833312451839447, + -0.9967448711395264, + 0.019070381298661232, + -0.5825941562652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3557, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_538470029", + "mask_path": "../../mask/hdr_left_03557.png" + }, + { + "file_path": "../../rgb/hdr_left_03558.png", + "transform_matrix": [ + [ + -0.9816274046897888, + -0.08291178941726685, + -0.17185232043266296, + 5.666073799133301 + ], + [ + 0.17246390879154205, + -0.00021784385899081826, + -0.9850158095359802, + -6.6956868171691895 + ], + [ + 0.08163197338581085, + -0.9965568780899048, + 0.014513134956359863, + -0.5643537044525146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3558, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_638470172", + "mask_path": "../../mask/hdr_left_03558.png" + }, + { + "file_path": "../../rgb/hdr_left_03559.png", + "transform_matrix": [ + [ + -0.9786206483840942, + -0.08790144324302673, + -0.18594332039356232, + 5.594944953918457 + ], + [ + 0.18700405955314636, + -0.003917762544006109, + -0.9823513031005859, + -6.69601583480835 + ], + [ + 0.08562161773443222, + -0.9961214661598206, + 0.02027193084359169, + -0.5486115217208862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3559, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_738469600", + "mask_path": "../../mask/hdr_left_03559.png" + }, + { + "file_path": "../../rgb/hdr_left_03560.png", + "transform_matrix": [ + [ + -0.9773287773132324, + -0.0896490216255188, + -0.19181139767169952, + 5.514667987823486 + ], + [ + 0.19305767118930817, + -0.005361972376704216, + -0.9811726808547974, + -6.697244167327881 + ], + [ + 0.08693268895149231, + -0.9959590435028076, + 0.022547844797372818, + -0.5356969237327576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3560, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_838468551", + "mask_path": "../../mask/hdr_left_03560.png" + }, + { + "file_path": "../../rgb/hdr_left_03561.png", + "transform_matrix": [ + [ + -0.9781292676925659, + -0.08806955069303513, + -0.18843242526054382, + 5.427356719970703 + ], + [ + 0.18954646587371826, + -0.004386293701827526, + -0.98186194896698, + -6.699618816375732 + ], + [ + 0.08564561605453491, + -0.9961047172546387, + 0.020983634516596794, + -0.5337141752243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3561, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_938472032", + "mask_path": "../../mask/hdr_left_03561.png" + }, + { + "file_path": "../../rgb/hdr_left_03562.png", + "transform_matrix": [ + [ + -0.9784911274909973, + -0.08687061071395874, + -0.18710605800151825, + 5.357425212860107 + ], + [ + 0.18804509937763214, + -0.0026816134341061115, + -0.9821568131446838, + -6.7002153396606445 + ], + [ + 0.08481880277395248, + -0.9962160587310791, + 0.018959524109959602, + -0.5332487225532532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3562, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_38469552", + "mask_path": "../../mask/hdr_left_03562.png" + }, + { + "file_path": "../../rgb/hdr_left_03563.png", + "transform_matrix": [ + [ + -0.9775266647338867, + -0.0847693681716919, + -0.19301746785640717, + 5.282539367675781 + ], + [ + 0.19365186989307404, + 0.0007526186527684331, + -0.9810700416564941, + -6.696392059326172 + ], + [ + 0.08330995589494705, + -0.9964003562927246, + 0.015680043026804924, + -0.5168841481208801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3563, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_138471603", + "mask_path": "../../mask/hdr_left_03563.png" + }, + { + "file_path": "../../rgb/hdr_left_03564.png", + "transform_matrix": [ + [ + -0.9748567342758179, + -0.0881015956401825, + -0.20467634499073029, + 5.22182559967041 + ], + [ + 0.2056460976600647, + -0.0019771771039813757, + -0.9786245226860046, + -6.691493988037109 + ], + [ + 0.08581368625164032, + -0.996109664440155, + 0.020045213401317596, + -0.5002335906028748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3564, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_238469362", + "mask_path": "../../mask/hdr_left_03564.png" + }, + { + "file_path": "../../rgb/hdr_left_03565.png", + "transform_matrix": [ + [ + -0.9736765623092651, + -0.09169119596481323, + -0.20867785811424255, + 5.15919303894043 + ], + [ + 0.2103593945503235, + -0.008966072462499142, + -0.9775829911231995, + -6.692373275756836 + ], + [ + 0.08776473253965378, + -0.9957471489906311, + 0.02801816165447235, + -0.4871419072151184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3565, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_338469028", + "mask_path": "../../mask/hdr_left_03565.png" + }, + { + "file_path": "../../rgb/hdr_left_03566.png", + "transform_matrix": [ + [ + -0.9746123552322388, + -0.08868545293807983, + -0.20558646321296692, + 5.081705570220947 + ], + [ + 0.2072787880897522, + -0.010214871726930141, + -0.9782286286354065, + -6.691171646118164 + ], + [ + 0.08465461432933807, + -0.9960073232650757, + 0.028338154777884483, + -0.4808364510536194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3566, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_438468933", + "mask_path": "../../mask/hdr_left_03566.png" + }, + { + "file_path": "../../rgb/hdr_left_03567.png", + "transform_matrix": [ + [ + -0.9756104946136475, + -0.08961609750986099, + -0.20038239657878876, + 5.010096549987793 + ], + [ + 0.20189575850963593, + -0.008060188964009285, + -0.9793738722801208, + -6.68661642074585 + ], + [ + 0.08615253120660782, + -0.9959437847137451, + 0.025956712663173676, + -0.47982585430145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3567, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_538470745", + "mask_path": "../../mask/hdr_left_03567.png" + }, + { + "file_path": "../../rgb/hdr_left_03568.png", + "transform_matrix": [ + [ + -0.9751210808753967, + -0.09134472161531448, + -0.2019776552915573, + 4.942568302154541 + ], + [ + 0.2031145840883255, + -0.0032292986288666725, + -0.979149580001831, + -6.681329727172852 + ], + [ + 0.08878790587186813, + -0.9958142042160034, + 0.02170240506529808, + -0.4696693420410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3568, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_638470888", + "mask_path": "../../mask/hdr_left_03568.png" + }, + { + "file_path": "../../rgb/hdr_left_03569.png", + "transform_matrix": [ + [ + -0.9730702638626099, + -0.09063324332237244, + -0.2119431048631668, + 4.8816351890563965 + ], + [ + 0.21272611618041992, + 0.0010435836156830192, + -0.9771114587783813, + -6.676753997802734 + ], + [ + 0.08877994120121002, + -0.9958838224411011, + 0.01826457493007183, + -0.4535225033760071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3569, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_738469839", + "mask_path": "../../mask/hdr_left_03569.png" + }, + { + "file_path": "../../rgb/hdr_left_03570.png", + "transform_matrix": [ + [ + -0.9710354208946228, + -0.09416710585355759, + -0.21959680318832397, + 4.822166442871094 + ], + [ + 0.22105813026428223, + -0.005248933099210262, + -0.9752464890480042, + -6.677154541015625 + ], + [ + 0.0906834825873375, + -0.995542585849762, + 0.025913305580615997, + -0.441638708114624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3570, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_838469743", + "mask_path": "../../mask/hdr_left_03570.png" + }, + { + "file_path": "../../rgb/hdr_left_03571.png", + "transform_matrix": [ + [ + -0.971514880657196, + -0.09040488302707672, + -0.21905620396137238, + 4.74954891204834 + ], + [ + 0.22056414186954498, + -0.006917058955878019, + -0.9753479361534119, + -6.678773880004883 + ], + [ + 0.08666098117828369, + -0.9958810806274414, + 0.026660101488232613, + -0.43368208408355713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3571, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_938469886", + "mask_path": "../../mask/hdr_left_03571.png" + }, + { + "file_path": "../../rgb/hdr_right_00665.png", + "transform_matrix": [ + [ + -0.9846274852752686, + -0.1662810891866684, + -0.0534723624587059, + 5.24713659286499 + ], + [ + 0.05603575333952904, + -0.010759617201983929, + -0.9983708262443542, + -6.579695224761963 + ], + [ + 0.1654348522424698, + -0.9860196709632874, + 0.019911903887987137, + -0.4998684227466583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 665, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_638468503", + "mask_path": "../../mask/hdr_right_00665.png" + }, + { + "file_path": "../../rgb/hdr_right_00666.png", + "transform_matrix": [ + [ + -0.9860638976097107, + -0.15465714037418365, + -0.061312925070524216, + 5.341653823852539 + ], + [ + 0.06467822939157486, + -0.016817830502986908, + -0.9977644681930542, + -6.60107946395874 + ], + [ + 0.15328025817871094, + -0.9878250360488892, + 0.02658640593290329, + -0.5209757685661316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 666, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_738469123", + "mask_path": "../../mask/hdr_right_00666.png" + }, + { + "file_path": "../../rgb/hdr_right_00667.png", + "transform_matrix": [ + [ + -0.9870229363441467, + -0.1493450403213501, + -0.05900725722312927, + 5.4359235763549805 + ], + [ + 0.062296152114868164, + -0.017436549067497253, + -0.997905433177948, + -6.614298343658447 + ], + [ + 0.14800335466861725, + -0.9886314868927002, + 0.02651388943195343, + -0.5280420184135437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 667, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_838469028", + "mask_path": "../../mask/hdr_right_00667.png" + }, + { + "file_path": "../../rgb/hdr_right_00668.png", + "transform_matrix": [ + [ + -0.9882152080535889, + -0.14202627539634705, + -0.05709017813205719, + 5.50124979019165 + ], + [ + 0.059594105929136276, + -0.013436008244752884, + -0.9981322884559631, + -6.619872093200684 + ], + [ + 0.14099393784999847, + -0.9897717237472534, + 0.021741598844528198, + -0.5351612567901611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 668, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_938468217", + "mask_path": "../../mask/hdr_right_00668.png" + }, + { + "file_path": "../../rgb/hdr_right_00669.png", + "transform_matrix": [ + [ + -0.9885815382003784, + -0.13932247459888458, + -0.057409755885601044, + 5.579220771789551 + ], + [ + 0.058787211775779724, + -0.005788545124232769, + -0.9982538223266602, + -6.629032611846924 + ], + [ + 0.13874687254428864, + -0.990230143070221, + 0.01391283143311739, + -0.5444698333740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 669, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_38469552", + "mask_path": "../../mask/hdr_right_00669.png" + }, + { + "file_path": "../../rgb/hdr_right_00670.png", + "transform_matrix": [ + [ + -0.9875679016113281, + -0.14336369931697845, + -0.06447239965200424, + 5.6695332527160645 + ], + [ + 0.06464328616857529, + 0.003470167052000761, + -0.997902512550354, + -6.648277759552002 + ], + [ + 0.14328671991825104, + -0.9896639585494995, + 0.0058404807932674885, + -0.5589656829833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 670, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_138469696", + "mask_path": "../../mask/hdr_right_00670.png" + }, + { + "file_path": "../../rgb/hdr_right_00671.png", + "transform_matrix": [ + [ + -0.9870686531066895, + -0.14091750979423523, + -0.07640586793422699, + 5.743129730224609 + ], + [ + 0.0764056071639061, + 0.005420295521616936, + -0.9970620274543762, + -6.672122478485107 + ], + [ + 0.14091764390468597, + -0.9900065064430237, + 0.005416683852672577, + -0.5607255101203918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 671, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_238470077", + "mask_path": "../../mask/hdr_right_00671.png" + }, + { + "file_path": "../../rgb/hdr_right_00672.png", + "transform_matrix": [ + [ + -0.9867260456085205, + -0.13457626104354858, + -0.09089052677154541, + 5.812097072601318 + ], + [ + 0.09138006716966629, + 0.0025476233568042517, + -0.9958128929138184, + -6.691153049468994 + ], + [ + 0.13424432277679443, + -0.9908999800682068, + 0.009783780202269554, + -0.5717354416847229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 672, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_338468551", + "mask_path": "../../mask/hdr_right_00672.png" + }, + { + "file_path": "../../rgb/hdr_right_00673.png", + "transform_matrix": [ + [ + -0.9861133694648743, + -0.1317930370569229, + -0.1010487750172615, + 5.910289287567139 + ], + [ + 0.10271809250116348, + -0.00591256795451045, + -0.9946929216384888, + -6.720843315124512 + ], + [ + 0.13049615919589996, + -0.9912595748901367, + 0.019367998465895653, + -0.5884751677513123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 673, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_438465833", + "mask_path": "../../mask/hdr_right_00673.png" + }, + { + "file_path": "../../rgb/hdr_right_00674.png", + "transform_matrix": [ + [ + -0.9861178994178772, + -0.13437874615192413, + -0.09753928333520889, + 5.99982213973999 + ], + [ + 0.09931609034538269, + -0.006566890049725771, + -0.9950343370437622, + -6.739509105682373 + ], + [ + 0.1330709457397461, + -0.9909082651138306, + 0.019821707159280777, + -0.5996896624565125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 674, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_538467884", + "mask_path": "../../mask/hdr_right_00674.png" + }, + { + "file_path": "../../rgb/hdr_right_00675.png", + "transform_matrix": [ + [ + -0.9870091676712036, + -0.12980930507183075, + -0.09467046707868576, + 6.063371181488037 + ], + [ + 0.09615295380353928, + -0.005186793860048056, + -0.9953532218933105, + -6.74897575378418 + ], + [ + 0.12871503829956055, + -0.991525411605835, + 0.017600959166884422, + -0.6088963150978088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 675, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_638469457", + "mask_path": "../../mask/hdr_right_00675.png" + }, + { + "file_path": "../../rgb/hdr_right_00676.png", + "transform_matrix": [ + [ + -0.987296998500824, + -0.12800747156143188, + -0.09412070363759995, + 6.144166469573975 + ], + [ + 0.09544096142053604, + -0.004205744713544846, + -0.9954262971878052, + -6.764570236206055 + ], + [ + 0.12702615559101105, + -0.9917643070220947, + 0.016369475051760674, + -0.6212202310562134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 676, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_738468408", + "mask_path": "../../mask/hdr_right_00676.png" + }, + { + "file_path": "../../rgb/hdr_right_00677.png", + "transform_matrix": [ + [ + -0.9865091443061829, + -0.12971185147762299, + -0.09987242519855499, + 6.232522487640381 + ], + [ + 0.10146427899599075, + -0.0057058148086071014, + -0.9948228597640991, + -6.788705348968506 + ], + [ + 0.12847048044204712, + -0.9915353655815125, + 0.01878996752202511, + -0.6271346807479858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 677, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_838469028", + "mask_path": "../../mask/hdr_right_00677.png" + }, + { + "file_path": "../../rgb/hdr_right_00678.png", + "transform_matrix": [ + [ + -0.986415445804596, + -0.12241779267787933, + -0.10953819751739502, + 6.3016357421875 + ], + [ + 0.11122715473175049, + -0.0070287068374454975, + -0.9937701225280762, + -6.816497802734375 + ], + [ + 0.12088524550199509, + -0.9924537539482117, + 0.020549410954117775, + -0.6246374845504761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 678, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594234_938469886", + "mask_path": "../../mask/hdr_right_00678.png" + }, + { + "file_path": "../../rgb/hdr_right_00679.png", + "transform_matrix": [ + [ + -0.9858342409133911, + -0.11473377048969269, + -0.12233993411064148, + 6.365845680236816 + ], + [ + 0.12464677542448044, + -0.013125105760991573, + -0.9921144247055054, + -6.840916156768799 + ], + [ + 0.1122232973575592, + -0.9933095574378967, + 0.027240373194217682, + -0.6335726380348206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_38471698", + "mask_path": "../../mask/hdr_right_00679.png" + }, + { + "file_path": "../../rgb/hdr_right_00680.png", + "transform_matrix": [ + [ + -0.9850339889526367, + -0.11184747517108917, + -0.131141796708107, + 6.452432632446289 + ], + [ + 0.1341545730829239, + -0.019816983491182327, + -0.9907622933387756, + -6.8694868087768555 + ], + [ + 0.10821542143821716, + -0.9935277700424194, + 0.034525252878665924, + -0.6473482847213745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 680, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_138470649", + "mask_path": "../../mask/hdr_right_00680.png" + }, + { + "file_path": "../../rgb/hdr_right_00681.png", + "transform_matrix": [ + [ + -0.9851487874984741, + -0.11461618542671204, + -0.1278475672006607, + 6.5390777587890625 + ], + [ + 0.13128365576267242, + -0.022918377071619034, + -0.9910799860954285, + -6.895931720733643 + ], + [ + 0.11066374182701111, + -0.9931454062461853, + 0.03762524574995041, + -0.6561262607574463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 681, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_238470315", + "mask_path": "../../mask/hdr_right_00681.png" + }, + { + "file_path": "../../rgb/hdr_right_00682.png", + "transform_matrix": [ + [ + -0.9856494069099426, + -0.11196566373109818, + -0.12632855772972107, + 6.611911773681641 + ], + [ + 0.12968015670776367, + -0.023145247250795364, + -0.9912857413291931, + -6.917060852050781 + ], + [ + 0.10806607455015182, + -0.9934424757957458, + 0.03733282536268234, + -0.6644869446754456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 682, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_338468790", + "mask_path": "../../mask/hdr_right_00682.png" + }, + { + "file_path": "../../rgb/hdr_right_00683.png", + "transform_matrix": [ + [ + -0.9857547283172607, + -0.11102131009101868, + -0.1263408660888672, + 6.69350528717041 + ], + [ + 0.12950822710990906, + -0.021767815575003624, + -0.9913395047187805, + -6.947397232055664 + ], + [ + 0.10730961710214615, + -0.993579626083374, + 0.03583590313792229, + -0.6749864220619202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 683, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_438470363", + "mask_path": "../../mask/hdr_right_00683.png" + }, + { + "file_path": "../../rgb/hdr_right_00684.png", + "transform_matrix": [ + [ + -0.9846568703651428, + -0.1127227395772934, + -0.13320814073085785, + 6.782119274139404 + ], + [ + 0.1363220065832138, + -0.020347941666841507, + -0.9904555678367615, + -6.98613166809082 + ], + [ + 0.1089363545179367, + -0.9934180974960327, + 0.0354023352265358, + -0.6821823716163635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 684, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_538469791", + "mask_path": "../../mask/hdr_right_00684.png" + }, + { + "file_path": "../../rgb/hdr_right_00685.png", + "transform_matrix": [ + [ + -0.9834467768669128, + -0.10718688368797302, + -0.14609435200691223, + 6.846920967102051 + ], + [ + 0.14899815618991852, + -0.019559195265173912, + -0.9886440634727478, + -7.014491081237793 + ], + [ + 0.10311218351125717, + -0.9940464496612549, + 0.03520607575774193, + -0.6817276477813721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 685, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_638470411", + "mask_path": "../../mask/hdr_right_00685.png" + }, + { + "file_path": "../../rgb/hdr_right_00686.png", + "transform_matrix": [ + [ + -0.9816910624504089, + -0.10011741518974304, + -0.16204680502414703, + 6.912942886352539 + ], + [ + 0.165111243724823, + -0.023065058514475822, + -0.9860052466392517, + -7.044631004333496 + ], + [ + 0.0949786826968193, + -0.994708240032196, + 0.039173271507024765, + -0.6924211978912354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 686, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_738470554", + "mask_path": "../../mask/hdr_right_00686.png" + }, + { + "file_path": "../../rgb/hdr_right_00687.png", + "transform_matrix": [ + [ + -0.9805067181587219, + -0.09506852924823761, + -0.17195472121238708, + 7.009598255157471 + ], + [ + 0.1749940812587738, + -0.024552512913942337, + -0.9842633605003357, + -7.082610130310059 + ], + [ + 0.08935055136680603, + -0.9951679110527039, + 0.04071033373475075, + -0.7025643587112427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 687, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_838469743", + "mask_path": "../../mask/hdr_right_00687.png" + }, + { + "file_path": "../../rgb/hdr_right_00688.png", + "transform_matrix": [ + [ + -0.9810371994972229, + -0.09516647458076477, + -0.16884739696979523, + 7.1015625 + ], + [ + 0.1717970222234726, + -0.02364468388259411, + -0.9848486185073853, + -7.112753391265869 + ], + [ + 0.08973222970962524, + -0.9951804876327515, + 0.039545632898807526, + -0.7049081325531006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 688, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594235_938469648", + "mask_path": "../../mask/hdr_right_00688.png" + }, + { + "file_path": "../../rgb/hdr_right_00689.png", + "transform_matrix": [ + [ + -0.9819846749305725, + -0.08991798758506775, + -0.1661950796842575, + 7.170389175415039 + ], + [ + 0.1687665432691574, + -0.02174036018550396, + -0.9854162931442261, + -7.130958557128906 + ], + [ + 0.08499350398778915, + -0.9957118034362793, + 0.03652384877204895, + -0.7117652297019958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 689, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_38469791", + "mask_path": "../../mask/hdr_right_00689.png" + }, + { + "file_path": "../../rgb/hdr_right_00690.png", + "transform_matrix": [ + [ + -0.9821034669876099, + -0.08805052191019058, + -0.16649268567562103, + 7.258488655090332 + ], + [ + 0.16846059262752533, + -0.015359599143266678, + -0.9855886697769165, + -7.159553527832031 + ], + [ + 0.08422433584928513, + -0.9959976077079773, + 0.02991776168346405, + -0.7193716764450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 690, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_138470888", + "mask_path": "../../mask/hdr_right_00690.png" + }, + { + "file_path": "../../rgb/hdr_right_00691.png", + "transform_matrix": [ + [ + -0.9800139665603638, + -0.09178005903959274, + -0.176490917801857, + 7.351285934448242 + ], + [ + 0.17799338698387146, + -0.008385838009417057, + -0.9839959740638733, + -7.196393966674805 + ], + [ + 0.08883117884397507, + -0.9957439303398132, + 0.024554479867219925, + -0.7224143743515015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 691, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_238470554", + "mask_path": "../../mask/hdr_right_00691.png" + }, + { + "file_path": "../../rgb/hdr_right_00692.png", + "transform_matrix": [ + [ + -0.9777946472167969, + -0.0845445841550827, + -0.19175487756729126, + 7.413758277893066 + ], + [ + 0.19283545017242432, + -0.004728914238512516, + -0.9812197089195251, + -7.224701881408691 + ], + [ + 0.08205002546310425, + -0.9964085221290588, + 0.020927097648382187, + -0.7226724624633789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 692, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_338469982", + "mask_path": "../../mask/hdr_right_00692.png" + }, + { + "file_path": "../../rgb/hdr_right_00693.png", + "transform_matrix": [ + [ + -0.9757182598114014, + -0.07664032280445099, + -0.2051830291748047, + 7.4867987632751465 + ], + [ + 0.20636092126369476, + -0.00769440084695816, + -0.9784456491470337, + -7.252588272094727 + ], + [ + 0.07340963184833527, + -0.9970291256904602, + 0.02332313545048237, + -0.7351597547531128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 693, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_438473224", + "mask_path": "../../mask/hdr_right_00693.png" + }, + { + "file_path": "../../rgb/hdr_right_00694.png", + "transform_matrix": [ + [ + -0.9753438830375671, + -0.07343631982803345, + -0.20811396837234497, + 7.587967395782471 + ], + [ + 0.20956091582775116, + -0.01249710749834776, + -0.9777156710624695, + -7.2838945388793945 + ], + [ + 0.06919902563095093, + -0.9972215890884399, + 0.027578359469771385, + -0.7437076568603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 694, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_538470506", + "mask_path": "../../mask/hdr_right_00694.png" + }, + { + "file_path": "../../rgb/hdr_right_00695.png", + "transform_matrix": [ + [ + -0.9774190783500671, + -0.0767449289560318, + -0.19688090682029724, + 7.673459053039551 + ], + [ + 0.1985088735818863, + -0.014119042083621025, + -0.9799973964691162, + -7.303188800811768 + ], + [ + 0.0724300667643547, + -0.9969508051872253, + 0.029034774750471115, + -0.7485637068748474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 695, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_638469696", + "mask_path": "../../mask/hdr_right_00695.png" + }, + { + "file_path": "../../rgb/hdr_right_00696.png", + "transform_matrix": [ + [ + -0.981209933757782, + -0.0734233558177948, + -0.17842689156532288, + 7.7443695068359375 + ], + [ + 0.1796797811985016, + -0.010773670859634876, + -0.9836662411689758, + -7.319067478179932 + ], + [ + 0.07030174881219864, + -0.9972426891326904, + 0.023763928562402725, + -0.7582775354385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 696, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_738470077", + "mask_path": "../../mask/hdr_right_00696.png" + }, + { + "file_path": "../../rgb/hdr_right_00697.png", + "transform_matrix": [ + [ + -0.9843683838844299, + -0.07187775522470474, + -0.1607874631881714, + 7.831569671630859 + ], + [ + 0.1615324467420578, + -0.00463746627792716, + -0.9868566393852234, + -7.342419624328613 + ], + [ + 0.07018738985061646, + -0.9974026679992676, + 0.016175566241145134, + -0.7683666348457336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_838470458", + "mask_path": "../../mask/hdr_right_00697.png" + }, + { + "file_path": "../../rgb/hdr_right_00698.png", + "transform_matrix": [ + [ + -0.9864646196365356, + -0.07422541081905365, + -0.14621253311634064, + 7.917184829711914 + ], + [ + 0.14671684801578522, + -0.0013592576142400503, + -0.9891777038574219, + -7.367160320281982 + ], + [ + 0.07322338223457336, + -0.9972405433654785, + 0.012230977416038513, + -0.7657835483551025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 698, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594236_938470363", + "mask_path": "../../mask/hdr_right_00698.png" + }, + { + "file_path": "../../rgb/hdr_right_00699.png", + "transform_matrix": [ + [ + -0.9888619780540466, + -0.07002350687980652, + -0.13133427500724792, + 7.980633735656738 + ], + [ + 0.13160161674022675, + 0.0008014113991521299, + -0.9913024306297302, + -7.387211799621582 + ], + [ + 0.06951972097158432, + -0.997545063495636, + 0.008422723039984703, + -0.7666769623756409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 699, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_38469552", + "mask_path": "../../mask/hdr_right_00699.png" + }, + { + "file_path": "../../rgb/hdr_right_00700.png", + "transform_matrix": [ + [ + -0.9916096329689026, + -0.06634370237588882, + -0.11094531416893005, + 8.04905891418457 + ], + [ + 0.11124446243047714, + -0.0008211892563849688, + -0.9937927722930908, + -7.40242862701416 + ], + [ + 0.06584078818559647, + -0.9977964758872986, + 0.008194668218493462, + -0.778366208076477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 700, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_138469696", + "mask_path": "../../mask/hdr_right_00700.png" + }, + { + "file_path": "../../rgb/hdr_right_00701.png", + "transform_matrix": [ + [ + -0.9946487545967102, + -0.06729242205619812, + -0.07839368283748627, + 8.136382102966309 + ], + [ + 0.07878879457712173, + -0.0032339419703930616, + -0.9968860745429993, + -7.412764549255371 + ], + [ + 0.06682934612035751, + -0.9977280497550964, + 0.008518523536622524, + -0.7927075028419495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 701, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_238469839", + "mask_path": "../../mask/hdr_right_00701.png" + }, + { + "file_path": "../../rgb/hdr_right_00702.png", + "transform_matrix": [ + [ + -0.9971347451210022, + -0.06952318549156189, + -0.029815226793289185, + 8.221512794494629 + ], + [ + 0.03028419241309166, + -0.005701364949345589, + -0.9995251297950745, + -7.415401935577393 + ], + [ + 0.0693201869726181, + -0.9975640177726746, + 0.0077904812060296535, + -0.797634482383728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 702, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_338469505", + "mask_path": "../../mask/hdr_right_00702.png" + }, + { + "file_path": "../../rgb/hdr_right_00703.png", + "transform_matrix": [ + [ + -0.9974612593650818, + -0.06830573827028275, + 0.020133420825004578, + 8.282712936401367 + ], + [ + -0.02014625072479248, + -0.0005013715708628297, + -0.9997969269752502, + -7.403815269470215 + ], + [ + 0.06830195337533951, + -0.9976643323898315, + -0.0008760043419897556, + -0.8066771030426025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 703, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_438470125", + "mask_path": "../../mask/hdr_right_00703.png" + }, + { + "file_path": "../../rgb/hdr_right_00704.png", + "transform_matrix": [ + [ + -0.9953296780586243, + -0.0717974603176117, + 0.06452789157629013, + 8.351859092712402 + ], + [ + -0.06548028439283371, + 0.01098855584859848, + -0.9977933764457703, + -7.397021770477295 + ], + [ + 0.07092995941638947, + -0.9973586797714233, + -0.015638554468750954, + -0.8148578405380249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 704, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_538470268", + "mask_path": "../../mask/hdr_right_00704.png" + }, + { + "file_path": "../../rgb/hdr_right_00705.png", + "transform_matrix": [ + [ + -0.9919031858444214, + -0.07874253392219543, + 0.09963782131671906, + 8.423737525939941 + ], + [ + -0.101250559091568, + 0.016750700771808624, + -0.9947200417518616, + -7.394469261169434 + ], + [ + 0.07665776461362839, + -0.9967542290687561, + -0.02458779886364937, + -0.8143333196640015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 705, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_638469696", + "mask_path": "../../mask/hdr_right_00705.png" + }, + { + "file_path": "../../rgb/hdr_right_00708.png", + "transform_matrix": [ + [ + -0.9818840026855469, + -0.07916475087404251, + 0.1721533089876175, + 8.61032485961914 + ], + [ + -0.17428065836429596, + 0.020745383575558662, + -0.9844774603843689, + -7.367668151855469 + ], + [ + 0.07436452805995941, + -0.9966456294059753, + -0.034166447818279266, + -0.8403481841087341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 708, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594237_938470602", + "mask_path": "../../mask/hdr_right_00708.png" + }, + { + "file_path": "../../rgb/hdr_right_00709.png", + "transform_matrix": [ + [ + -0.9794372916221619, + -0.08984749764204025, + 0.1806381344795227, + 8.679269790649414 + ], + [ + -0.18299169838428497, + 0.01861748844385147, + -0.9829382300376892, + -7.359912395477295 + ], + [ + 0.0849515050649643, + -0.9957815408706665, + -0.03467601165175438, + -0.855154275894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 709, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_38469076", + "mask_path": "../../mask/hdr_right_00709.png" + }, + { + "file_path": "../../rgb/hdr_right_00710.png", + "transform_matrix": [ + [ + -0.9783698320388794, + -0.08958081901073456, + 0.18646138906478882, + 8.729296684265137 + ], + [ + -0.18879331648349762, + 0.01822911761701107, + -0.9818476438522339, + -7.349451541900635 + ], + [ + 0.08455569297075272, + -0.9958127737045288, + -0.03474707901477814, + -0.8630788326263428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 710, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_138468980", + "mask_path": "../../mask/hdr_right_00710.png" + }, + { + "file_path": "../../rgb/hdr_right_00711.png", + "transform_matrix": [ + [ + -0.9780486226081848, + -0.09135250747203827, + 0.18728499114513397, + 8.785038948059082 + ], + [ + -0.1899479776620865, + 0.021305827423930168, + -0.9815629124641418, + -7.3390092849731445 + ], + [ + 0.08567798137664795, + -0.9955907464027405, + -0.038190361112356186, + -0.8696346282958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 711, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_238469362", + "mask_path": "../../mask/hdr_right_00711.png" + }, + { + "file_path": "../../rgb/hdr_right_00712.png", + "transform_matrix": [ + [ + -0.977944016456604, + -0.09814561158418655, + 0.1843719333410263, + 8.843180656433105 + ], + [ + -0.18735380470752716, + 0.022006021812558174, + -0.9820460081100464, + -7.327478885650635 + ], + [ + 0.09232620894908905, + -0.9949286580085754, + -0.039908602833747864, + -0.8799521327018738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 712, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_338469266", + "mask_path": "../../mask/hdr_right_00712.png" + }, + { + "file_path": "../../rgb/hdr_right_00713.png", + "transform_matrix": [ + [ + -0.9784271121025085, + -0.10601146519184113, + 0.17731913924217224, + 8.899532318115234 + ], + [ + -0.18004797399044037, + 0.016672702506184578, + -0.9835165143013, + -7.3202009201049805 + ], + [ + 0.10130764544010162, + -0.9942251443862915, + -0.03540017455816269, + -0.8815960884094238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 713, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_438469409", + "mask_path": "../../mask/hdr_right_00713.png" + }, + { + "file_path": "../../rgb/hdr_right_00715.png", + "transform_matrix": [ + [ + -0.9834126234054565, + -0.09742707759141922, + 0.15299507975578308, + 9.008344650268555 + ], + [ + -0.1557682454586029, + 0.021478498354554176, + -0.9875601530075073, + -7.317256450653076 + ], + [ + 0.09292899817228317, + -0.9950108528137207, + -0.036298271268606186, + -0.8877404928207397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 715, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_638468503", + "mask_path": "../../mask/hdr_right_00715.png" + }, + { + "file_path": "../../rgb/hdr_right_00716.png", + "transform_matrix": [ + [ + -0.9851534366607666, + -0.0912846103310585, + 0.1453954428434372, + 9.098928451538086 + ], + [ + -0.14732907712459564, + 0.014777375385165215, + -0.9889771938323975, + -7.321523189544678 + ], + [ + 0.08812983334064484, + -0.9957152605056763, + -0.028006860986351967, + -0.8957371711730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 716, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_738466262", + "mask_path": "../../mask/hdr_right_00716.png" + }, + { + "file_path": "../../rgb/hdr_right_00717.png", + "transform_matrix": [ + [ + -0.9844620227813721, + -0.09353511035442352, + 0.1486130803823471, + 9.179627418518066 + ], + [ + -0.14991533756256104, + 0.00701384712010622, + -0.988673985004425, + -7.316961765289307 + ], + [ + 0.09143337607383728, + -0.9955912828445435, + -0.02092721313238144, + -0.9076272249221802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 717, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_838469982", + "mask_path": "../../mask/hdr_right_00717.png" + }, + { + "file_path": "../../rgb/hdr_right_00718.png", + "transform_matrix": [ + [ + -0.9839954376220703, + -0.09339938312768936, + 0.1517549455165863, + 9.232939720153809 + ], + [ + -0.1530749648809433, + 0.007092795334756374, + -0.988189160823822, + -7.309845447540283 + ], + [ + 0.09121990203857422, + -0.9956034421920776, + -0.021276384592056274, + -0.9194193482398987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 718, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594238_938469648", + "mask_path": "../../mask/hdr_right_00718.png" + }, + { + "file_path": "../../rgb/hdr_right_00719.png", + "transform_matrix": [ + [ + -0.983535647392273, + -0.09560230374336243, + 0.15335491299629211, + 9.308786392211914 + ], + [ + -0.15494117140769958, + 0.00935116596519947, + -0.9878794550895691, + -7.306731700897217 + ], + [ + 0.09300950169563293, + -0.9953756928443909, + -0.024009939283132553, + -0.932425320148468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 719, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_38470268", + "mask_path": "../../mask/hdr_right_00719.png" + }, + { + "file_path": "../../rgb/hdr_right_00720.png", + "transform_matrix": [ + [ + -0.9837353825569153, + -0.09988396614789963, + 0.14929142594337463, + 9.396563529968262 + ], + [ + -0.15079136192798615, + 0.0075965868309140205, + -0.9885364174842834, + -7.311985492706299 + ], + [ + 0.09760483354330063, + -0.9949701428413391, + -0.022534670308232307, + -0.940380334854126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 720, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_138469457", + "mask_path": "../../mask/hdr_right_00720.png" + }, + { + "file_path": "../../rgb/hdr_right_00721.png", + "transform_matrix": [ + [ + -0.9852270483970642, + -0.09721268713474274, + 0.14098691940307617, + 9.468260765075684 + ], + [ + -0.14231809973716736, + 0.006863033398985863, + -0.9897972345352173, + -7.316765785217285 + ], + [ + 0.09525324404239655, + -0.9952399730682373, + -0.02059677056968212, + -0.9422988891601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 721, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_238470554", + "mask_path": "../../mask/hdr_right_00721.png" + }, + { + "file_path": "../../rgb/hdr_right_00722.png", + "transform_matrix": [ + [ + -0.9873144626617432, + -0.09081970900297165, + 0.13023847341537476, + 9.548074722290039 + ], + [ + -0.1311562955379486, + 0.00418620090931654, + -0.991352915763855, + -7.321013450622559 + ], + [ + 0.08948918431997299, + -0.9958584904670715, + -0.016044674441218376, + -0.9544714093208313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 722, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_338470458", + "mask_path": "../../mask/hdr_right_00722.png" + }, + { + "file_path": "../../rgb/hdr_right_00723.png", + "transform_matrix": [ + [ + -0.9882940053939819, + -0.08827973157167435, + 0.12442578375339508, + 9.653419494628906 + ], + [ + -0.12464969605207443, + -0.0029933983460068703, + -0.992196261882782, + -7.322697639465332 + ], + [ + 0.0879632830619812, + -0.9960911870002747, + -0.008045687340199947, + -0.9715633392333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 723, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_438470125", + "mask_path": "../../mask/hdr_right_00723.png" + }, + { + "file_path": "../../rgb/hdr_right_00724.png", + "transform_matrix": [ + [ + -0.987514317035675, + -0.09222204238176346, + 0.12771263718605042, + 9.74112606048584 + ], + [ + -0.12773382663726807, + -0.005697369575500488, + -0.9917921423912048, + -7.318126678466797 + ], + [ + 0.09219272434711456, + -0.995722234249115, + -0.006153639871627092, + -0.9879884123802185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 724, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_538470506", + "mask_path": "../../mask/hdr_right_00724.png" + }, + { + "file_path": "../../rgb/hdr_right_00725.png", + "transform_matrix": [ + [ + -0.9873455166816711, + -0.0901084840297699, + 0.130496084690094, + 9.809443473815918 + ], + [ + -0.13068194687366486, + -0.003859633347019553, + -0.991416871547699, + -7.318360805511475 + ], + [ + 0.08983873575925827, + -0.9959245920181274, + -0.007964760065078735, + -0.9981674551963806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 725, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_638469696", + "mask_path": "../../mask/hdr_right_00725.png" + }, + { + "file_path": "../../rgb/hdr_right_00726.png", + "transform_matrix": [ + [ + -0.9871907830238342, + -0.09291717410087585, + 0.12969478964805603, + 9.89249324798584 + ], + [ + -0.13021665811538696, + -0.00045009341556578875, + -0.9914854764938354, + -7.325436115264893 + ], + [ + 0.0921844094991684, + -0.9956737160682678, + -0.011655035428702831, + -1.0100263357162476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 726, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_738470315", + "mask_path": "../../mask/hdr_right_00726.png" + }, + { + "file_path": "../../rgb/hdr_right_00727.png", + "transform_matrix": [ + [ + -0.9871088862419128, + -0.10443383455276489, + 0.12128365784883499, + 9.976263046264648 + ], + [ + -0.12203323096036911, + 0.0007939362549223006, + -0.9925258159637451, + -7.336296558380127 + ], + [ + 0.10355696827173233, + -0.9945315718650818, + -0.013528097420930862, + -1.016201138496399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 727, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_838469982", + "mask_path": "../../mask/hdr_right_00727.png" + }, + { + "file_path": "../../rgb/hdr_right_00728.png", + "transform_matrix": [ + [ + -0.9883248209953308, + -0.10567501187324524, + 0.10975842922925949, + 10.041245460510254 + ], + [ + -0.1106875091791153, + 0.002949500922113657, + -0.9938509464263916, + -7.344166278839111 + ], + [ + 0.104701466858387, + -0.9943963289260864, + -0.014611969701945782, + -1.0199718475341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 728, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594239_938469648", + "mask_path": "../../mask/hdr_right_00728.png" + }, + { + "file_path": "../../rgb/hdr_right_00729.png", + "transform_matrix": [ + [ + -0.9898534417152405, + -0.10418987274169922, + 0.09661645442247391, + 10.116617202758789 + ], + [ + -0.09724943339824677, + 0.0010002325288951397, + -0.9952595829963684, + -7.350873947143555 + ], + [ + 0.10359932482242584, + -0.9945569634437561, + -0.011122489348053932, + -1.0335495471954346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 729, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_38469552", + "mask_path": "../../mask/hdr_right_00729.png" + }, + { + "file_path": "../../rgb/hdr_right_00730.png", + "transform_matrix": [ + [ + -0.9896246790885925, + -0.11091843247413635, + 0.09132413566112518, + 10.213248252868652 + ], + [ + -0.090910904109478, + -0.008788167499005795, + -0.9958202838897705, + -7.356560230255127 + ], + [ + 0.1112573891878128, + -0.9937906265258789, + -0.0013867068337276578, + -1.0573086738586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 730, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_138469219", + "mask_path": "../../mask/hdr_right_00730.png" + }, + { + "file_path": "../../rgb/hdr_right_00731.png", + "transform_matrix": [ + [ + -0.9875375628471375, + -0.12083226442337036, + 0.10084227472543716, + 10.295441627502441 + ], + [ + -0.10052688419818878, + -0.008719069883227348, + -0.9948962330818176, + -7.358689308166504 + ], + [ + 0.12109480053186417, + -0.9926347136497498, + -0.0035364788491278887, + -1.0737944841384888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 731, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_238468885", + "mask_path": "../../mask/hdr_right_00731.png" + }, + { + "file_path": "../../rgb/hdr_right_00732.png", + "transform_matrix": [ + [ + -0.9854724407196045, + -0.11982891708612442, + 0.12035345286130905, + 10.366562843322754 + ], + [ + -0.12082493305206299, + -0.0033501489087939262, + -0.9926683306694031, + -7.351452827453613 + ], + [ + 0.11935356259346008, + -0.9927889108657837, + -0.011176837608218193, + -1.0884884595870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 732, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_338469743", + "mask_path": "../../mask/hdr_right_00732.png" + }, + { + "file_path": "../../rgb/hdr_right_00733.png", + "transform_matrix": [ + [ + -0.982048511505127, + -0.12081443518400192, + 0.14486034214496613, + 10.452860832214355 + ], + [ + -0.14638622105121613, + 0.0038040741346776485, + -0.9892202615737915, + -7.3407087326049805 + ], + [ + 0.11896102130413055, + -0.9926677942276001, + -0.02142135426402092, + -1.1026057004928589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 733, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_438468933", + "mask_path": "../../mask/hdr_right_00733.png" + }, + { + "file_path": "../../rgb/hdr_right_00734.png", + "transform_matrix": [ + [ + -0.9781556129455566, + -0.12848146259784698, + 0.163413867354393, + 10.53446102142334 + ], + [ + -0.16530834138393402, + 0.004149116575717926, + -0.9862332344055176, + -7.3388495445251465 + ], + [ + 0.1260346621274948, + -0.9917032718658447, + -0.025297537446022034, + -1.107064127922058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 734, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_538468837", + "mask_path": "../../mask/hdr_right_00734.png" + }, + { + "file_path": "../../rgb/hdr_right_00735.png", + "transform_matrix": [ + [ + -0.9756702780723572, + -0.12834781408309937, + 0.17774781584739685, + 10.595970153808594 + ], + [ + -0.18019361793994904, + 0.007608380168676376, + -0.9836017489433289, + -7.3373308181762695 + ], + [ + 0.1248907521367073, + -0.9917000532150269, + -0.030550729483366013, + -1.108755111694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 735, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_638468980", + "mask_path": "../../mask/hdr_right_00735.png" + }, + { + "file_path": "../../rgb/hdr_right_00736.png", + "transform_matrix": [ + [ + -0.9746208786964417, + -0.12397401034832001, + 0.18639883399009705, + 10.665095329284668 + ], + [ + -0.18926328420639038, + 0.011638542637228966, + -0.9818574786186218, + -7.332883358001709 + ], + [ + 0.11955537647008896, + -0.9922172427177429, + -0.03480689227581024, + -1.1212561130523682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 736, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_738468885", + "mask_path": "../../mask/hdr_right_00736.png" + }, + { + "file_path": "../../rgb/hdr_right_00737.png", + "transform_matrix": [ + [ + -0.9736422896385193, + -0.12215032428503036, + 0.19261391460895538, + 10.758428573608398 + ], + [ + -0.1954280138015747, + 0.01137701328843832, + -0.9806521534919739, + -7.328071594238281 + ], + [ + 0.1175956055521965, + -0.9924464225769043, + -0.03494873642921448, + -1.1386603116989136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 737, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_838469028", + "mask_path": "../../mask/hdr_right_00737.png" + }, + { + "file_path": "../../rgb/hdr_right_00738.png", + "transform_matrix": [ + [ + -0.9707548022270203, + -0.1255769580602646, + 0.20461104810237885, + 10.845959663391113 + ], + [ + -0.2073037177324295, + 0.008621313609182835, + -0.9782386422157288, + -7.3202667236328125 + ], + [ + 0.12108022719621658, + -0.9920464158058167, + -0.034401752054691315, + -1.1544684171676636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 738, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594240_938469648", + "mask_path": "../../mask/hdr_right_00738.png" + }, + { + "file_path": "../../rgb/hdr_right_00739.png", + "transform_matrix": [ + [ + -0.9702401161193848, + -0.12196918576955795, + 0.20918342471122742, + 10.909272193908691 + ], + [ + -0.21212199330329895, + 0.011480686254799366, + -0.977175772190094, + -7.311470031738281 + ], + [ + 0.11678376793861389, + -0.9924675226211548, + -0.037011370062828064, + -1.163511037826538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 739, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_38467884", + "mask_path": "../../mask/hdr_right_00739.png" + }, + { + "file_path": "../../rgb/hdr_right_00740.png", + "transform_matrix": [ + [ + -0.9701322317123413, + -0.12132176756858826, + 0.21005816757678986, + 10.982489585876465 + ], + [ + -0.2136923223733902, + 0.01761537976562977, + -0.9767422676086426, + -7.30333137512207 + ], + [ + 0.1147998496890068, + -0.9924569129943848, + -0.043014779686927795, + -1.1714317798614502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 740, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_138467550", + "mask_path": "../../mask/hdr_right_00740.png" + }, + { + "file_path": "../../rgb/hdr_right_00741.png", + "transform_matrix": [ + [ + -0.9708152413368225, + -0.12509910762310028, + 0.20461666584014893, + 11.063884735107422 + ], + [ + -0.20850586891174316, + 0.01868734508752823, + -0.9778425693511963, + -7.301457405090332 + ], + [ + 0.11850350350141525, + -0.9919682741165161, + -0.04422586038708687, + -1.1781803369522095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 741, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_238469123", + "mask_path": "../../mask/hdr_right_00741.png" + }, + { + "file_path": "../../rgb/hdr_right_00742.png", + "transform_matrix": [ + [ + -0.972977340221405, + -0.12437409907579422, + 0.19454096257686615, + 11.13622760772705 + ], + [ + -0.1984652280807495, + 0.019860778003931046, + -0.9799067378044128, + -7.3019866943359375 + ], + [ + 0.11801128089427948, + -0.9920365810394287, + -0.04400802031159401, + -1.1792149543762207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 742, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_338469266", + "mask_path": "../../mask/hdr_right_00742.png" + }, + { + "file_path": "../../rgb/hdr_right_00743.png", + "transform_matrix": [ + [ + -0.9763792753219604, + -0.11793158948421478, + 0.18104027211666107, + 11.202467918395996 + ], + [ + -0.1849014014005661, + 0.02257421240210533, + -0.9824978709220886, + -7.297722339630127 + ], + [ + 0.11178068816661835, + -0.9927651286125183, + -0.04384670779109001, + -1.184909701347351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 743, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_438467741", + "mask_path": "../../mask/hdr_right_00743.png" + }, + { + "file_path": "../../rgb/hdr_right_00744.png", + "transform_matrix": [ + [ + -0.9792404770851135, + -0.11016225814819336, + 0.1701541244983673, + 11.295487403869629 + ], + [ + -0.1733408421278, + 0.019956521689891815, + -0.9846596121788025, + -7.292944431304932 + ], + [ + 0.10507664829492569, + -0.9937132596969604, + -0.03863785043358803, + -1.1960508823394775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 744, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_538469076", + "mask_path": "../../mask/hdr_right_00744.png" + }, + { + "file_path": "../../rgb/hdr_right_00745.png", + "transform_matrix": [ + [ + -0.9781980514526367, + -0.11224855482578278, + 0.17472486197948456, + 11.383891105651855 + ], + [ + -0.1779770851135254, + 0.019558953121304512, + -0.9838403463363647, + -7.284348487854004 + ], + [ + 0.10701721906661987, + -0.9934876561164856, + -0.039110198616981506, + -1.2109264135360718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 745, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_638469219", + "mask_path": "../../mask/hdr_right_00745.png" + }, + { + "file_path": "../../rgb/hdr_right_00746.png", + "transform_matrix": [ + [ + -0.9771537780761719, + -0.11222174018621445, + 0.18049056828022003, + 11.433473587036133 + ], + [ + -0.18409036099910736, + 0.022501831874251366, + -0.9826517701148987, + -7.271796226501465 + ], + [ + 0.1062135174870491, + -0.9934283494949341, + -0.04264668747782707, + -1.2219597101211548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 746, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_738469362", + "mask_path": "../../mask/hdr_right_00746.png" + }, + { + "file_path": "../../rgb/hdr_right_00747.png", + "transform_matrix": [ + [ + -0.9766967296600342, + -0.11118242144584656, + 0.18358074128627777, + 11.493163108825684 + ], + [ + -0.1874251663684845, + 0.025083674117922783, + -0.9819586277008057, + -7.265819549560547 + ], + [ + 0.10457165539264679, + -0.9934833645820618, + -0.045337527990341187, + -1.2299964427947998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 747, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_838468790", + "mask_path": "../../mask/hdr_right_00747.png" + }, + { + "file_path": "../../rgb/hdr_right_00748.png", + "transform_matrix": [ + [ + -0.9767993688583374, + -0.11522363871335983, + 0.1805175095796585, + 11.569905281066895 + ], + [ + -0.1843201369047165, + 0.023159049451351166, + -0.9825934767723083, + -7.269097805023193 + ], + [ + 0.1090373694896698, + -0.9930695295333862, + -0.043859779834747314, + -1.241774082183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 748, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594241_938470840", + "mask_path": "../../mask/hdr_right_00748.png" + }, + { + "file_path": "../../rgb/hdr_right_00749.png", + "transform_matrix": [ + [ + -0.9780921339988708, + -0.1188824400305748, + 0.17088818550109863, + 11.636001586914062 + ], + [ + -0.17495419085025787, + 0.02457210049033165, + -0.9842699766159058, + -7.2705278396606445 + ], + [ + 0.1128133237361908, + -0.9926042556762695, + -0.044832758605480194, + -1.2424455881118774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 749, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_38470506", + "mask_path": "../../mask/hdr_right_00749.png" + }, + { + "file_path": "../../rgb/hdr_right_00750.png", + "transform_matrix": [ + [ + -0.9803120493888855, + -0.11772098392248154, + 0.15852445363998413, + 11.69127082824707 + ], + [ + -0.16261716187000275, + 0.025953922420740128, + -0.9863478541374207, + -7.265755653381348 + ], + [ + 0.11199951171875, + -0.9927074909210205, + -0.04458639770746231, + -1.2447973489761353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 750, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_138469457", + "mask_path": "../../mask/hdr_right_00750.png" + }, + { + "file_path": "../../rgb/hdr_right_00751.png", + "transform_matrix": [ + [ + -0.9835205674171448, + -0.10692328214645386, + 0.14579038321971893, + 11.764036178588867 + ], + [ + -0.14933712780475616, + 0.0259071234613657, + -0.9884470105171204, + -7.264237880706787 + ], + [ + 0.10191097855567932, + -0.9939296841621399, + -0.041447799652814865, + -1.2501258850097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 751, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_238470077", + "mask_path": "../../mask/hdr_right_00751.png" + }, + { + "file_path": "../../rgb/hdr_right_00752.png", + "transform_matrix": [ + [ + -0.9850850701332092, + -0.09091424196958542, + 0.1460890769958496, + 11.848971366882324 + ], + [ + -0.14872685074806213, + 0.022912340238690376, + -0.9886128902435303, + -7.259407997131348 + ], + [ + 0.08653175085783005, + -0.9955951571464539, + -0.03609199821949005, + -1.247678279876709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 752, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_338470220", + "mask_path": "../../mask/hdr_right_00752.png" + }, + { + "file_path": "../../rgb/hdr_right_00754.png", + "transform_matrix": [ + [ + -0.9838302731513977, + -0.08913259953260422, + 0.1553495228290558, + 11.920594215393066 + ], + [ + -0.15802395343780518, + 0.02373368665575981, + -0.9871500134468079, + -7.247282028198242 + ], + [ + 0.08430022746324539, + -0.9957369565963745, + -0.037435002624988556, + -1.254908561706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 754, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_538470506", + "mask_path": "../../mask/hdr_right_00754.png" + }, + { + "file_path": "../../rgb/hdr_right_00756.png", + "transform_matrix": [ + [ + -0.9847157001495361, + -0.10076119750738144, + 0.14206360280513763, + 12.008785247802734 + ], + [ + -0.1463005244731903, + 0.03594837710261345, + -0.9885867834091187, + -7.250940322875977 + ], + [ + 0.0945042222738266, + -0.9942610263824463, + -0.05014035105705261, + -1.2602750062942505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 756, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594242_738471031", + "mask_path": "../../mask/hdr_right_00756.png" + }, + { + "file_path": "../../rgb/hdr_right_00759.png", + "transform_matrix": [ + [ + -0.9905786514282227, + -0.07909786701202393, + 0.11179134249687195, + 12.064427375793457 + ], + [ + -0.11607816815376282, + 0.051837556064128876, + -0.9918864369392395, + -7.212669849395752 + ], + [ + 0.07266110181808472, + -0.995518147945404, + -0.06053072214126587, + -1.2406353950500488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 759, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594243_38470745", + "mask_path": "../../mask/hdr_right_00759.png" + }, + { + "file_path": "../../rgb/hdr_right_00811.png", + "transform_matrix": [ + [ + -0.9852842092514038, + -0.048150088638067245, + 0.1640016883611679, + 12.300528526306152 + ], + [ + -0.16421985626220703, + 0.0005829875008203089, + -0.986423671245575, + -7.298629283905029 + ], + [ + 0.04740077629685402, + -0.9988399744033813, + -0.008481609635055065, + -1.2612053155899048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 811, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594248_238469839", + "mask_path": "../../mask/hdr_right_00811.png" + }, + { + "file_path": "../../rgb/hdr_right_00819.png", + "transform_matrix": [ + [ + -0.9731438755989075, + -0.04252329841256142, + 0.22623588144779205, + 12.611241340637207 + ], + [ + -0.22668084502220154, + 0.005887089762836695, + -0.9739513397216797, + -7.325258731842041 + ], + [ + 0.04008375108242035, + -0.999078094959259, + -0.015368204563856125, + -1.2992746829986572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 819, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_38471221", + "mask_path": "../../mask/hdr_right_00819.png" + }, + { + "file_path": "../../rgb/hdr_right_00821.png", + "transform_matrix": [ + [ + -0.9622808694839478, + -0.029092080891132355, + 0.2704985439777374, + 12.669864654541016 + ], + [ + -0.27096205949783325, + 0.01331176795065403, + -0.9624980092048645, + -7.306256294250488 + ], + [ + 0.024400250986218452, + -0.9994881749153137, + -0.020692508667707443, + -1.2886559963226318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 821, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_238469362", + "mask_path": "../../mask/hdr_right_00821.png" + }, + { + "file_path": "../../rgb/hdr_right_00823.png", + "transform_matrix": [ + [ + -0.9456266164779663, + -0.020076699554920197, + 0.32463404536247253, + 12.740005493164062 + ], + [ + -0.32509392499923706, + 0.027005378156900406, + -0.9452961087226868, + -7.267316818237305 + ], + [ + 0.010211559943854809, + -0.9994336366653442, + -0.03206381946802139, + -1.2916921377182007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 823, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594249_438470602", + "mask_path": "../../mask/hdr_right_00823.png" + }, + { + "file_path": "../../rgb/hdr_right_00830.png", + "transform_matrix": [ + [ + -0.9124045372009277, + 1.2942471585120074e-05, + 0.4092896580696106, + 13.011625289916992 + ], + [ + -0.40912172198295593, + 0.028614461421966553, + -0.9120310544967651, + -7.1445441246032715 + ], + [ + -0.011723407544195652, + -0.9995905160903931, + -0.026102671399712563, + -1.300992727279663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 830, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_138469457", + "mask_path": "../../mask/hdr_right_00830.png" + }, + { + "file_path": "../../rgb/hdr_right_00831.png", + "transform_matrix": [ + [ + -0.9094634652137756, + -0.0001020801646518521, + 0.41578391194343567, + 13.064373970031738 + ], + [ + -0.4156425893306732, + 0.0263002160936594, + -0.9091477394104004, + -7.127909183502197 + ], + [ + -0.010842401534318924, + -0.9996541142463684, + -0.023961516097187996, + -1.3070811033248901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 831, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_238468885", + "mask_path": "../../mask/hdr_right_00831.png" + }, + { + "file_path": "../../rgb/hdr_right_00833.png", + "transform_matrix": [ + [ + -0.9079780578613281, + -0.01307902205735445, + 0.41881364583969116, + 13.167024612426758 + ], + [ + -0.4190136194229126, + 0.023878585547208786, + -0.9076659679412842, + -7.115785598754883 + ], + [ + 0.001870704465545714, + -0.9996292591094971, + -0.02716151997447014, + -1.3202977180480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 833, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_438469409", + "mask_path": "../../mask/hdr_right_00833.png" + }, + { + "file_path": "../../rgb/hdr_right_00834.png", + "transform_matrix": [ + [ + -0.9111207723617554, + -0.019673410803079605, + 0.41166961193084717, + 13.219792366027832 + ], + [ + -0.4119986593723297, + 0.01737404800951481, + -0.9110187888145447, + -7.1132121086120605 + ], + [ + 0.010770480148494244, + -0.9996554255485535, + -0.02393527701497078, + -1.324242115020752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 834, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_538468837", + "mask_path": "../../mask/hdr_right_00834.png" + }, + { + "file_path": "../../rgb/hdr_right_00836.png", + "transform_matrix": [ + [ + -0.9196879267692566, + -0.01957913674414158, + 0.3921617567539215, + 13.30799388885498 + ], + [ + -0.3925175368785858, + 0.01988273672759533, + -0.9195296168327332, + -7.093450546264648 + ], + [ + 0.010206349194049835, + -0.9996105432510376, + -0.0259710680693388, + -1.334920048713684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 836, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_738469839", + "mask_path": "../../mask/hdr_right_00836.png" + }, + { + "file_path": "../../rgb/hdr_right_00837.png", + "transform_matrix": [ + [ + -0.917765736579895, + -0.022380538284778595, + 0.39649128913879395, + 13.359007835388184 + ], + [ + -0.39684394001960754, + 0.01430103462189436, + -0.9177747368812561, + -7.073965072631836 + ], + [ + 0.014870056882500648, + -0.9996472001075745, + -0.022006582468748093, + -1.3429884910583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 837, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594250_838468551", + "mask_path": "../../mask/hdr_right_00837.png" + }, + { + "file_path": "../../rgb/hdr_right_00843.png", + "transform_matrix": [ + [ + -0.9223270416259766, + -0.05563044175505638, + 0.38238465785980225, + 13.632242202758789 + ], + [ + -0.3840630054473877, + 0.023073803633451462, + -0.9230185151100159, + -6.985244274139404 + ], + [ + 0.04252485930919647, + -0.9981848001480103, + -0.042647190392017365, + -1.3807696104049683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 843, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_438470363", + "mask_path": "../../mask/hdr_right_00843.png" + }, + { + "file_path": "../../rgb/hdr_right_00844.png", + "transform_matrix": [ + [ + -0.9194642305374146, + -0.05661415681242943, + 0.38907620310783386, + 13.688244819641113 + ], + [ + -0.39069658517837524, + 0.020657215267419815, + -0.9202877879142761, + -6.959970951080322 + ], + [ + 0.04406408220529556, + -0.9981824159622192, + -0.04111253470182419, + -1.380919098854065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 844, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_538469791", + "mask_path": "../../mask/hdr_right_00844.png" + }, + { + "file_path": "../../rgb/hdr_right_00846.png", + "transform_matrix": [ + [ + -0.9149451851844788, + -0.06077037751674652, + 0.3989766240119934, + 13.775947570800781 + ], + [ + -0.4008597731590271, + 0.02229282632470131, + -0.9158682227134705, + -6.929900646209717 + ], + [ + 0.046763334423303604, + -0.9979027509689331, + -0.044757112860679626, + -1.388041615486145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 846, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_738469839", + "mask_path": "../../mask/hdr_right_00846.png" + }, + { + "file_path": "../../rgb/hdr_right_00847.png", + "transform_matrix": [ + [ + -0.9161484241485596, + -0.07305280864238739, + 0.3941258490085602, + 13.828998565673828 + ], + [ + -0.3965552747249603, + 0.021817831322550774, + -0.917751669883728, + -6.918797492980957 + ], + [ + 0.05844535678625107, + -0.9970893859863281, + -0.04895784705877304, + -1.3953479528427124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 847, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594251_838469028", + "mask_path": "../../mask/hdr_right_00847.png" + }, + { + "file_path": "../../rgb/hdr_right_00849.png", + "transform_matrix": [ + [ + -0.926250696182251, + -0.07150524109601974, + 0.3700628876686096, + 13.922307014465332 + ], + [ + -0.3721735179424286, + 0.01838534325361252, + -0.9279810786247253, + -6.899789810180664 + ], + [ + 0.05955179035663605, + -0.9972707629203796, + -0.043641798198223114, + -1.4020146131515503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 849, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_38469076", + "mask_path": "../../mask/hdr_right_00849.png" + }, + { + "file_path": "../../rgb/hdr_right_00850.png", + "transform_matrix": [ + [ + -0.9274386167526245, + -0.0712323859333992, + 0.3671289384365082, + 13.981451988220215 + ], + [ + -0.36890554428100586, + 0.013156533241271973, + -0.9293738603591919, + -6.880680561065674 + ], + [ + 0.06137135624885559, + -0.9973730444908142, + -0.038479894399642944, + -1.411172866821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 850, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_138469696", + "mask_path": "../../mask/hdr_right_00850.png" + }, + { + "file_path": "../../rgb/hdr_right_00856.png", + "transform_matrix": [ + [ + -0.9372844696044922, + -0.06688804924488068, + 0.34208765625953674, + 14.254295349121094 + ], + [ + -0.34251680970191956, + -0.005301217548549175, + -0.9394967555999756, + -6.833234786987305 + ], + [ + 0.06465458124876022, + -0.9977464079856873, + -0.017941532656550407, + -1.4458630084991455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 856, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_738470554", + "mask_path": "../../mask/hdr_right_00856.png" + }, + { + "file_path": "../../rgb/hdr_right_00857.png", + "transform_matrix": [ + [ + -0.9348170161247253, + -0.06829217076301575, + 0.3485015034675598, + 14.313116073608398 + ], + [ + -0.3491426408290863, + -0.002698765369132161, + -0.937065839767456, + -6.817026138305664 + ], + [ + 0.06493476778268814, + -0.9976617097854614, + -0.021320855244994164, + -1.457672357559204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 857, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_838470458", + "mask_path": "../../mask/hdr_right_00857.png" + }, + { + "file_path": "../../rgb/hdr_right_00858.png", + "transform_matrix": [ + [ + -0.9324244260787964, + -0.06540026515722275, + 0.3553975224494934, + 14.363241195678711 + ], + [ + -0.3562731146812439, + 0.001855987124145031, + -0.934380054473877, + -6.803226947784424 + ], + [ + 0.060449082404375076, + -0.997857391834259, + -0.025030922144651413, + -1.4655311107635498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 858, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594252_938468694", + "mask_path": "../../mask/hdr_right_00858.png" + }, + { + "file_path": "../../rgb/hdr_right_00859.png", + "transform_matrix": [ + [ + -0.931542694568634, + -0.07279279828071594, + 0.35627132654190063, + 14.417786598205566 + ], + [ + -0.35729894042015076, + 0.0011759172193706036, + -0.9339893460273743, + -6.796656131744385 + ], + [ + 0.06756874918937683, + -0.9973464012145996, + -0.0271042101085186, + -1.4733208417892456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 859, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_38469552", + "mask_path": "../../mask/hdr_right_00859.png" + }, + { + "file_path": "../../rgb/hdr_right_00860.png", + "transform_matrix": [ + [ + -0.9338338971138, + -0.08362355083227158, + 0.3477949798107147, + 14.469965934753418 + ], + [ + -0.3492142856121063, + 0.0025168543215841055, + -0.9370395541191101, + -6.789913177490234 + ], + [ + 0.07748322188854218, + -0.9964942336082458, + -0.031552862375974655, + -1.4786322116851807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 860, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_138468980", + "mask_path": "../../mask/hdr_right_00860.png" + }, + { + "file_path": "../../rgb/hdr_right_00862.png", + "transform_matrix": [ + [ + -0.9403871893882751, + -0.07769975811243057, + 0.331111341714859, + 14.589256286621094 + ], + [ + -0.3322821855545044, + 0.0022802925668656826, + -0.9431772828102112, + -6.766489505767822 + ], + [ + 0.0725296139717102, + -0.9969741702079773, + -0.02796260453760624, + -1.4970675706863403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 862, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_338470220", + "mask_path": "../../mask/hdr_right_00862.png" + }, + { + "file_path": "../../rgb/hdr_right_00863.png", + "transform_matrix": [ + [ + -0.9375710487365723, + -0.08047101646661758, + 0.3383563458919525, + 14.656845092773438 + ], + [ + -0.339331716299057, + -0.0016464104410260916, + -0.9406654238700867, + -6.75195837020874 + ], + [ + 0.07625337690114975, + -0.9967555999755859, + -0.02576274238526821, + -1.5126932859420776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 863, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_438470840", + "mask_path": "../../mask/hdr_right_00863.png" + }, + { + "file_path": "../../rgb/hdr_right_00864.png", + "transform_matrix": [ + [ + -0.9357855319976807, + -0.0786370187997818, + 0.3436880111694336, + 14.711710929870605 + ], + [ + -0.34476375579833984, + 0.00010982192179653794, + -0.9386895298957825, + -6.7394537925720215 + ], + [ + 0.07377800345420837, + -0.9969033002853394, + -0.027213966473937035, + -1.5197982788085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 864, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_538470506", + "mask_path": "../../mask/hdr_right_00864.png" + }, + { + "file_path": "../../rgb/hdr_right_00865.png", + "transform_matrix": [ + [ + -0.936654269695282, + -0.0840442031621933, + 0.3400225043296814, + 14.772697448730469 + ], + [ + -0.3412250280380249, + -6.019179636496119e-05, + -0.9399816989898682, + -6.734548568725586 + ], + [ + 0.07902047783136368, + -0.9964619874954224, + -0.028621604666113853, + -1.5272772312164307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 865, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_638470172", + "mask_path": "../../mask/hdr_right_00865.png" + }, + { + "file_path": "../../rgb/hdr_right_00866.png", + "transform_matrix": [ + [ + -0.940306544303894, + -0.09399313479661942, + 0.32709163427352905, + 14.835554122924805 + ], + [ + -0.32815277576446533, + -0.004375935066491365, + -0.944614589214325, + -6.729545593261719 + ], + [ + 0.09021861106157303, + -0.9955632090568542, + -0.026729386299848557, + -1.5337527990341187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 866, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_738469600", + "mask_path": "../../mask/hdr_right_00866.png" + }, + { + "file_path": "../../rgb/hdr_right_00867.png", + "transform_matrix": [ + [ + -0.9463232159614563, + -0.09292031824588776, + 0.3095775246620178, + 14.888264656066895 + ], + [ + -0.3106406629085541, + -0.0031623614486306906, + -0.9505221843719482, + -6.725628852844238 + ], + [ + 0.08930180966854095, + -0.9956685304641724, + -0.025872211903333664, + -1.5373646020889282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 867, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_838470220", + "mask_path": "../../mask/hdr_right_00867.png" + }, + { + "file_path": "../../rgb/hdr_right_00868.png", + "transform_matrix": [ + [ + -0.9513316750526428, + -0.0912814810872078, + 0.294339656829834, + 14.951600074768066 + ], + [ + -0.29557400941848755, + 4.368703230284154e-06, + -0.955319881439209, + -6.713820457458496 + ], + [ + 0.08720171451568604, + -0.9958250522613525, + -0.02698459103703499, + -1.5439536571502686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 868, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594253_938469648", + "mask_path": "../../mask/hdr_right_00868.png" + }, + { + "file_path": "../../rgb/hdr_right_00869.png", + "transform_matrix": [ + [ + -0.9532396197319031, + -0.09447094798088074, + 0.28707045316696167, + 15.02380657196045 + ], + [ + -0.28841114044189453, + 0.0005623106262646616, + -0.9575065970420837, + -6.7005438804626465 + ], + [ + 0.09029512107372284, + -0.9955275058746338, + -0.027782490476965904, + -1.5621302127838135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 869, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_38470029", + "mask_path": "../../mask/hdr_right_00869.png" + }, + { + "file_path": "../../rgb/hdr_right_00870.png", + "transform_matrix": [ + [ + -0.9552767872810364, + -0.09300810098648071, + 0.2807060480117798, + 15.080558776855469 + ], + [ + -0.28200069069862366, + 0.0008109711925499141, + -0.9594138860702515, + -6.692870616912842 + ], + [ + 0.08900563418865204, + -0.9956650733947754, + -0.027003055438399315, + -1.5736087560653687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 870, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_138470411", + "mask_path": "../../mask/hdr_right_00870.png" + }, + { + "file_path": "../../rgb/hdr_right_00871.png", + "transform_matrix": [ + [ + -0.9587083458900452, + -0.09592163562774658, + 0.26772624254226685, + 15.143272399902344 + ], + [ + -0.2691483497619629, + 0.0019651271868497133, + -0.9630967378616333, + -6.6843767166137695 + ], + [ + 0.09185570478439331, + -0.9953869581222534, + -0.027701137587428093, + -1.583005666732788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 871, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_238470792", + "mask_path": "../../mask/hdr_right_00871.png" + }, + { + "file_path": "../../rgb/hdr_right_00872.png", + "transform_matrix": [ + [ + -0.9627633690834045, + -0.10506179928779602, + 0.24909590184688568, + 15.208370208740234 + ], + [ + -0.25083622336387634, + 0.0034767950419336557, + -0.9680233597755432, + -6.686885833740234 + ], + [ + 0.10083621740341187, + -0.9944596290588379, + -0.029700635001063347, + -1.5893505811691284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 872, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_338470935", + "mask_path": "../../mask/hdr_right_00872.png" + }, + { + "file_path": "../../rgb/hdr_right_03419.png", + "transform_matrix": [ + [ + 0.9925379753112793, + -0.12032298743724823, + -0.019767453894019127, + 14.686772346496582 + ], + [ + 0.023996423929929733, + 0.03379948437213898, + 0.9991406202316284, + -6.556887626647949 + ], + [ + -0.11955145001411438, + -0.9921592473983765, + 0.0364345908164978, + -1.4964710474014282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3419, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_38468599", + "mask_path": "../../mask/hdr_right_03419.png" + }, + { + "file_path": "../../rgb/hdr_right_03420.png", + "transform_matrix": [ + [ + 0.9925421476364136, + -0.11954893916845322, + -0.023837493732571602, + 14.632850646972656 + ], + [ + 0.0277713555842638, + 0.03134823590517044, + 0.999122679233551, + -6.550259590148926 + ], + [ + -0.11869679391384125, + -0.9923332333564758, + 0.0344344787299633, + -1.4908852577209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3420, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_138469934", + "mask_path": "../../mask/hdr_right_03420.png" + }, + { + "file_path": "../../rgb/hdr_right_03421.png", + "transform_matrix": [ + [ + 0.9928096532821655, + -0.11817404627799988, + -0.01907731033861637, + 14.578241348266602 + ], + [ + 0.022762039676308632, + 0.02990950271487236, + 0.9992934465408325, + -6.54482364654541 + ], + [ + -0.11751995235681534, + -0.9925423264503479, + 0.032384321093559265, + -1.479062557220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3421, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_238468647", + "mask_path": "../../mask/hdr_right_03421.png" + }, + { + "file_path": "../../rgb/hdr_right_03422.png", + "transform_matrix": [ + [ + 0.9922178387641907, + -0.12367066740989685, + -0.014475424773991108, + 14.520698547363281 + ], + [ + 0.017303509637713432, + 0.021824417635798454, + 0.999612033367157, + -6.537709712982178 + ], + [ + -0.12330678105354309, + -0.9920833110809326, + 0.02379450760781765, + -1.4649200439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3422, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_338468790", + "mask_path": "../../mask/hdr_right_03422.png" + }, + { + "file_path": "../../rgb/hdr_right_03423.png", + "transform_matrix": [ + [ + 0.9917851686477661, + -0.12685751914978027, + -0.016414666548371315, + 14.457366943359375 + ], + [ + 0.018835794180631638, + 0.017909331247210503, + 0.9996622204780579, + -6.529878616333008 + ], + [ + -0.12652069330215454, + -0.9917593002319336, + 0.020151667296886444, + -1.4591542482376099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3423, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_438470363", + "mask_path": "../../mask/hdr_right_03423.png" + }, + { + "file_path": "../../rgb/hdr_right_03424.png", + "transform_matrix": [ + [ + 0.9910113215446472, + -0.13193178176879883, + -0.022148719057440758, + 14.398261070251465 + ], + [ + 0.025600532069802284, + 0.02452501654624939, + 0.9993714094161987, + -6.520900249481201 + ], + [ + -0.13130563497543335, + -0.9909553527832031, + 0.027682093903422356, + -1.4518766403198242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3424, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_538469552", + "mask_path": "../../mask/hdr_right_03424.png" + }, + { + "file_path": "../../rgb/hdr_right_03425.png", + "transform_matrix": [ + [ + 0.9911351799964905, + -0.1305430680513382, + -0.024689938873052597, + 14.342419624328613 + ], + [ + 0.027949515730142593, + 0.023196065798401833, + 0.9993402361869812, + -6.5089335441589355 + ], + [ + -0.12988421320915222, + -0.9911712408065796, + 0.026639048010110855, + -1.448443055152893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3425, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_638469457", + "mask_path": "../../mask/hdr_right_03425.png" + }, + { + "file_path": "../../rgb/hdr_right_03426.png", + "transform_matrix": [ + [ + 0.9909796714782715, + -0.1320582926273346, + -0.022803135216236115, + 14.285436630249023 + ], + [ + 0.025844568386673927, + 0.021362580358982086, + 0.9994377493858337, + -6.49343204498291 + ], + [ + -0.13149689137935638, + -0.9910117387771606, + 0.024582864716649055, + -1.43431556224823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3426, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_738470315", + "mask_path": "../../mask/hdr_right_03426.png" + }, + { + "file_path": "../../rgb/hdr_right_03427.png", + "transform_matrix": [ + [ + 0.9907282590866089, + -0.13458888232707977, + -0.01852983608841896, + 14.23038101196289 + ], + [ + 0.021075651049613953, + 0.017515046522021294, + 0.999624490737915, + -6.480376243591309 + ], + [ + -0.13421377539634705, + -0.9907466769218445, + 0.020189194008708, + -1.4184553623199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3427, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_838470458", + "mask_path": "../../mask/hdr_right_03427.png" + }, + { + "file_path": "../../rgb/hdr_right_03428.png", + "transform_matrix": [ + [ + 0.9907841682434082, + -0.1337650716304779, + -0.021301278844475746, + 14.167621612548828 + ], + [ + 0.023707017302513123, + 0.016417479142546654, + 0.9995841383934021, + -6.474650859832764 + ], + [ + -0.13335971534252167, + -0.990877091884613, + 0.01943734660744667, + -1.413649559020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3428, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594509_938470363", + "mask_path": "../../mask/hdr_right_03428.png" + }, + { + "file_path": "../../rgb/hdr_right_03429.png", + "transform_matrix": [ + [ + 0.9895227551460266, + -0.14176692068576813, + -0.02732951194047928, + 14.106590270996094 + ], + [ + 0.031240340322256088, + 0.02543395757675171, + 0.999188244342804, + -6.467226028442383 + ], + [ + -0.14095674455165863, + -0.9895732402801514, + 0.029596321284770966, + -1.3988261222839355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3429, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_38470029", + "mask_path": "../../mask/hdr_right_03429.png" + }, + { + "file_path": "../../rgb/hdr_right_03430.png", + "transform_matrix": [ + [ + 0.9892361164093018, + -0.14308978617191315, + -0.030614204704761505, + 14.058560371398926 + ], + [ + 0.035255156457424164, + 0.03001115284860134, + 0.998927652835846, + -6.454808712005615 + ], + [ + -0.14201757311820984, + -0.9892545938491821, + 0.03473276644945145, + -1.3865376710891724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3430, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_138469219", + "mask_path": "../../mask/hdr_right_03430.png" + }, + { + "file_path": "../../rgb/hdr_right_03431.png", + "transform_matrix": [ + [ + 0.9902582168579102, + -0.1354844868183136, + -0.03213520720601082, + 14.012791633605957 + ], + [ + 0.03411201387643814, + 0.012293694540858269, + 0.9993423819541931, + -6.441103458404541 + ], + [ + -0.1350003331899643, + -0.9907032251358032, + 0.016795577481389046, + -1.3917771577835083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3431, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_238468885", + "mask_path": "../../mask/hdr_right_03431.png" + }, + { + "file_path": "../../rgb/hdr_right_03433.png", + "transform_matrix": [ + [ + 0.9917619824409485, + -0.12390431016683578, + -0.03249451518058777, + 13.919998168945312 + ], + [ + 0.03181327134370804, + -0.007473553530871868, + 0.9994659423828125, + -6.43377685546875 + ], + [ + -0.12408097833395004, + -0.9922659993171692, + -0.0034701896365731955, + -1.3900357484817505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3433, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_438469171", + "mask_path": "../../mask/hdr_right_03433.png" + }, + { + "file_path": "../../rgb/hdr_right_03434.png", + "transform_matrix": [ + [ + 0.9916805028915405, + -0.12052731215953827, + -0.04519946500658989, + 13.854802131652832 + ], + [ + 0.04584711045026779, + 0.0026042000390589237, + 0.9989451169967651, + -6.4299516677856445 + ], + [ + -0.12028246372938156, + -0.9927065968513489, + 0.008108359761536121, + -1.3915581703186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3434, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_538469552", + "mask_path": "../../mask/hdr_right_03434.png" + }, + { + "file_path": "../../rgb/hdr_right_03435.png", + "transform_matrix": [ + [ + 0.991561233997345, + -0.11598280817270279, + -0.05791701748967171, + 13.800765037536621 + ], + [ + 0.05947756767272949, + 0.010036610066890717, + 0.9981792569160461, + -6.424886226654053 + ], + [ + -0.11519032716751099, + -0.9932004809379578, + 0.01685028336942196, + -1.3896121978759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3435, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_638469696", + "mask_path": "../../mask/hdr_right_03435.png" + }, + { + "file_path": "../../rgb/hdr_right_03436.png", + "transform_matrix": [ + [ + 0.9916979074478149, + -0.1101599857211113, + -0.06633234769105911, + 13.744271278381348 + ], + [ + 0.06764981150627136, + 0.008261075243353844, + 0.9976749420166016, + -6.42158842086792 + ], + [ + -0.1093558743596077, + -0.9938796162605286, + 0.01564478874206543, + -1.3830301761627197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_738470315", + "mask_path": "../../mask/hdr_right_03436.png" + }, + { + "file_path": "../../rgb/hdr_right_03437.png", + "transform_matrix": [ + [ + 0.9921016097068787, + -0.10373937338590622, + -0.07051584124565125, + 13.693241119384766 + ], + [ + 0.07094340026378632, + 0.0004326606576796621, + 0.9974802136421204, + -6.419404029846191 + ], + [ + -0.10344747453927994, + -0.9946044683456421, + 0.007788864895701408, + -1.3725863695144653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3437, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594510_838470220", + "mask_path": "../../mask/hdr_right_03437.png" + }, + { + "file_path": "../../rgb/hdr_right_03439.png", + "transform_matrix": [ + [ + 0.9907572269439697, + -0.10351201146841049, + -0.0876665711402893, + 13.591022491455078 + ], + [ + 0.08728313446044922, + -0.008237099274992943, + 0.996149480342865, + -6.425197124481201 + ], + [ + -0.1038355678319931, + -0.9945940971374512, + 0.0008738876786082983, + -1.3610087633132935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_38469791", + "mask_path": "../../mask/hdr_right_03439.png" + }, + { + "file_path": "../../rgb/hdr_right_03440.png", + "transform_matrix": [ + [ + 0.9887398481369019, + -0.10004283487796783, + -0.11128782480955124, + 13.524551391601562 + ], + [ + 0.11091843992471695, + -0.009264661930501461, + 0.9937863945960999, + -6.438431739807129 + ], + [ + -0.1004522517323494, + -0.9949400424957275, + 0.0019362508319318295, + -1.3581280708312988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3440, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_138470172", + "mask_path": "../../mask/hdr_right_03440.png" + }, + { + "file_path": "../../rgb/hdr_right_03441.png", + "transform_matrix": [ + [ + 0.985748291015625, + -0.09821432828903198, + -0.13658073544502258, + 13.473315238952637 + ], + [ + 0.13638073205947876, + -0.008779048919677734, + 0.9906176328659058, + -6.447447776794434 + ], + [ + -0.09849189966917038, + -0.9951265454292297, + 0.004740606993436813, + -1.3473981618881226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3441, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_238470077", + "mask_path": "../../mask/hdr_right_03441.png" + }, + { + "file_path": "../../rgb/hdr_right_03442.png", + "transform_matrix": [ + [ + 0.9844456315040588, + -0.08799763768911362, + -0.1520633101463318, + 13.423266410827637 + ], + [ + 0.1518988162279129, + -0.008602204732596874, + 0.9883586168289185, + -6.450307369232178 + ], + [ + -0.0882812961935997, + -0.9960834980010986, + 0.004898332059383392, + -1.3466771841049194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3442, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_338470220", + "mask_path": "../../mask/hdr_right_03442.png" + }, + { + "file_path": "../../rgb/hdr_right_03443.png", + "transform_matrix": [ + [ + 0.9850674271583557, + -0.08113458007574081, + -0.15185335278511047, + 13.368820190429688 + ], + [ + 0.1519191712141037, + -0.0053979638032615185, + 0.9883782267570496, + -6.449892997741699 + ], + [ + -0.0810113474726677, + -0.9966885447502136, + 0.00700853718444705, + -1.3419517278671265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3443, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_438470602", + "mask_path": "../../mask/hdr_right_03443.png" + }, + { + "file_path": "../../rgb/hdr_right_03444.png", + "transform_matrix": [ + [ + 0.9865989089012146, + -0.08649621158838272, + -0.13835084438323975, + 13.312443733215332 + ], + [ + 0.13858655095100403, + -0.0033032812643796206, + 0.9903448820114136, + -6.447013854980469 + ], + [ + -0.08611807227134705, + -0.9962466955184937, + 0.008728192187845707, + -1.327465534210205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3444, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_538470745", + "mask_path": "../../mask/hdr_right_03444.png" + }, + { + "file_path": "../../rgb/hdr_right_03445.png", + "transform_matrix": [ + [ + 0.9869681596755981, + -0.09172311425209045, + -0.132215216755867, + 13.240815162658691 + ], + [ + 0.132205531001091, + -0.006208469625562429, + 0.9912028908729553, + -6.452123641967773 + ], + [ + -0.09173706918954849, + -0.9957651495933533, + 0.0059987385757267475, + -1.3223735094070435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3445, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_638470172", + "mask_path": "../../mask/hdr_right_03445.png" + }, + { + "file_path": "../../rgb/hdr_right_03446.png", + "transform_matrix": [ + [ + 0.9860281348228455, + -0.09514767676591873, + -0.13673138618469238, + 13.159744262695312 + ], + [ + 0.13656307756900787, + -0.008309461176395416, + 0.9905966520309448, + -6.457792282104492 + ], + [ + -0.09538912773132324, + -0.9954285025596619, + 0.004800294991582632, + -1.3164963722229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3446, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_738470077", + "mask_path": "../../mask/hdr_right_03446.png" + }, + { + "file_path": "../../rgb/hdr_right_03447.png", + "transform_matrix": [ + [ + 0.985676109790802, + -0.09374457597732544, + -0.1401953250169754, + 13.090453147888184 + ], + [ + 0.13990913331508636, + -0.009650904685258865, + 0.9901173710823059, + -6.457111358642578 + ], + [ + -0.09417113661766052, + -0.9955494999885559, + 0.003603054443374276, + -1.3127737045288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3447, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_838471889", + "mask_path": "../../mask/hdr_right_03447.png" + }, + { + "file_path": "../../rgb/hdr_right_03448.png", + "transform_matrix": [ + [ + 0.9866023659706116, + -0.0887833833694458, + -0.1368698626756668, + 13.016256332397461 + ], + [ + 0.13629741966724396, + -0.012507305480539799, + 0.9905889630317688, + -6.4549360275268555 + ], + [ + -0.08965970575809479, + -0.9959723949432373, + -0.00023879365471657366, + -1.3132885694503784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3448, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594511_938470125", + "mask_path": "../../mask/hdr_right_03448.png" + }, + { + "file_path": "../../rgb/hdr_right_03449.png", + "transform_matrix": [ + [ + 0.9888502359390259, + -0.08254282921552658, + -0.12394349277019501, + 12.947897911071777 + ], + [ + 0.12304043769836426, + -0.015958646312355995, + 0.9922733902931213, + -6.453291893005371 + ], + [ + -0.08388301730155945, + -0.9964597225189209, + -0.005624608136713505, + -1.3078874349594116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3449, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_38469552", + "mask_path": "../../mask/hdr_right_03449.png" + }, + { + "file_path": "../../rgb/hdr_right_03450.png", + "transform_matrix": [ + [ + 0.9896412491798401, + -0.08437439799308777, + -0.11615151166915894, + 12.871718406677246 + ], + [ + 0.11531875282526016, + -0.014694105833768845, + 0.9932198524475098, + -6.454500198364258 + ], + [ + -0.08550906926393509, + -0.9963257908821106, + -0.0048119439743459225, + -1.3007400035858154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3450, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_138470411", + "mask_path": "../../mask/hdr_right_03450.png" + }, + { + "file_path": "../../rgb/hdr_right_03451.png", + "transform_matrix": [ + [ + 0.9890240430831909, + -0.08827359229326248, + -0.11848751455545425, + 12.774683952331543 + ], + [ + 0.11792714893817902, + -0.011555090546607971, + 0.9929550290107727, + -6.458149433135986 + ], + [ + -0.08902084082365036, + -0.9960291981697083, + -0.001018412527628243, + -1.3044238090515137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3451, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_238471746", + "mask_path": "../../mask/hdr_right_03451.png" + }, + { + "file_path": "../../rgb/hdr_right_03452.png", + "transform_matrix": [ + [ + 0.9885669350624084, + -0.08532337844371796, + -0.12431912869215012, + 12.699586868286133 + ], + [ + 0.12426663935184479, + -0.005947044584900141, + 0.992231011390686, + -6.457918167114258 + ], + [ + -0.08539984375238419, + -0.9963355660438538, + 0.004723794292658567, + -1.3080253601074219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3452, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_338469505", + "mask_path": "../../mask/hdr_right_03452.png" + }, + { + "file_path": "../../rgb/hdr_right_03453.png", + "transform_matrix": [ + [ + 0.9887162446975708, + -0.0827687457203865, + -0.12485823035240173, + 12.62142562866211 + ], + [ + 0.12474598735570908, + -0.006546603981405497, + 0.992167055606842, + -6.4498610496521 + ], + [ + -0.0829378291964531, + -0.996547281742096, + 0.0038523338735103607, + -1.3036810159683228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3453, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_438470602", + "mask_path": "../../mask/hdr_right_03453.png" + }, + { + "file_path": "../../rgb/hdr_right_03454.png", + "transform_matrix": [ + [ + 0.9900113344192505, + -0.07949105650186539, + -0.11644279956817627, + 12.5416841506958 + ], + [ + 0.11621709167957306, + -0.007475963328033686, + 0.9931957125663757, + -6.437961578369141 + ], + [ + -0.07982069998979568, + -0.9968075752258301, + 0.001836928422562778, + -1.2847155332565308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3454, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_538470506", + "mask_path": "../../mask/hdr_right_03454.png" + }, + { + "file_path": "../../rgb/hdr_right_03455.png", + "transform_matrix": [ + [ + 0.9913535714149475, + -0.08259840309619904, + -0.10195917636156082, + 12.479660034179688 + ], + [ + 0.10157465189695358, + -0.008855304680764675, + 0.9947885274887085, + -6.430287837982178 + ], + [ + -0.08307082951068878, + -0.9965435266494751, + -0.00038883541128598154, + -1.2708944082260132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3455, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_638476848", + "mask_path": "../../mask/hdr_right_03455.png" + }, + { + "file_path": "../../rgb/hdr_right_03456.png", + "transform_matrix": [ + [ + 0.9923869371414185, + -0.08165402710437775, + -0.09220004826784134, + 12.404545783996582 + ], + [ + 0.09147372841835022, + -0.012599955312907696, + 0.9957277774810791, + -6.42780065536499 + ], + [ + -0.08246689289808273, + -0.9965810179710388, + -0.005034836009144783, + -1.2650022506713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3456, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_738470077", + "mask_path": "../../mask/hdr_right_03456.png" + }, + { + "file_path": "../../rgb/hdr_right_03457.png", + "transform_matrix": [ + [ + 0.9924862384796143, + -0.07852579653263092, + -0.09383364021778107, + 12.308655738830566 + ], + [ + 0.09313411265611649, + -0.012532126158475876, + 0.9955747723579407, + -6.42654275894165 + ], + [ + -0.07935424149036407, + -0.996833324432373, + -0.005124535411596298, + -1.2655564546585083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3457, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_838472604", + "mask_path": "../../mask/hdr_right_03457.png" + }, + { + "file_path": "../../rgb/hdr_right_03458.png", + "transform_matrix": [ + [ + 0.9921092391014099, + -0.07428669184446335, + -0.10099953413009644, + 12.240128517150879 + ], + [ + 0.1007475033402443, + -0.007141760550439358, + 0.9948863983154297, + -6.423343181610107 + ], + [ + -0.07462814450263977, + -0.9972114562988281, + 0.00039879026007838547, + -1.2675182819366455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3458, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594512_938469648", + "mask_path": "../../mask/hdr_right_03458.png" + }, + { + "file_path": "../../rgb/hdr_right_03459.png", + "transform_matrix": [ + [ + 0.9923762679100037, + -0.07134825736284256, + -0.10049319267272949, + 12.16732406616211 + ], + [ + 0.1005057841539383, + -0.0034225641284137964, + 0.9949305653572083, + -6.415515422821045 + ], + [ + -0.07133050262928009, + -0.9974456429481506, + 0.003774439450353384, + -1.267508625984192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3459, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_38473844", + "mask_path": "../../mask/hdr_right_03459.png" + }, + { + "file_path": "../../rgb/hdr_right_03460.png", + "transform_matrix": [ + [ + 0.9933678507804871, + -0.07038788497447968, + -0.09091731160879135, + 12.092247009277344 + ], + [ + 0.09119492769241333, + 0.0007337431306950748, + 0.9958328008651733, + -6.403682231903076 + ], + [ + -0.07002785056829453, + -0.9975194334983826, + 0.007147890515625477, + -1.2526341676712036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3460, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_138470888", + "mask_path": "../../mask/hdr_right_03460.png" + }, + { + "file_path": "../../rgb/hdr_right_03461.png", + "transform_matrix": [ + [ + 0.994080662727356, + -0.07597169280052185, + -0.07766521722078323, + 12.02936840057373 + ], + [ + 0.07788357883691788, + -8.904700371203944e-05, + 0.9969624876976013, + -6.395145416259766 + ], + [ + -0.07574783265590668, + -0.9971100091934204, + 0.005828424356877804, + -1.2367537021636963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3461, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_238473415", + "mask_path": "../../mask/hdr_right_03461.png" + }, + { + "file_path": "../../rgb/hdr_right_03462.png", + "transform_matrix": [ + [ + 0.9941743612289429, + -0.07765112817287445, + -0.07475002110004425, + 11.96088981628418 + ], + [ + 0.07484817504882812, + -0.0016501132631674409, + 0.9971936345100403, + -6.391366958618164 + ], + [ + -0.0775565579533577, + -0.9969792366027832, + 0.0041715423576533794, + -1.2318118810653687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3462, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_338470220", + "mask_path": "../../mask/hdr_right_03462.png" + }, + { + "file_path": "../../rgb/hdr_right_03463.png", + "transform_matrix": [ + [ + 0.9931787848472595, + -0.0781090185046196, + -0.08657335489988327, + 11.872970581054688 + ], + [ + 0.08669456094503403, + -0.0018446471076458693, + 0.9962332844734192, + -6.391740798950195 + ], + [ + -0.07797450572252274, + -0.9969430565834045, + 0.004939561244100332, + -1.2320172786712646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3463, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_438472032", + "mask_path": "../../mask/hdr_right_03463.png" + }, + { + "file_path": "../../rgb/hdr_right_03464.png", + "transform_matrix": [ + [ + 0.9917855262756348, + -0.0776776671409607, + -0.10162567347288132, + 11.800600051879883 + ], + [ + 0.10206333547830582, + 0.0016748198540881276, + 0.9947764873504639, + -6.387584209442139 + ], + [ + -0.07710171490907669, + -0.9969770908355713, + 0.009589102119207382, + -1.2295981645584106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3464, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_538470029", + "mask_path": "../../mask/hdr_right_03464.png" + }, + { + "file_path": "../../rgb/hdr_right_03465.png", + "transform_matrix": [ + [ + 0.991270899772644, + -0.07353389263153076, + -0.1094297394156456, + 11.724656105041504 + ], + [ + 0.1102122962474823, + 0.006657857447862625, + 0.9938858151435852, + -6.381942272186279 + ], + [ + -0.0723557248711586, + -0.9972704648971558, + 0.014704078435897827, + -1.2277265787124634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3465, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_638471126", + "mask_path": "../../mask/hdr_right_03465.png" + }, + { + "file_path": "../../rgb/hdr_right_03466.png", + "transform_matrix": [ + [ + 0.9914138913154602, + -0.07336900383234024, + -0.10823804140090942, + 11.655426979064941 + ], + [ + 0.10925344377756119, + 0.009958322159945965, + 0.9939640760421753, + -6.3746771812438965 + ], + [ + -0.07184828072786331, + -0.9972551465034485, + 0.017888633534312248, + -1.219623327255249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3466, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_738470554", + "mask_path": "../../mask/hdr_right_03466.png" + }, + { + "file_path": "../../rgb/hdr_right_03467.png", + "transform_matrix": [ + [ + 0.990803599357605, + -0.07604031264781952, + -0.11192069947719574, + 11.591747283935547 + ], + [ + 0.11281198263168335, + 0.007514855358749628, + 0.9935879707336426, + -6.369892597198486 + ], + [ + -0.07471167296171188, + -0.9970763921737671, + 0.016024000942707062, + -1.2114607095718384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3467, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_838471174", + "mask_path": "../../mask/hdr_right_03467.png" + }, + { + "file_path": "../../rgb/hdr_right_03468.png", + "transform_matrix": [ + [ + 0.9893609285354614, + -0.07167896628379822, + -0.12659721076488495, + 11.517010688781738 + ], + [ + 0.12735190987586975, + 0.006039346568286419, + 0.9918392896652222, + -6.370501518249512 + ], + [ + -0.0703294575214386, + -0.997409462928772, + 0.015103545971214771, + -1.206897258758545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3468, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594513_938469409", + "mask_path": "../../mask/hdr_right_03468.png" + }, + { + "file_path": "../../rgb/hdr_right_03469.png", + "transform_matrix": [ + [ + 0.9864262342453003, + -0.06840640306472778, + -0.14927835762500763, + 11.448270797729492 + ], + [ + 0.15030156075954437, + 0.010033950209617615, + 0.9885892868041992, + -6.378503322601318 + ], + [ + -0.06612798571586609, + -0.9976070523262024, + 0.02017933875322342, + -1.2085611820220947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3469, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_38470745", + "mask_path": "../../mask/hdr_right_03469.png" + }, + { + "file_path": "../../rgb/hdr_right_03470.png", + "transform_matrix": [ + [ + 0.9846166968345642, + -0.06755691021680832, + -0.16113987565040588, + 11.380472183227539 + ], + [ + 0.16265299916267395, + 0.017493482679128647, + 0.986528217792511, + -6.385532855987549 + ], + [ + -0.06382790952920914, + -0.997562050819397, + 0.028212709352374077, + -1.2120378017425537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3470, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_138470411", + "mask_path": "../../mask/hdr_right_03470.png" + }, + { + "file_path": "../../rgb/hdr_right_03471.png", + "transform_matrix": [ + [ + 0.9838922023773193, + -0.06761518120765686, + -0.16548196971416473, + 11.304211616516113 + ], + [ + 0.16710332036018372, + 0.01903197541832924, + 0.9857556819915771, + -6.3839430809021 + ], + [ + -0.06350259482860565, + -0.997529923915863, + 0.030024129897356033, + -1.2009356021881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3471, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_238471746", + "mask_path": "../../mask/hdr_right_03471.png" + }, + { + "file_path": "../../rgb/hdr_right_03472.png", + "transform_matrix": [ + [ + 0.9846509695053101, + -0.06413533538579941, + -0.16232392191886902, + 11.231172561645508 + ], + [ + 0.16360847651958466, + 0.01527640875428915, + 0.9864071011543274, + -6.379753589630127 + ], + [ + -0.06078381836414337, + -0.9978242516517639, + 0.025535013526678085, + -1.1872570514678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3472, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_338470697", + "mask_path": "../../mask/hdr_right_03472.png" + }, + { + "file_path": "../../rgb/hdr_right_03473.png", + "transform_matrix": [ + [ + 0.9841932654380798, + -0.07001347839832306, + -0.1626708209514618, + 11.163488388061523 + ], + [ + 0.16359055042266846, + 0.007571032736450434, + 0.9864992499351501, + -6.383908271789551 + ], + [ + -0.06783665716648102, + -0.9975173473358154, + 0.018904902040958405, + -1.1764841079711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3473, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_438470125", + "mask_path": "../../mask/hdr_right_03473.png" + }, + { + "file_path": "../../rgb/hdr_right_03474.png", + "transform_matrix": [ + [ + 0.9820319414138794, + -0.07047896832227707, + -0.17506013810634613, + 11.084920883178711 + ], + [ + 0.1758010983467102, + 0.00440298393368721, + 0.9844158887863159, + -6.395336627960205 + ], + [ + -0.0686098262667656, + -0.9975035190582275, + 0.016714150086045265, + -1.1738005876541138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3474, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_538469314", + "mask_path": "../../mask/hdr_right_03474.png" + }, + { + "file_path": "../../rgb/hdr_right_03475.png", + "transform_matrix": [ + [ + 0.9786710143089294, + -0.06701657921075821, + -0.19419553875923157, + 11.015159606933594 + ], + [ + 0.19522574543952942, + 0.009118669666349888, + 0.9807159900665283, + -6.406122207641602 + ], + [ + -0.06395342200994492, + -0.9977102875709534, + 0.0220075361430645, + -1.1747219562530518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3475, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_638469219", + "mask_path": "../../mask/hdr_right_03475.png" + }, + { + "file_path": "../../rgb/hdr_right_03476.png", + "transform_matrix": [ + [ + 0.9759518504142761, + -0.06739189475774765, + -0.20730727910995483, + 10.950873374938965 + ], + [ + 0.2084723711013794, + 0.0106640150770545, + 0.9779700636863708, + -6.410013675689697 + ], + [ + -0.06369653344154358, + -0.9976695775985718, + 0.024456914514303207, + -1.1731984615325928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3476, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_738470792", + "mask_path": "../../mask/hdr_right_03476.png" + }, + { + "file_path": "../../rgb/hdr_right_03477.png", + "transform_matrix": [ + [ + 0.9745555520057678, + -0.07062143087387085, + -0.21273036301136017, + 10.877951622009277 + ], + [ + 0.2141350507736206, + 0.01286594569683075, + 0.9767193794250488, + -6.409334182739258 + ], + [ + -0.0662403404712677, + -0.9974203109741211, + 0.027661101892590523, + -1.1580804586410522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_838469982", + "mask_path": "../../mask/hdr_right_03477.png" + }, + { + "file_path": "../../rgb/hdr_right_03478.png", + "transform_matrix": [ + [ + 0.9750465154647827, + -0.07690278440713882, + -0.2082555741071701, + 10.817919731140137 + ], + [ + 0.2095075249671936, + 0.008497722446918488, + 0.9777700901031494, + -6.408015727996826 + ], + [ + -0.07342354208230972, + -0.997002363204956, + 0.024397384375333786, + -1.1451756954193115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3478, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594514_938469886", + "mask_path": "../../mask/hdr_right_03478.png" + }, + { + "file_path": "../../rgb/hdr_right_03479.png", + "transform_matrix": [ + [ + 0.9747412204742432, + -0.08327566832304001, + -0.20723088085651398, + 10.754178047180176 + ], + [ + 0.2083040028810501, + 0.004315348342061043, + 0.9780545830726624, + -6.410470008850098 + ], + [ + -0.08055388182401657, + -0.9965171813964844, + 0.021553002297878265, + -1.1337751150131226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3479, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_38470268", + "mask_path": "../../mask/hdr_right_03479.png" + }, + { + "file_path": "../../rgb/hdr_right_03480.png", + "transform_matrix": [ + [ + 0.9724472165107727, + -0.08615253865718842, + -0.2166200578212738, + 10.67310905456543 + ], + [ + 0.21789471805095673, + 0.005564090330153704, + 0.9759564399719238, + -6.423109531402588 + ], + [ + -0.08287583291530609, + -0.9962664246559143, + 0.024182964116334915, + -1.1270596981048584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3480, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_138470172", + "mask_path": "../../mask/hdr_right_03480.png" + }, + { + "file_path": "../../rgb/hdr_right_03481.png", + "transform_matrix": [ + [ + 0.9689382314682007, + -0.08429758995771408, + -0.2324923872947693, + 10.606532096862793 + ], + [ + 0.23400378227233887, + 0.008377337828278542, + 0.9721996784210205, + -6.432927131652832 + ], + [ + -0.0800064280629158, + -0.9964054226875305, + 0.02784307487308979, + -1.1259119510650635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3481, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_238469362", + "mask_path": "../../mask/hdr_right_03481.png" + }, + { + "file_path": "../../rgb/hdr_right_03482.png", + "transform_matrix": [ + [ + 0.9667679071426392, + -0.08364859968423843, + -0.2415836900472641, + 10.53742504119873 + ], + [ + 0.24312424659729004, + 0.008594151586294174, + 0.969957172870636, + -6.439352989196777 + ], + [ + -0.07905934751033783, + -0.9964582324028015, + 0.028645550832152367, + -1.1229063272476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3482, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_338469266", + "mask_path": "../../mask/hdr_right_03482.png" + }, + { + "file_path": "../../rgb/hdr_right_03483.png", + "transform_matrix": [ + [ + 0.9669733047485352, + -0.08404235541820526, + -0.24062302708625793, + 10.466635704040527 + ], + [ + 0.2424432337284088, + 0.012016043066978455, + 0.9700912237167358, + -6.442503452301025 + ], + [ + -0.07863741368055344, + -0.9963897466659546, + 0.031994692981243134, + -1.1092339754104614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3483, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_438469409", + "mask_path": "../../mask/hdr_right_03483.png" + }, + { + "file_path": "../../rgb/hdr_right_03484.png", + "transform_matrix": [ + [ + 0.9681724309921265, + -0.09030136466026306, + -0.23342642188072205, + 10.396000862121582 + ], + [ + 0.23469199240207672, + 0.0035106015857309103, + 0.9720635414123535, + -6.44819450378418 + ], + [ + -0.08695919066667557, + -0.995908260345459, + 0.024591870605945587, + -1.0961214303970337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3484, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_538468122", + "mask_path": "../../mask/hdr_right_03484.png" + }, + { + "file_path": "../../rgb/hdr_right_03485.png", + "transform_matrix": [ + [ + 0.9679871797561646, + -0.09319951385259628, + -0.2330550104379654, + 10.315701484680176 + ], + [ + 0.23392581939697266, + -0.001623312127776444, + 0.972253143787384, + -6.457240104675293 + ], + [ + -0.09099184721708298, + -0.9956461191177368, + 0.020230425521731377, + -1.0845180749893188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3485, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_638469457", + "mask_path": "../../mask/hdr_right_03485.png" + }, + { + "file_path": "../../rgb/hdr_right_03486.png", + "transform_matrix": [ + [ + 0.9656199216842651, + -0.0897841602563858, + -0.24396149814128876, + 10.230911254882812 + ], + [ + 0.24486087262630463, + -0.0010273823281750083, + 0.9695577621459961, + -6.470647811889648 + ], + [ + -0.08730155974626541, + -0.9959607124328613, + 0.020992564037442207, + -1.080491304397583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3486, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_738468885", + "mask_path": "../../mask/hdr_right_03486.png" + }, + { + "file_path": "../../rgb/hdr_right_03487.png", + "transform_matrix": [ + [ + 0.9638674259185791, + -0.08614034205675125, + -0.2520703077316284, + 10.159711837768555 + ], + [ + 0.2531764507293701, + 0.001986891496926546, + 0.9674181342124939, + -6.47707986831665 + ], + [ + -0.08283288776874542, + -0.9962810277938843, + 0.02372380532324314, + -1.081847071647644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3487, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_838469266", + "mask_path": "../../mask/hdr_right_03487.png" + }, + { + "file_path": "../../rgb/hdr_right_03488.png", + "transform_matrix": [ + [ + 0.9640925526618958, + -0.08581060916185379, + -0.2513209581375122, + 10.079205513000488 + ], + [ + 0.25251948833465576, + 0.0032327992375940084, + 0.9675863981246948, + -6.477591514587402 + ], + [ + -0.08221671730279922, + -0.9963061809539795, + 0.024785567075014114, + -1.0717003345489502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594515_938469171", + "mask_path": "../../mask/hdr_right_03488.png" + }, + { + "file_path": "../../rgb/hdr_right_03489.png", + "transform_matrix": [ + [ + 0.9672924280166626, + -0.08767657727003098, + -0.23802973330020905, + 10.000692367553711 + ], + [ + 0.23910771310329437, + 0.0018508083885535598, + 0.970991313457489, + -6.477276802062988 + ], + [ + -0.08469265699386597, + -0.9961472749710083, + 0.022754419595003128, + -1.0526429414749146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3489, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_38469314", + "mask_path": "../../mask/hdr_right_03489.png" + }, + { + "file_path": "../../rgb/hdr_right_03490.png", + "transform_matrix": [ + [ + 0.9695841073989868, + -0.08931008726358414, + -0.2278825342655182, + 9.924971580505371 + ], + [ + 0.22845666110515594, + -0.0038774474523961544, + 0.9735464453697205, + -6.481441020965576 + ], + [ + -0.08783111721277237, + -0.995996356010437, + 0.01664396934211254, + -1.0412321090698242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3490, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_138470411", + "mask_path": "../../mask/hdr_right_03490.png" + }, + { + "file_path": "../../rgb/hdr_right_03491.png", + "transform_matrix": [ + [ + 0.9703457355499268, + -0.08400280028581619, + -0.2266554832458496, + 9.845730781555176 + ], + [ + 0.2276802808046341, + 0.0027002585120499134, + 0.9737322926521301, + -6.489596366882324 + ], + [ + -0.08118420839309692, + -0.9964618682861328, + 0.021745964884757996, + -1.0341613292694092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3491, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_238470554", + "mask_path": "../../mask/hdr_right_03491.png" + }, + { + "file_path": "../../rgb/hdr_right_03492.png", + "transform_matrix": [ + [ + 0.9693619608879089, + -0.08092918246984482, + -0.2319221794605255, + 9.771506309509277 + ], + [ + 0.2332049161195755, + 0.006643893197178841, + 0.9724050164222717, + -6.496366500854492 + ], + [ + -0.07715506851673126, + -0.996697723865509, + 0.025313418358564377, + -1.0346980094909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3492, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_338470458", + "mask_path": "../../mask/hdr_right_03492.png" + }, + { + "file_path": "../../rgb/hdr_right_03493.png", + "transform_matrix": [ + [ + 0.9689561724662781, + -0.08064603805541992, + -0.23370976746082306, + 9.694689750671387 + ], + [ + 0.23507267236709595, + 0.0077068619430065155, + 0.9719473123550415, + -6.502537250518799 + ], + [ + -0.07658252865076065, + -0.9967130422592163, + 0.026425285264849663, + -1.0320732593536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3493, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_438469886", + "mask_path": "../../mask/hdr_right_03493.png" + }, + { + "file_path": "../../rgb/hdr_right_03494.png", + "transform_matrix": [ + [ + 0.9700405597686768, + -0.08054577559232712, + -0.22920256853103638, + 9.609753608703613 + ], + [ + 0.2305612713098526, + 0.007867253385484219, + 0.9730259776115417, + -6.508134841918945 + ], + [ + -0.07656995207071304, + -0.9967198371887207, + 0.02620229311287403, + -1.017072319984436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3494, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_538469791", + "mask_path": "../../mask/hdr_right_03494.png" + }, + { + "file_path": "../../rgb/hdr_right_03495.png", + "transform_matrix": [ + [ + 0.9721766114234924, + -0.0832972601056099, + -0.21893899142742157, + 9.53218936920166 + ], + [ + 0.21980763971805573, + 0.0012915765400975943, + 0.9755423665046692, + -6.514252662658691 + ], + [ + -0.08097723126411438, + -0.996523916721344, + 0.01956501416862011, + -1.0006059408187866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3495, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_638470411", + "mask_path": "../../mask/hdr_right_03495.png" + }, + { + "file_path": "../../rgb/hdr_right_03496.png", + "transform_matrix": [ + [ + 0.9713940620422363, + -0.08799582719802856, + -0.22056807577610016, + 9.456341743469238 + ], + [ + 0.2208642214536667, + -0.006479131057858467, + 0.9752830862998962, + -6.522952556610107 + ], + [ + -0.08724993467330933, + -0.9960997104644775, + 0.013141337782144547, + -0.9892305135726929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3496, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_738470554", + "mask_path": "../../mask/hdr_right_03496.png" + }, + { + "file_path": "../../rgb/hdr_right_03497.png", + "transform_matrix": [ + [ + 0.9672563076019287, + -0.09044384211301804, + -0.23713955283164978, + 9.371588706970215 + ], + [ + 0.2373918890953064, + -0.008114086464047432, + 0.9713801741600037, + -6.54243278503418 + ], + [ + -0.08977952599525452, + -0.9958685040473938, + 0.013622230850160122, + -0.9812635183334351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3497, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_838470697", + "mask_path": "../../mask/hdr_right_03497.png" + }, + { + "file_path": "../../rgb/hdr_right_03498.png", + "transform_matrix": [ + [ + 0.9600962400436401, + -0.08873904496431351, + -0.2652181088924408, + 9.306506156921387 + ], + [ + 0.26591143012046814, + -0.004132213536649942, + 0.9639886021614075, + -6.564305782318115 + ], + [ + -0.08663935959339142, + -0.9960463047027588, + 0.019629400223493576, + -0.9808675646781921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3498, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594516_938469886", + "mask_path": "../../mask/hdr_right_03498.png" + }, + { + "file_path": "../../rgb/hdr_right_03499.png", + "transform_matrix": [ + [ + 0.9523906111717224, + -0.0852724015712738, + -0.2927127480506897, + 9.245931625366211 + ], + [ + 0.2935808598995209, + -0.0024576480500400066, + 0.9559310674667358, + -6.579962730407715 + ], + [ + -0.08223392069339752, + -0.9963546395301819, + 0.022693699225783348, + -0.9793996214866638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3499, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_38469552", + "mask_path": "../../mask/hdr_right_03499.png" + }, + { + "file_path": "../../rgb/hdr_right_03500.png", + "transform_matrix": [ + [ + 0.9472809433937073, + -0.08472940325737, + -0.30899778008461, + 9.172223091125488 + ], + [ + 0.3099633753299713, + -0.0018433936638757586, + 0.9507467150688171, + -6.591222763061523 + ], + [ + -0.08112578839063644, + -0.9964023232460022, + 0.024516794830560684, + -0.9646630883216858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3500, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_138470649", + "mask_path": "../../mask/hdr_right_03500.png" + }, + { + "file_path": "../../rgb/hdr_right_03501.png", + "transform_matrix": [ + [ + 0.947823703289032, + -0.08843876421451569, + -0.30628201365470886, + 9.103668212890625 + ], + [ + 0.30682888627052307, + -0.007680006790906191, + 0.9517338275909424, + -6.603422164916992 + ], + [ + -0.0865224078297615, + -0.9960519671440125, + 0.019856274127960205, + -0.9503514170646667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3501, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_238469839", + "mask_path": "../../mask/hdr_right_03501.png" + }, + { + "file_path": "../../rgb/hdr_right_03502.png", + "transform_matrix": [ + [ + 0.9482800364494324, + -0.08829700946807861, + -0.3049076497554779, + 9.03397274017334 + ], + [ + 0.3045620620250702, + -0.01769057847559452, + 0.9523282051086426, + -6.619076728820801 + ], + [ + -0.08948171883821487, + -0.9959370493888855, + 0.010116295889019966, + -0.93796306848526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3502, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_338469982", + "mask_path": "../../mask/hdr_right_03502.png" + }, + { + "file_path": "../../rgb/hdr_right_03503.png", + "transform_matrix": [ + [ + 0.9485278725624084, + -0.08546674996614456, + -0.3049430847167969, + 8.953890800476074 + ], + [ + 0.30452170968055725, + -0.018244745209813118, + 0.9523307681083679, + -6.638515472412109 + ], + [ + -0.08695622533559799, + -0.9961739778518677, + 0.008720830082893372, + -0.9292952418327332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3503, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_438469409", + "mask_path": "../../mask/hdr_right_03503.png" + }, + { + "file_path": "../../rgb/hdr_right_03504.png", + "transform_matrix": [ + [ + 0.9473918080329895, + -0.08292383700609207, + -0.30914774537086487, + 8.884127616882324 + ], + [ + 0.3092273771762848, + -0.012205859646201134, + 0.9509098529815674, + -6.656038761138916 + ], + [ + -0.08262650668621063, + -0.99648118019104, + 0.01407858356833458, + -0.9284964799880981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3504, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_538469791", + "mask_path": "../../mask/hdr_right_03504.png" + }, + { + "file_path": "../../rgb/hdr_right_03505.png", + "transform_matrix": [ + [ + 0.947638750076294, + -0.07890915870666504, + -0.3094416856765747, + 8.813505172729492 + ], + [ + 0.309439480304718, + -0.012565520592033863, + 0.950836181640625, + -6.6714935302734375 + ], + [ + -0.0789179727435112, + -0.9968026876449585, + 0.012510030530393124, + -0.9261161684989929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3505, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_638469219", + "mask_path": "../../mask/hdr_right_03505.png" + }, + { + "file_path": "../../rgb/hdr_right_03506.png", + "transform_matrix": [ + [ + 0.9497331380844116, + -0.07768670469522476, + -0.3032684326171875, + 8.733370780944824 + ], + [ + 0.303160697221756, + -0.013462480157613754, + 0.9528443813323975, + -6.68373441696167 + ], + [ + -0.07810609042644501, + -0.9968869686126709, + 0.010765789076685905, + -0.9126984477043152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3506, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_738469600", + "mask_path": "../../mask/hdr_right_03506.png" + }, + { + "file_path": "../../rgb/hdr_right_03507.png", + "transform_matrix": [ + [ + 0.9529175162315369, + -0.0845613181591034, + -0.29120030999183655, + 8.654955863952637 + ], + [ + 0.2908126711845398, + -0.017141068354249, + 0.9566265940666199, + -6.697583198547363 + ], + [ + -0.08588507771492004, + -0.9962708353996277, + 0.008257469162344933, + -0.8976297378540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3507, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_838468313", + "mask_path": "../../mask/hdr_right_03507.png" + }, + { + "file_path": "../../rgb/hdr_right_03508.png", + "transform_matrix": [ + [ + 0.9538370370864868, + -0.08890269696712494, + -0.28686457872390747, + 8.571488380432129 + ], + [ + 0.2864139676094055, + -0.018060194328427315, + 0.9579358100891113, + -6.712741374969482 + ], + [ + -0.0903439000248909, + -0.9958765506744385, + 0.008236492052674294, + -0.8864884376525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3508, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594517_938469171", + "mask_path": "../../mask/hdr_right_03508.png" + }, + { + "file_path": "../../rgb/hdr_right_03509.png", + "transform_matrix": [ + [ + 0.9526765942573547, + -0.08704793453216553, + -0.291255921125412, + 8.48498821258545 + ], + [ + 0.2907682955265045, + -0.018512485548853874, + 0.9566144943237305, + -6.7301836013793945 + ], + [ + -0.08866317570209503, + -0.9960321187973022, + 0.007674363441765308, + -0.886258065700531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_38467645", + "mask_path": "../../mask/hdr_right_03509.png" + }, + { + "file_path": "../../rgb/hdr_right_03510.png", + "transform_matrix": [ + [ + 0.9522510766983032, + -0.08449379354715347, + -0.293391615152359, + 8.413512229919434 + ], + [ + 0.29331058263778687, + -0.013651981018483639, + 0.9559197425842285, + -6.740950107574463 + ], + [ + -0.08477466553449631, + -0.9963304400444031, + 0.011782807298004627, + -0.8854690194129944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3510, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_138468503", + "mask_path": "../../mask/hdr_right_03510.png" + }, + { + "file_path": "../../rgb/hdr_right_03511.png", + "transform_matrix": [ + [ + 0.9537593722343445, + -0.0877036601305008, + -0.28749120235443115, + 8.330711364746094 + ], + [ + 0.2878059148788452, + -0.00931006669998169, + 0.9576435685157776, + -6.744900703430176 + ], + [ + -0.08666540682315826, + -0.9961031079292297, + 0.016362065449357033, + -0.8692556023597717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_238469839", + "mask_path": "../../mask/hdr_right_03511.png" + }, + { + "file_path": "../../rgb/hdr_right_03512.png", + "transform_matrix": [ + [ + 0.9572271704673767, + -0.09195490181446075, + -0.27433666586875916, + 8.255249977111816 + ], + [ + 0.27414387464523315, + -0.014970166608691216, + 0.9615721702575684, + -6.75105619430542 + ], + [ + -0.09252814203500748, + -0.995650589466095, + 0.01087902020663023, + -0.8523405194282532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3512, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_338470697", + "mask_path": "../../mask/hdr_right_03512.png" + }, + { + "file_path": "../../rgb/hdr_right_03513.png", + "transform_matrix": [ + [ + 0.9584629535675049, + -0.0927053764462471, + -0.2697303295135498, + 8.187273979187012 + ], + [ + 0.26908358931541443, + -0.01964397169649601, + 0.9629164934158325, + -6.763297080993652 + ], + [ + -0.09456609189510345, + -0.9954997897148132, + 0.0061174719594419, + -0.8397902846336365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_438470125", + "mask_path": "../../mask/hdr_right_03513.png" + }, + { + "file_path": "../../rgb/hdr_right_03514.png", + "transform_matrix": [ + [ + 0.957610547542572, + -0.08943995833396912, + -0.27382975816726685, + 8.11236572265625 + ], + [ + 0.2736905515193939, + -0.01405707560479641, + 0.9617151021957397, + -6.775096893310547 + ], + [ + -0.08986500650644302, + -0.9958930611610413, + 0.011017666198313236, + -0.8352855443954468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3514, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_538470745", + "mask_path": "../../mask/hdr_right_03514.png" + }, + { + "file_path": "../../rgb/hdr_right_03515.png", + "transform_matrix": [ + [ + 0.956047534942627, + -0.08900689333677292, + -0.2793761193752289, + 8.047171592712402 + ], + [ + 0.27955901622772217, + -0.010659321211278439, + 0.9600692987442017, + -6.782698154449463 + ], + [ + -0.0884307473897934, + -0.9959739446640015, + 0.014691861346364021, + -0.8330882787704468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3515, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_638469457", + "mask_path": "../../mask/hdr_right_03515.png" + }, + { + "file_path": "../../rgb/hdr_right_03516.png", + "transform_matrix": [ + [ + 0.9563822746276855, + -0.09025460481643677, + -0.27782580256462097, + 7.978381156921387 + ], + [ + 0.27806809544563293, + -0.010132812894880772, + 0.9605079293251038, + -6.785375595092773 + ], + [ + -0.08950542658567429, + -0.995867133140564, + 0.015406080521643162, + -0.8236070275306702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3516, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_738470077", + "mask_path": "../../mask/hdr_right_03516.png" + }, + { + "file_path": "../../rgb/hdr_right_03517.png", + "transform_matrix": [ + [ + 0.9591988921165466, + -0.091258704662323, + -0.2675993740558624, + 7.904030799865723 + ], + [ + 0.26782286167144775, + -0.010017775930464268, + 0.9634160995483398, + -6.79138708114624 + ], + [ + -0.09060084819793701, + -0.9957768321037292, + 0.014832121320068836, + -0.8101928234100342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3517, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_838470220", + "mask_path": "../../mask/hdr_right_03517.png" + }, + { + "file_path": "../../rgb/hdr_right_03518.png", + "transform_matrix": [ + [ + 0.9622095823287964, + -0.09361593425273895, + -0.2557121813297272, + 7.828053951263428 + ], + [ + 0.25526636838912964, + -0.016909625381231308, + 0.966722846031189, + -6.799679279327393 + ], + [ + -0.0948246642947197, + -0.9954648017883301, + 0.007626393344253302, + -0.7979797124862671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3518, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594518_938470363", + "mask_path": "../../mask/hdr_right_03518.png" + }, + { + "file_path": "../../rgb/hdr_right_03519.png", + "transform_matrix": [ + [ + 0.9633898735046387, + -0.0923367515206337, + -0.25170204043388367, + 7.744905948638916 + ], + [ + 0.2512792944908142, + -0.01636725850403309, + 0.9677762985229492, + -6.807986736297607 + ], + [ + -0.09348098933696747, + -0.9955933094024658, + 0.00743426289409399, + -0.7888849377632141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3519, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_38470029", + "mask_path": "../../mask/hdr_right_03519.png" + }, + { + "file_path": "../../rgb/hdr_right_03520.png", + "transform_matrix": [ + [ + 0.9624508023262024, + -0.09019885957241058, + -0.2560325562953949, + 7.661772727966309 + ], + [ + 0.2560374438762665, + -0.011714108288288116, + 0.9665960073471069, + -6.818593502044678 + ], + [ + -0.09018503129482269, + -0.9958548545837402, + 0.011820029467344284, + -0.7878555059432983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3520, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_138470411", + "mask_path": "../../mask/hdr_right_03520.png" + }, + { + "file_path": "../../rgb/hdr_right_03521.png", + "transform_matrix": [ + [ + 0.9629347324371338, + -0.08628936856985092, + -0.2555600106716156, + 7.590050220489502 + ], + [ + 0.25591185688972473, + -0.007147348020225763, + 0.9666737914085388, + -6.824497222900391 + ], + [ + -0.08524022996425629, + -0.9962444305419922, + 0.015200039371848106, + -0.7842981815338135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3521, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_238470315", + "mask_path": "../../mask/hdr_right_03521.png" + }, + { + "file_path": "../../rgb/hdr_right_03522.png", + "transform_matrix": [ + [ + 0.9651961922645569, + -0.08336088061332703, + -0.24788543581962585, + 7.507589817047119 + ], + [ + 0.24838131666183472, + -0.004533811006695032, + 0.9686517119407654, + -6.823422431945801 + ], + [ + -0.08187153190374374, + -0.9965090751647949, + 0.016329267993569374, + -0.7710023522377014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3522, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_338471651", + "mask_path": "../../mask/hdr_right_03522.png" + }, + { + "file_path": "../../rgb/hdr_right_03523.png", + "transform_matrix": [ + [ + 0.9681384563446045, + -0.08708379417657852, + -0.23478594422340393, + 7.432552814483643 + ], + [ + 0.2348342388868332, + -0.009835837408900261, + 0.9719857573509216, + -6.823911190032959 + ], + [ + -0.08695352077484131, + -0.9961524605751038, + 0.010927801951766014, + -0.7580989599227905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3523, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_438470602", + "mask_path": "../../mask/hdr_right_03523.png" + }, + { + "file_path": "../../rgb/hdr_right_03524.png", + "transform_matrix": [ + [ + 0.9696053862571716, + -0.08833165466785431, + -0.2281731814146042, + 7.353055000305176 + ], + [ + 0.2278788983821869, + -0.013537298887968063, + 0.9735954403877258, + -6.829278945922852 + ], + [ + -0.08908814191818237, + -0.9959990978240967, + 0.007003080099821091, + -0.7469303011894226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3524, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_538470029", + "mask_path": "../../mask/hdr_right_03524.png" + }, + { + "file_path": "../../rgb/hdr_right_03525.png", + "transform_matrix": [ + [ + 0.9692151546478271, + -0.08296870440244675, + -0.23181478679180145, + 7.265540599822998 + ], + [ + 0.2317412942647934, + -0.010648638010025024, + 0.9727191925048828, + -6.839324951171875 + ], + [ + -0.08317375183105469, + -0.9964953064918518, + 0.008906448259949684, + -0.7411062121391296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3525, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_638469457", + "mask_path": "../../mask/hdr_right_03525.png" + }, + { + "file_path": "../../rgb/hdr_right_03526.png", + "transform_matrix": [ + [ + 0.9676376581192017, + -0.0803166851401329, + -0.23922093212604523, + 7.199329376220703 + ], + [ + 0.23933273553848267, + -0.008374396711587906, + 0.9709014296531677, + -6.847391605377197 + ], + [ + -0.07998292148113251, + -0.9967341423034668, + 0.011119026690721512, + -0.7430258989334106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3526, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_738469123", + "mask_path": "../../mask/hdr_right_03526.png" + }, + { + "file_path": "../../rgb/hdr_right_03527.png", + "transform_matrix": [ + [ + 0.9675189852714539, + -0.07857789844274521, + -0.2402758151292801, + 7.127730846405029 + ], + [ + 0.24046862125396729, + -0.00714092468842864, + 0.9706307053565979, + -6.8533782958984375 + ], + [ + -0.07798591256141663, + -0.996882438659668, + 0.011986535973846912, + -0.740638256072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3527, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_838469266", + "mask_path": "../../mask/hdr_right_03527.png" + }, + { + "file_path": "../../rgb/hdr_right_03528.png", + "transform_matrix": [ + [ + 0.9691532850265503, + -0.07894875109195709, + -0.2334717959165573, + 7.049488067626953 + ], + [ + 0.234134241938591, + -0.0008896971703507006, + 0.9722039699554443, + -6.855203151702881 + ], + [ + -0.07696200162172318, + -0.9968782663345337, + 0.01762234978377819, + -0.7252103686332703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3528, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594519_938471794", + "mask_path": "../../mask/hdr_right_03528.png" + }, + { + "file_path": "../../rgb/hdr_right_03529.png", + "transform_matrix": [ + [ + 0.9719420671463013, + -0.08412666618824005, + -0.21966184675693512, + 6.975341796875 + ], + [ + 0.22007009387016296, + -0.004505059216171503, + 0.9754737019538879, + -6.858840465545654 + ], + [ + -0.08305293321609497, + -0.9964448809623718, + 0.014135103672742844, + -0.7113721370697021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3529, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_38470268", + "mask_path": "../../mask/hdr_right_03529.png" + }, + { + "file_path": "../../rgb/hdr_right_03530.png", + "transform_matrix": [ + [ + 0.9737779498100281, + -0.08629800379276276, + -0.21049757301807404, + 6.891396522521973 + ], + [ + 0.21053189039230347, + -0.008807322941720486, + 0.977547287940979, + -6.8643879890441895 + ], + [ + -0.08621429651975632, + -0.99623042345047, + 0.009592101909220219, + -0.700202465057373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3530, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_138469457", + "mask_path": "../../mask/hdr_right_03530.png" + }, + { + "file_path": "../../rgb/hdr_right_03531.png", + "transform_matrix": [ + [ + 0.9739601016044617, + -0.0827026516199112, + -0.2110968381166458, + 6.7965407371521 + ], + [ + 0.2113821804523468, + -0.00539061613380909, + 0.9773886203765869, + -6.873622894287109 + ], + [ + -0.08197057992219925, + -0.9965596795082092, + 0.012231623753905296, + -0.6939041614532471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3531, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_238469123", + "mask_path": "../../mask/hdr_right_03531.png" + }, + { + "file_path": "../../rgb/hdr_right_03532.png", + "transform_matrix": [ + [ + 0.9727050065994263, + -0.08001936972141266, + -0.21781161427497864, + 6.718874454498291 + ], + [ + 0.21842427551746368, + -0.0011222284520044923, + 0.9758532643318176, + -6.879799842834473 + ], + [ + -0.0783316045999527, + -0.9967926740646362, + 0.016386574134230614, + -0.6932276487350464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3532, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_338470697", + "mask_path": "../../mask/hdr_right_03532.png" + }, + { + "file_path": "../../rgb/hdr_right_03533.png", + "transform_matrix": [ + [ + 0.9728361964225769, + -0.07855232059955597, + -0.21776007115840912, + 6.641538619995117 + ], + [ + 0.2184729278087616, + 0.0004929520073346794, + 0.9758428931236267, + -6.881488800048828 + ], + [ + -0.07654737681150436, + -0.9969098567962646, + 0.017641115933656693, + -0.6852871179580688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3533, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_438470602", + "mask_path": "../../mask/hdr_right_03533.png" + }, + { + "file_path": "../../rgb/hdr_right_03534.png", + "transform_matrix": [ + [ + 0.9750285744667053, + -0.07654350996017456, + -0.2084716111421585, + 6.556385040283203 + ], + [ + 0.20925651490688324, + 0.002291750395670533, + 0.9778581857681274, + -6.880417346954346 + ], + [ + -0.07437093555927277, + -0.9970636367797852, + 0.018251748755574226, + -0.6683310270309448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3534, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_538470745", + "mask_path": "../../mask/hdr_right_03534.png" + }, + { + "file_path": "../../rgb/hdr_right_03535.png", + "transform_matrix": [ + [ + 0.9770170450210571, + -0.08367398381233215, + -0.1960521787405014, + 6.480017185211182 + ], + [ + 0.19643047451972961, + -0.0037685118149966, + 0.9805105924606323, + -6.88314151763916 + ], + [ + -0.08278204500675201, + -0.9964860677719116, + 0.012754217721521854, + -0.6553351283073425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3535, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_638469696", + "mask_path": "../../mask/hdr_right_03535.png" + }, + { + "file_path": "../../rgb/hdr_right_03536.png", + "transform_matrix": [ + [ + 0.9777328968048096, + -0.08748012036085129, + -0.19075016677379608, + 6.388347148895264 + ], + [ + 0.19092802703380585, + -0.006407557986676693, + 0.9815831780433655, + -6.889952182769775 + ], + [ + -0.08709125965833664, + -0.9961456656455994, + 0.010437525808811188, + -0.6438678503036499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3536, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_738469123", + "mask_path": "../../mask/hdr_right_03536.png" + }, + { + "file_path": "../../rgb/hdr_right_03537.png", + "transform_matrix": [ + [ + 0.977112889289856, + -0.08595450222492218, + -0.19458246231079102, + 6.291894912719727 + ], + [ + 0.19492363929748535, + -0.004487283993512392, + 0.9808081984519958, + -6.899353981018066 + ], + [ + -0.08517801761627197, + -0.9962890148162842, + 0.012369978241622448, + -0.6382811665534973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3537, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_838471651", + "mask_path": "../../mask/hdr_right_03537.png" + }, + { + "file_path": "../../rgb/hdr_right_03538.png", + "transform_matrix": [ + [ + 0.9766826033592224, + -0.08322123438119888, + -0.19790254533290863, + 6.22205114364624 + ], + [ + 0.19865117967128754, + 0.0007300857687368989, + 0.9800701141357422, + -6.901512145996094 + ], + [ + -0.08141814917325974, + -0.9965308308601379, + 0.017245056107640266, + -0.6396005749702454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3538, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594520_938470840", + "mask_path": "../../mask/hdr_right_03538.png" + }, + { + "file_path": "../../rgb/hdr_right_03539.png", + "transform_matrix": [ + [ + 0.977634608745575, + -0.08194736391305923, + -0.1936885565519333, + 6.139656066894531 + ], + [ + 0.1948358714580536, + 0.006166366394609213, + 0.9808166027069092, + -6.898917198181152 + ], + [ + -0.07918097823858261, + -0.9966176152229309, + 0.021994736045598984, + -0.6287524700164795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3539, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_38470029", + "mask_path": "../../mask/hdr_right_03539.png" + }, + { + "file_path": "../../rgb/hdr_right_03540.png", + "transform_matrix": [ + [ + 0.9798952341079712, + -0.08203236758708954, + -0.18186843395233154, + 6.0611138343811035 + ], + [ + 0.183206245303154, + 0.009023584425449371, + 0.9830330610275269, + -6.898726940155029 + ], + [ + -0.07899942994117737, + -0.9965888857841492, + 0.023871006444096565, + -0.610161304473877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3540, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_138469696", + "mask_path": "../../mask/hdr_right_03540.png" + }, + { + "file_path": "../../rgb/hdr_right_03541.png", + "transform_matrix": [ + [ + 0.9813533425331116, + -0.08495227247476578, + -0.17242050170898438, + 5.988365173339844 + ], + [ + 0.17302972078323364, + -0.0001949440484168008, + 0.9849166870117188, + -6.897846698760986 + ], + [ + -0.08370450884103775, + -0.9963849782943726, + 0.014507954008877277, + -0.5990270376205444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3541, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_238470077", + "mask_path": "../../mask/hdr_right_03541.png" + }, + { + "file_path": "../../rgb/hdr_right_03542.png", + "transform_matrix": [ + [ + 0.9814680814743042, + -0.08402896672487259, + -0.1722196787595749, + 5.89844274520874 + ], + [ + 0.17250078916549683, + -0.003958488814532757, + 0.9850015044212341, + -6.903573989868164 + ], + [ + -0.08345038443803787, + -0.9964554309844971, + 0.01060993131250143, + -0.5880826711654663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3542, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_338472604", + "mask_path": "../../mask/hdr_right_03542.png" + }, + { + "file_path": "../../rgb/hdr_right_03543.png", + "transform_matrix": [ + [ + 0.9801300764083862, + -0.08446019142866135, + -0.17947576940059662, + 5.816662311553955 + ], + [ + 0.1799170970916748, + -0.0024198004975914955, + 0.9836788773536682, + -6.908782482147217 + ], + [ + -0.08351599425077438, + -0.9964239597320557, + 0.012824109755456448, + -0.5877143144607544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3543, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_438471555", + "mask_path": "../../mask/hdr_right_03543.png" + }, + { + "file_path": "../../rgb/hdr_right_03544.png", + "transform_matrix": [ + [ + 0.979896605014801, + -0.08531548082828522, + -0.1803438514471054, + 5.744917869567871 + ], + [ + 0.18130862712860107, + 0.0036339762154966593, + 0.9834195375442505, + -6.906135559082031 + ], + [ + -0.08324554562568665, + -0.9963473677635193, + 0.01902935281395912, + -0.5824747085571289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3544, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_538470029", + "mask_path": "../../mask/hdr_right_03544.png" + }, + { + "file_path": "../../rgb/hdr_right_03545.png", + "transform_matrix": [ + [ + 0.9810968637466431, + -0.0877453088760376, + -0.1724814623594284, + 5.665233612060547 + ], + [ + 0.17395281791687012, + 0.009349592961370945, + 0.9847095608711243, + -6.902813911437988 + ], + [ + -0.08479101955890656, + -0.996099054813385, + 0.02443639561533928, + -0.5652798414230347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3545, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_638470172", + "mask_path": "../../mask/hdr_right_03545.png" + }, + { + "file_path": "../../rgb/hdr_right_03546.png", + "transform_matrix": [ + [ + 0.9830624461174011, + -0.09259434044361115, + -0.1581595540046692, + 5.591117858886719 + ], + [ + 0.15936456620693207, + 0.0057205334305763245, + 0.9872032403945923, + -6.903110980987549 + ], + [ + -0.09050468355417252, + -0.9956874847412109, + 0.020379899069666862, + -0.5485010743141174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3546, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_738469600", + "mask_path": "../../mask/hdr_right_03546.png" + }, + { + "file_path": "../../rgb/hdr_right_03547.png", + "transform_matrix": [ + [ + 0.9838447570800781, + -0.09428311884403229, + -0.15218515694141388, + 5.50959587097168 + ], + [ + 0.15326760709285736, + 0.004305223934352398, + 0.9881753325462341, + -6.9043121337890625 + ], + [ + -0.0925130695104599, + -0.9955361485481262, + 0.018686218187212944, + -0.5351674556732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3547, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_838468551", + "mask_path": "../../mask/hdr_right_03547.png" + }, + { + "file_path": "../../rgb/hdr_right_03548.png", + "transform_matrix": [ + [ + 0.9834493398666382, + -0.09273790568113327, + -0.1556505411863327, + 5.423003673553467 + ], + [ + 0.1568063348531723, + 0.005264179315418005, + 0.9876154661178589, + -6.906703948974609 + ], + [ + -0.09077002108097076, + -0.9956766366958618, + 0.019718945026397705, + -0.5334591865539551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3548, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594521_938472032", + "mask_path": "../../mask/hdr_right_03548.png" + }, + { + "file_path": "../../rgb/hdr_right_03549.png", + "transform_matrix": [ + [ + 0.9833406805992126, + -0.0915527492761612, + -0.1570330262184143, + 5.353356838226318 + ], + [ + 0.1583235114812851, + 0.0069616371765732765, + 0.9873628616333008, + -6.90730619430542 + ], + [ + -0.08930256962776184, + -0.9957759380340576, + 0.021340610459446907, + -0.5333781838417053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3549, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_38469552", + "mask_path": "../../mask/hdr_right_03549.png" + }, + { + "file_path": "../../rgb/hdr_right_03550.png", + "transform_matrix": [ + [ + 0.9844574332237244, + -0.08939466625452042, + -0.151169091463089, + 5.277232646942139 + ], + [ + 0.15269309282302856, + 0.010422402992844582, + 0.9882187247276306, + -6.903453826904297 + ], + [ + -0.08676594495773315, + -0.9959417581558228, + 0.023910360410809517, + -0.5176305770874023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3550, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_138471603", + "mask_path": "../../mask/hdr_right_03550.png" + }, + { + "file_path": "../../rgb/hdr_right_03551.png", + "transform_matrix": [ + [ + 0.9859151840209961, + -0.09260941296815872, + -0.139265239238739, + 5.2140421867370605 + ], + [ + 0.14057572185993195, + 0.007748913485556841, + 0.9900397658348083, + -6.8984785079956055 + ], + [ + -0.09060784429311752, + -0.9956724047660828, + 0.020658403635025024, + -0.5001760721206665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3551, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_238469362", + "mask_path": "../../mask/hdr_right_03551.png" + }, + { + "file_path": "../../rgb/hdr_right_03552.png", + "transform_matrix": [ + [ + 0.9861599206924438, + -0.09615685790777206, + -0.13506455719470978, + 5.150547504425049 + ], + [ + 0.13576814532279968, + 0.000781793671194464, + 0.9907403588294983, + -6.899317264556885 + ], + [ + -0.09516088664531708, + -0.9953658580780029, + 0.013826011680066586, + -0.48552459478378296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3552, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_338469028", + "mask_path": "../../mask/hdr_right_03552.png" + }, + { + "file_path": "../../rgb/hdr_right_03553.png", + "transform_matrix": [ + [ + 0.9859941005706787, + -0.09318385273218155, + -0.13832040131092072, + 5.073726654052734 + ], + [ + 0.13888025283813477, + -0.00048120395513251424, + 0.9903091192245483, + -6.898140907287598 + ], + [ + -0.09234738349914551, + -0.9956488013267517, + 0.012466930784285069, + -0.4790452718734741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3553, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_438468933", + "mask_path": "../../mask/hdr_right_03553.png" + }, + { + "file_path": "../../rgb/hdr_right_03554.png", + "transform_matrix": [ + [ + 0.9851539731025696, + -0.09416554868221283, + -0.14354294538497925, + 5.003214359283447 + ], + [ + 0.1443377435207367, + 0.0016485637752339244, + 0.98952716588974, + -6.89362907409668 + ], + [ + -0.0929427295923233, + -0.9955551624298096, + 0.015215727500617504, + -0.47857314348220825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3554, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_538470745", + "mask_path": "../../mask/hdr_right_03554.png" + }, + { + "file_path": "../../rgb/hdr_right_03555.png", + "transform_matrix": [ + [ + 0.9852328300476074, + -0.09587723016738892, + -0.1418587863445282, + 4.9353413581848145 + ], + [ + 0.1431305855512619, + 0.0064850905910134315, + 0.9896825551986694, + -6.888334274291992 + ], + [ + -0.09396805614233017, + -0.9953720569610596, + 0.020112285390496254, + -0.46937721967697144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3555, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_638470888", + "mask_path": "../../mask/hdr_right_03555.png" + }, + { + "file_path": "../../rgb/hdr_right_03556.png", + "transform_matrix": [ + [ + 0.9867072701454163, + -0.09506703168153763, + -0.1317993700504303, + 4.872303009033203 + ], + [ + 0.13341376185417175, + 0.010802047327160835, + 0.9910017251968384, + -6.883674144744873 + ], + [ + -0.09278787672519684, + -0.9954122304916382, + 0.023341704159975052, + -0.4539320170879364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3556, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_738469839", + "mask_path": "../../mask/hdr_right_03556.png" + }, + { + "file_path": "../../rgb/hdr_right_03557.png", + "transform_matrix": [ + [ + 0.9873948693275452, + -0.0985218808054924, + -0.12387478351593018, + 4.811196804046631 + ], + [ + 0.12492580711841583, + 0.004547471646219492, + 0.9921556711196899, + -6.883991718292236 + ], + [ + -0.09718572348356247, + -0.9951244592666626, + 0.016798071563243866, + -0.4405529201030731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3557, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_838469743", + "mask_path": "../../mask/hdr_right_03557.png" + }, + { + "file_path": "../../rgb/hdr_right_03558.png", + "transform_matrix": [ + [ + 0.9876728653907776, + -0.09476760029792786, + -0.1245851144194603, + 4.738710403442383 + ], + [ + 0.12541958689689636, + 0.0028771357610821724, + 0.9920995831489563, + -6.885616302490234 + ], + [ + -0.09366045147180557, + -0.9954952597618103, + 0.014727381989359856, + -0.4323034882545471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3558, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594522_938469886", + "mask_path": "../../mask/hdr_right_03558.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/b392c763/mesh.ply b/2024-11-14-15-22-43/splats/b392c763/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f0f2e9519db0d9a03f4177633a6c6f3523cf194a --- /dev/null +++ b/2024-11-14-15-22-43/splats/b392c763/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38fe54c35aaebb40e0c5597acd5e4fcb607eb3b79889e5d71189dc379577c23e +size 69586321 diff --git a/2024-11-14-15-22-43/splats/b392c763/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/b392c763/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..b662546c17350539f4c402b4cd2e280fa7cdfbfc --- /dev/null +++ b/2024-11-14-15-22-43/splats/b392c763/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d49c1bec65cda4d82d4e38b121882bfe2ea122ca2eadeacdec035d893b402d79 +size 1562955 diff --git a/2024-11-14-15-22-43/splats/b392c763/splatfacto/config.yml b/2024-11-14-15-22-43/splats/b392c763/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7d5b6d5b7434a25be030ec98a5e363985e5272c8 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b392c763/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_b392c763 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_b392c763 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/b392c763/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/b392c763/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9a933383f3b36c9cdc40109b9ea483140634d445 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b392c763/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9762872457504272, + 0.20733293890953064, + 0.06225818395614624, + 64.53124237060547 + ], + [ + 0.20733293890953064, + 0.978248655796051, + -0.006531526334583759, + -23.22417449951172 + ], + [ + -0.06225818395614624, + 0.006531526334583759, + -0.998038649559021, + -5.408476829528809 + ] + ], + "scale": 0.27549359303783433 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/b392c763/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/b392c763/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..e9dfe642298bb49451f22be6e93a39fc1d2f9b87 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b392c763/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfe9abc540bf0737543f7cd514fe88e00abb88a3003a9c687642e4bf42d7c9f0 +size 430916474 diff --git a/2024-11-14-15-22-43/splats/b392c763/transforms.json b/2024-11-14-15-22-43/splats/b392c763/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a06e084b21290cf44b646de49c7caf7adcc7bf43 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b392c763/transforms.json @@ -0,0 +1,14496 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01739.png", + "transform_matrix": [ + [ + -0.9937021136283875, + 0.009506896138191223, + 0.11164911836385727, + 69.56332397460938 + ], + [ + -0.11153167486190796, + 0.012098987586796284, + -0.9936872720718384, + 5.3289971351623535 + ], + [ + -0.010797722265124321, + -0.9998815655708313, + -0.01096247136592865, + -9.791820526123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1739, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_338470458", + "mask_path": "../../mask/hdr_front_01739.png" + }, + { + "file_path": "../../rgb/hdr_front_01740.png", + "transform_matrix": [ + [ + -0.9918124079704285, + 0.006083690095692873, + 0.12755855917930603, + 69.54332733154297 + ], + [ + -0.12748995423316956, + 0.010575364343822002, + -0.9917834997177124, + 5.408206462860107 + ], + [ + -0.007382680661976337, + -0.9999256134033203, + -0.009713166393339634, + -9.797066688537598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1740, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_438470602", + "mask_path": "../../mask/hdr_front_01740.png" + }, + { + "file_path": "../../rgb/hdr_front_01741.png", + "transform_matrix": [ + [ + -0.9873289465904236, + 0.0066659171134233475, + 0.1585468202829361, + 69.51627349853516 + ], + [ + -0.15850858390331268, + 0.005921108648180962, + -0.9873398542404175, + 5.490987300872803 + ], + [ + -0.0075203003361821175, + -0.9999603033065796, + -0.004789476282894611, + -9.812649726867676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1741, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_538470029", + "mask_path": "../../mask/hdr_front_01741.png" + }, + { + "file_path": "../../rgb/hdr_front_01742.png", + "transform_matrix": [ + [ + -0.9818286299705505, + 0.006230629980564117, + 0.18966688215732574, + 69.48782348632812 + ], + [ + -0.1896306723356247, + 0.005968467332422733, + -0.9818373918533325, + 5.5604448318481445 + ], + [ + -0.007249484769999981, + -0.9999628067016602, + -0.004678493831306696, + -9.815735816955566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1742, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_638469219", + "mask_path": "../../mask/hdr_front_01742.png" + }, + { + "file_path": "../../rgb/hdr_front_01743.png", + "transform_matrix": [ + [ + -0.9775882363319397, + 0.0007392670377157629, + 0.210524782538414, + 69.46839904785156 + ], + [ + -0.2105211764574051, + 0.00337416073307395, + -0.9775835275650024, + 5.6444830894470215 + ], + [ + -0.0014330394333228469, + -0.9999940395355225, + -0.0031429086811840534, + -9.811033248901367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1743, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_738469600", + "mask_path": "../../mask/hdr_front_01743.png" + }, + { + "file_path": "../../rgb/hdr_front_01744.png", + "transform_matrix": [ + [ + -0.9763243198394775, + -0.0008699367754161358, + 0.21630994975566864, + 69.4556884765625 + ], + [ + -0.21631014347076416, + 0.0001390924007864669, + -0.9763247966766357, + 5.7224297523498535 + ], + [ + 0.0008192543755285442, + -0.9999996423721313, + -0.000323975138599053, + -9.799574851989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1744, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_838469028", + "mask_path": "../../mask/hdr_front_01744.png" + }, + { + "file_path": "../../rgb/hdr_front_01745.png", + "transform_matrix": [ + [ + -0.9754354357719421, + -0.005729432217776775, + 0.22021114826202393, + 69.4390640258789 + ], + [ + -0.22021065652370453, + -0.0007262177532538772, + -0.9754521250724792, + 5.794246673583984 + ], + [ + 0.0057487087324261665, + -0.9999833703041077, + -0.0005533035728149116, + -9.796751976013184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1745, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_938469648", + "mask_path": "../../mask/hdr_front_01745.png" + }, + { + "file_path": "../../rgb/hdr_front_01746.png", + "transform_matrix": [ + [ + -0.973025918006897, + -0.0032676460687071085, + 0.23067240417003632, + 69.4137191772461 + ], + [ + -0.230659618973732, + -0.0038622748106718063, + -0.9730268120765686, + 5.872314929962158 + ], + [ + 0.004070427734404802, + -0.9999872446060181, + 0.003004379803314805, + -9.804275512695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1746, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_38470268", + "mask_path": "../../mask/hdr_front_01746.png" + }, + { + "file_path": "../../rgb/hdr_front_01747.png", + "transform_matrix": [ + [ + -0.9687729477882385, + 0.00306234834715724, + 0.2479306012392044, + 69.38340759277344 + ], + [ + -0.2479451596736908, + -0.006064165849238634, + -0.9687551259994507, + 5.954168796539307 + ], + [ + -0.0014631720259785652, + -0.9999769330024719, + 0.006634094286710024, + -9.817858695983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1747, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_138469457", + "mask_path": "../../mask/hdr_front_01747.png" + }, + { + "file_path": "../../rgb/hdr_front_01748.png", + "transform_matrix": [ + [ + -0.966116726398468, + 0.005018117371946573, + 0.25805699825286865, + 69.36162567138672 + ], + [ + -0.2580774128437042, + -0.003959293011575937, + -0.9661161303520203, + 6.03203821182251 + ], + [ + -0.003826361382380128, + -0.999979555606842, + 0.005120201967656612, + -9.817437171936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1748, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_238469839", + "mask_path": "../../mask/hdr_front_01748.png" + }, + { + "file_path": "../../rgb/hdr_front_01749.png", + "transform_matrix": [ + [ + -0.9673014283180237, + 0.0022029997780919075, + 0.2536200284957886, + 69.34778594970703 + ], + [ + -0.25362786650657654, + -0.004680819809436798, + -0.9672906398773193, + 6.118327617645264 + ], + [ + -0.0009437905391678214, + -0.9999865889549255, + 0.0050865053199231625, + -9.813311576843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1749, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_338470935", + "mask_path": "../../mask/hdr_front_01749.png" + }, + { + "file_path": "../../rgb/hdr_front_01750.png", + "transform_matrix": [ + [ + -0.9713353514671326, + -0.002007615054026246, + 0.23770493268966675, + 69.3353042602539 + ], + [ + -0.23769329488277435, + -0.004800694528967142, + -0.9713283777236938, + 6.196024417877197 + ], + [ + 0.0030912011861801147, + -0.9999865293502808, + 0.004185887984931469, + -9.802872657775879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1750, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_438469409", + "mask_path": "../../mask/hdr_front_01750.png" + }, + { + "file_path": "../../rgb/hdr_front_01751.png", + "transform_matrix": [ + [ + -0.9747761487960815, + -0.005665841978043318, + 0.22311297059059143, + 69.31690979003906 + ], + [ + -0.2231072634458542, + -0.0016280879499390721, + -0.9747925400733948, + 6.268301010131836 + ], + [ + 0.0058862678706645966, + -0.9999827146530151, + 0.0003229308349546045, + -9.798515319824219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1751, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_538470029", + "mask_path": "../../mask/hdr_front_01751.png" + }, + { + "file_path": "../../rgb/hdr_front_01752.png", + "transform_matrix": [ + [ + -0.9758819341659546, + -0.000733504886738956, + 0.2182977944612503, + 69.28677368164062 + ], + [ + -0.21829810738563538, + 0.00038962604594416916, + -0.9758821129798889, + 6.367897033691406 + ], + [ + 0.0006307601579464972, + -0.9999997615814209, + -0.0005403516115620732, + -9.801054000854492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1752, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_638468503", + "mask_path": "../../mask/hdr_front_01752.png" + }, + { + "file_path": "../../rgb/hdr_front_01753.png", + "transform_matrix": [ + [ + -0.9736533761024475, + 0.0043339417316019535, + 0.22799140214920044, + 69.25939178466797 + ], + [ + -0.22799652814865112, + -0.0007273809751495719, + -0.9736617207527161, + 6.44456148147583 + ], + [ + -0.004053954966366291, + -0.9999904036521912, + 0.001696340972557664, + -9.810847282409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1753, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_738468647", + "mask_path": "../../mask/hdr_front_01753.png" + }, + { + "file_path": "../../rgb/hdr_front_01754.png", + "transform_matrix": [ + [ + -0.9707292318344116, + 0.005216869991272688, + 0.24011996388435364, + 69.23310089111328 + ], + [ + -0.24011936783790588, + 0.0007508714334107935, + -0.9707430601119995, + 6.516671180725098 + ], + [ + -0.005244540050625801, + -0.9999861717224121, + 0.0005237787263467908, + -9.809562683105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1754, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_838469505", + "mask_path": "../../mask/hdr_front_01754.png" + }, + { + "file_path": "../../rgb/hdr_front_01755.png", + "transform_matrix": [ + [ + -0.9691134691238403, + 0.005344390403479338, + 0.246557354927063, + 69.21016693115234 + ], + [ + -0.246561199426651, + -7.125921547412872e-05, + -0.9691272377967834, + 6.59930419921875 + ], + [ + -0.005161824636161327, + -0.9999856948852539, + 0.0013867776142433286, + -9.80064582824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1755, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_938469409", + "mask_path": "../../mask/hdr_front_01755.png" + }, + { + "file_path": "../../rgb/hdr_front_01756.png", + "transform_matrix": [ + [ + -0.969499945640564, + -0.0001365297648590058, + 0.24509114027023315, + 69.1939926147461 + ], + [ + -0.24509067833423615, + 0.0026718666777014732, + -0.9694965481758118, + 6.671140193939209 + ], + [ + -0.0005224848864600062, + -0.9999964237213135, + -0.002623836975544691, + -9.789056777954102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1756, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_38469552", + "mask_path": "../../mask/hdr_front_01756.png" + }, + { + "file_path": "../../rgb/hdr_front_01757.png", + "transform_matrix": [ + [ + -0.9688106775283813, + -0.0034019642043858767, + 0.24777886271476746, + 69.16812896728516 + ], + [ + -0.2477937638759613, + 0.005032143089920282, + -0.9687997698783875, + 6.746873378753662 + ], + [ + 0.0020489643793553114, + -0.9999815821647644, + -0.005718179978430271, + -9.786199569702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1757, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_138468742", + "mask_path": "../../mask/hdr_front_01757.png" + }, + { + "file_path": "../../rgb/hdr_front_01758.png", + "transform_matrix": [ + [ + -0.9654040336608887, + 0.0005985686439089477, + 0.26075807213783264, + 69.13672637939453 + ], + [ + -0.2607516050338745, + 0.0051814960315823555, + -0.9653920531272888, + 6.8341145515441895 + ], + [ + -0.0019289703341200948, + -0.999986469745636, + -0.004846159368753433, + -9.792454719543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1758, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_238469839", + "mask_path": "../../mask/hdr_front_01758.png" + }, + { + "file_path": "../../rgb/hdr_front_01759.png", + "transform_matrix": [ + [ + -0.9583756923675537, + 0.006344537250697613, + 0.28543946146965027, + 69.10220336914062 + ], + [ + -0.2853862941265106, + 0.008137554861605167, + -0.9583780765533447, + 6.910538673400879 + ], + [ + -0.008403243497014046, + -0.9999467730522156, + -0.00598819088190794, + -9.797085762023926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1759, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_338469743", + "mask_path": "../../mask/hdr_front_01759.png" + }, + { + "file_path": "../../rgb/hdr_front_01760.png", + "transform_matrix": [ + [ + -0.9509115219116211, + 0.005194508470594883, + 0.30941906571388245, + 69.0709228515625 + ], + [ + -0.30935901403427124, + 0.009923909790813923, + -0.9508935809135437, + 6.986199378967285 + ], + [ + -0.008010069839656353, + -0.9999372959136963, + -0.00782979279756546, + -9.793292045593262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1760, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_438470125", + "mask_path": "../../mask/hdr_front_01760.png" + }, + { + "file_path": "../../rgb/hdr_front_01761.png", + "transform_matrix": [ + [ + -0.9463326334953308, + 0.002136942697688937, + 0.32318711280822754, + 69.04570770263672 + ], + [ + -0.32317090034484863, + 0.0057379319332540035, + -0.9463232755661011, + 7.0629401206970215 + ], + [ + -0.003876663278788328, + -0.9999813437461853, + -0.004739393945783377, + -9.787120819091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1761, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_538469791", + "mask_path": "../../mask/hdr_front_01761.png" + }, + { + "file_path": "../../rgb/hdr_front_01762.png", + "transform_matrix": [ + [ + -0.9450967311859131, + -0.0037877331487834454, + 0.32676881551742554, + 69.02546691894531 + ], + [ + -0.32678845524787903, + 0.007180009037256241, + -0.9450702667236328, + 7.128935813903809 + ], + [ + 0.0012334724888205528, + -0.999967098236084, + -0.008023589849472046, + -9.779913902282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1762, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_638470649", + "mask_path": "../../mask/hdr_front_01762.png" + }, + { + "file_path": "../../rgb/hdr_front_01763.png", + "transform_matrix": [ + [ + -0.9438905119895935, + -0.008992046117782593, + 0.33013609051704407, + 68.99525451660156 + ], + [ + -0.3302099108695984, + 0.008547347970306873, + -0.9438688158988953, + 7.2024688720703125 + ], + [ + 0.005665523000061512, + -0.9999231100082397, + -0.011037023738026619, + -9.779108047485352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1763, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_738469600", + "mask_path": "../../mask/hdr_front_01763.png" + }, + { + "file_path": "../../rgb/hdr_front_01764.png", + "transform_matrix": [ + [ + -0.9397409558296204, + -0.00822378322482109, + 0.3417883813381195, + 68.9524917602539 + ], + [ + -0.34184932708740234, + 0.0076936534605920315, + -0.9397233128547668, + 7.286354064941406 + ], + [ + 0.005098479334264994, + -0.999936580657959, + -0.01004133652895689, + -9.781911849975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1764, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_838469266", + "mask_path": "../../mask/hdr_front_01764.png" + }, + { + "file_path": "../../rgb/hdr_front_01765.png", + "transform_matrix": [ + [ + -0.9321367144584656, + -0.0042659505270421505, + 0.3620815575122833, + 68.90843200683594 + ], + [ + -0.36210644245147705, + 0.009958979673683643, + -0.9320835471153259, + 7.350139617919922 + ], + [ + 0.0003702598041854799, + -0.9999412894248962, + -0.010827858932316303, + -9.782339096069336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1765, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_938470363", + "mask_path": "../../mask/hdr_front_01765.png" + }, + { + "file_path": "../../rgb/hdr_front_01766.png", + "transform_matrix": [ + [ + -0.9263824224472046, + -0.007197990082204342, + 0.3765152096748352, + 68.86969757080078 + ], + [ + -0.3765721917152405, + 0.00979580171406269, + -0.9263354539871216, + 7.410401821136475 + ], + [ + 0.0029794874135404825, + -0.9999262094497681, + -0.01178522314876318, + -9.7806396484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1766, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_38469791", + "mask_path": "../../mask/hdr_front_01766.png" + }, + { + "file_path": "../../rgb/hdr_front_01767.png", + "transform_matrix": [ + [ + -0.9241029620170593, + -0.012862111441791058, + 0.3819272220134735, + 68.83501434326172 + ], + [ + -0.3819992244243622, + 0.003608577884733677, + -0.9241556525230408, + 7.489393711090088 + ], + [ + 0.01050837803632021, + -0.999910831451416, + -0.008248014375567436, + -9.780919075012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1767, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_138469696", + "mask_path": "../../mask/hdr_front_01767.png" + }, + { + "file_path": "../../rgb/hdr_front_01768.png", + "transform_matrix": [ + [ + -0.9267110824584961, + -0.014786436222493649, + 0.3754837214946747, + 68.80632781982422 + ], + [ + -0.3755299150943756, + 0.0003797302197199315, + -0.9268102049827576, + 7.560035705566406 + ], + [ + 0.013561638072133064, + -0.9998906254768372, + -0.005904649384319782, + -9.767363548278809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1768, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_238470077", + "mask_path": "../../mask/hdr_front_01768.png" + }, + { + "file_path": "../../rgb/hdr_front_01769.png", + "transform_matrix": [ + [ + -0.9293695688247681, + -0.025175800547003746, + 0.36829090118408203, + 68.77597045898438 + ], + [ + -0.3684554696083069, + 0.0020782744977623224, + -0.9296430945396423, + 7.630481719970703 + ], + [ + 0.022639097645878792, + -0.9996808767318726, + -0.011207646690309048, + -9.759575843811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1769, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_338470220", + "mask_path": "../../mask/hdr_front_01769.png" + }, + { + "file_path": "../../rgb/hdr_front_01770.png", + "transform_matrix": [ + [ + -0.9308053851127625, + -0.030090348795056343, + 0.3642745316028595, + 68.7334213256836 + ], + [ + -0.36461132764816284, + 0.006392056122422218, + -0.9311378598213196, + 7.719089508056641 + ], + [ + 0.02568979747593403, + -0.9995267987251282, + -0.016921041533350945, + -9.755655288696289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1770, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_438470125", + "mask_path": "../../mask/hdr_front_01770.png" + }, + { + "file_path": "../../rgb/hdr_front_01771.png", + "transform_matrix": [ + [ + -0.9283075928688049, + -0.02568967081606388, + 0.370924711227417, + 68.68861389160156 + ], + [ + -0.37120288610458374, + 0.0068951803259551525, + -0.9285261631011963, + 7.806051731109619 + ], + [ + 0.02129594050347805, + -0.9996461868286133, + -0.01593692973256111, + -9.757262229919434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1771, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_538469791", + "mask_path": "../../mask/hdr_front_01771.png" + }, + { + "file_path": "../../rgb/hdr_front_01772.png", + "transform_matrix": [ + [ + -0.9255251884460449, + -0.023338017985224724, + 0.37796616554260254, + 68.65387725830078 + ], + [ + -0.37828129529953003, + 0.010844266042113304, + -0.9256272315979004, + 7.872796535491943 + ], + [ + 0.017503539100289345, + -0.9996688365936279, + -0.018864978104829788, + -9.75778579711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1772, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_638471364", + "mask_path": "../../mask/hdr_front_01772.png" + }, + { + "file_path": "../../rgb/hdr_front_01773.png", + "transform_matrix": [ + [ + -0.9252718687057495, + -0.02604098804295063, + 0.37840956449508667, + 68.62113189697266 + ], + [ + -0.3787290155887604, + 0.008494281210005283, + -0.9254686832427979, + 7.952332496643066 + ], + [ + 0.020885800942778587, + -0.9996248483657837, + -0.01772199757397175, + -9.755779266357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1773, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_738470315", + "mask_path": "../../mask/hdr_front_01773.png" + }, + { + "file_path": "../../rgb/hdr_front_01774.png", + "transform_matrix": [ + [ + -0.9288548231124878, + -0.02873757854104042, + 0.3693276643753052, + 68.595947265625 + ], + [ + -0.36945006251335144, + -0.0011189492652192712, + -0.9292498826980591, + 8.026692390441895 + ], + [ + 0.027117645367980003, + -0.9995864033699036, + -0.009577757678925991, + -9.740315437316895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1774, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_838470935", + "mask_path": "../../mask/hdr_front_01774.png" + }, + { + "file_path": "../../rgb/hdr_front_01775.png", + "transform_matrix": [ + [ + -0.9316567182540894, + -0.03776273876428604, + 0.36137208342552185, + 68.57195281982422 + ], + [ + -0.3616722822189331, + 0.0012084916234016418, + -0.9323045015335083, + 8.094292640686035 + ], + [ + 0.034769657999277115, + -0.9992861151695251, + -0.014783634804189205, + -9.730035781860352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1775, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_938470363", + "mask_path": "../../mask/hdr_front_01775.png" + }, + { + "file_path": "../../rgb/hdr_front_01776.png", + "transform_matrix": [ + [ + -0.9327729940414429, + -0.04027114063501358, + 0.3582078218460083, + 68.53270721435547 + ], + [ + -0.3587421476840973, + 0.00668665487319231, + -0.9334127306938171, + 8.174736022949219 + ], + [ + 0.035194382071495056, + -0.9991664290428162, + -0.02068408764898777, + -9.722051620483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1776, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_38470029", + "mask_path": "../../mask/hdr_front_01776.png" + }, + { + "file_path": "../../rgb/hdr_front_01777.png", + "transform_matrix": [ + [ + -0.9290463328361511, + -0.0328291617333889, + 0.3685040771961212, + 68.4866943359375 + ], + [ + -0.36892732977867126, + 0.00771216070279479, + -0.9294263124465942, + 8.258284568786621 + ], + [ + 0.02767031639814377, + -0.9994312524795532, + -0.01927652768790722, + -9.731648445129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1777, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_138469696", + "mask_path": "../../mask/hdr_front_01777.png" + }, + { + "file_path": "../../rgb/hdr_front_01778.png", + "transform_matrix": [ + [ + -0.9198204874992371, + -0.02784404344856739, + 0.3913500905036926, + 68.44342803955078 + ], + [ + -0.3917650580406189, + 0.011232011951506138, + -0.9199967384338379, + 8.324990272521973 + ], + [ + 0.02122078277170658, + -0.999549150466919, + -0.021239759400486946, + -9.734012603759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1778, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_238469839", + "mask_path": "../../mask/hdr_front_01778.png" + }, + { + "file_path": "../../rgb/hdr_front_01779.png", + "transform_matrix": [ + [ + -0.9078396558761597, + -0.02791122905910015, + 0.41838744282722473, + 68.39879608154297 + ], + [ + -0.41877320408821106, + 0.009530293755233288, + -0.9080408811569214, + 8.388827323913574 + ], + [ + 0.021357178688049316, + -0.999565064907074, + -0.02034045197069645, + -9.729681015014648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1779, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_338470697", + "mask_path": "../../mask/hdr_front_01779.png" + }, + { + "file_path": "../../rgb/hdr_front_01780.png", + "transform_matrix": [ + [ + -0.8967273831367493, + -0.029948409646749496, + 0.44156894087791443, + 68.35382843017578 + ], + [ + -0.44180235266685486, + 0.001325678895227611, + -0.8971114158630371, + 8.459325790405273 + ], + [ + 0.026281680911779404, + -0.9995505809783936, + -0.014420051127672195, + -9.723376274108887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1780, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_438469171", + "mask_path": "../../mask/hdr_front_01780.png" + }, + { + "file_path": "../../rgb/hdr_front_01781.png", + "transform_matrix": [ + [ + -0.8876789808273315, + -0.04005303606390953, + 0.45871755480766296, + 68.3116226196289 + ], + [ + -0.45914968848228455, + 0.001812946517020464, + -0.8883571028709412, + 8.516369819641113 + ], + [ + 0.03474976494908333, + -0.9991959929466248, + -0.019999654963612556, + -9.709928512573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1781, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_538469314", + "mask_path": "../../mask/hdr_front_01781.png" + }, + { + "file_path": "../../rgb/hdr_front_01782.png", + "transform_matrix": [ + [ + -0.8789586424827576, + -0.04842071980237961, + 0.47443345189094543, + 68.26244354248047 + ], + [ + -0.4750586152076721, + 0.001609012484550476, + -0.8799527287483215, + 8.577873229980469 + ], + [ + 0.04184456542134285, + -0.9988257884979248, + -0.024416932836174965, + -9.703479766845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1782, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_638469934", + "mask_path": "../../mask/hdr_front_01782.png" + }, + { + "file_path": "../../rgb/hdr_front_01783.png", + "transform_matrix": [ + [ + -0.8700496554374695, + -0.0456559844315052, + 0.490845263004303, + 68.20588684082031 + ], + [ + -0.4913368225097656, + -0.0005215039127506316, + -0.8709695339202881, + 8.662418365478516 + ], + [ + 0.04002095013856888, + -0.998957097530365, + -0.021978730335831642, + -9.709759712219238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1783, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_738469839", + "mask_path": "../../mask/hdr_front_01783.png" + }, + { + "file_path": "../../rgb/hdr_front_01784.png", + "transform_matrix": [ + [ + -0.8587825894355774, + -0.04006380960345268, + 0.5107713937759399, + 68.15705871582031 + ], + [ + -0.5112285017967224, + 0.001367614371702075, + -0.8594437837600708, + 8.724030494689941 + ], + [ + 0.03373405709862709, + -0.9991961717605591, + -0.02165624313056469, + -9.713767051696777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1784, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_838469266", + "mask_path": "../../mask/hdr_front_01784.png" + }, + { + "file_path": "../../rgb/hdr_front_01785.png", + "transform_matrix": [ + [ + -0.8483996987342834, + -0.03848247975111008, + 0.5279555916786194, + 68.11390686035156 + ], + [ + -0.5284815430641174, + 0.004266275558620691, + -0.8489341139793396, + 8.783226013183594 + ], + [ + 0.03041667863726616, + -0.9992501735687256, + -0.0239567868411541, + -9.711492538452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1785, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_938469171", + "mask_path": "../../mask/hdr_front_01785.png" + }, + { + "file_path": "../../rgb/hdr_front_01786.png", + "transform_matrix": [ + [ + -0.8414921760559082, + -0.04133320227265358, + 0.5386857390403748, + 68.06604766845703 + ], + [ + -0.5392453074455261, + 0.00290340231731534, + -0.8421437740325928, + 8.864524841308594 + ], + [ + 0.033244479447603226, + -0.9991412162780762, + -0.02473192662000656, + -9.707527160644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1786, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_38469791", + "mask_path": "../../mask/hdr_front_01786.png" + }, + { + "file_path": "../../rgb/hdr_front_01787.png", + "transform_matrix": [ + [ + -0.840596079826355, + -0.04200838878750801, + 0.5400310158729553, + 68.0221939086914 + ], + [ + -0.5406157970428467, + 0.003119305707514286, + -0.8412638306617737, + 8.929322242736816 + ], + [ + 0.03365560993552208, + -0.9991123676300049, + -0.025332476943731308, + -9.694576263427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1787, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_138469219", + "mask_path": "../../mask/hdr_front_01787.png" + }, + { + "file_path": "../../rgb/hdr_front_01788.png", + "transform_matrix": [ + [ + -0.8393636345863342, + -0.04784044250845909, + 0.5414609909057617, + 67.98301696777344 + ], + [ + -0.5422247648239136, + 0.0036454712972044945, + -0.8402255773544312, + 8.981319427490234 + ], + [ + 0.03822288289666176, + -0.9988483786582947, + -0.02900015003979206, + -9.68647575378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1788, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_238468647", + "mask_path": "../../mask/hdr_front_01788.png" + }, + { + "file_path": "../../rgb/hdr_front_01789.png", + "transform_matrix": [ + [ + -0.8361575603485107, + -0.04868762195110321, + 0.5463241934776306, + 67.927490234375 + ], + [ + -0.5471594929695129, + 0.00472600432112813, + -0.8370149731636047, + 9.054817199707031 + ], + [ + 0.03817034140229225, + -0.998802900314331, + -0.030591582879424095, + -9.681687355041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1789, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_338468551", + "mask_path": "../../mask/hdr_front_01789.png" + }, + { + "file_path": "../../rgb/hdr_front_01790.png", + "transform_matrix": [ + [ + -0.8275660276412964, + -0.042297083884477615, + 0.5597726106643677, + 67.868408203125 + ], + [ + -0.5603848099708557, + 0.003245133673772216, + -0.8282260298728943, + 9.125905990600586 + ], + [ + 0.033215008676052094, + -0.9990999102592468, + -0.026388205587863922, + -9.68765926361084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1790, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_438469886", + "mask_path": "../../mask/hdr_front_01790.png" + }, + { + "file_path": "../../rgb/hdr_front_01791.png", + "transform_matrix": [ + [ + -0.8203859329223633, + -0.042957767844200134, + 0.5701943635940552, + 67.81712341308594 + ], + [ + -0.5708581805229187, + 0.004007904324680567, + -0.8210390210151672, + 9.175873756408691 + ], + [ + 0.032984714955091476, + -0.9990688562393188, + -0.02781081758439541, + -9.690033912658691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1791, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_538470268", + "mask_path": "../../mask/hdr_front_01791.png" + }, + { + "file_path": "../../rgb/hdr_front_01792.png", + "transform_matrix": [ + [ + -0.8171601891517639, + -0.04673512652516365, + 0.5745129585266113, + 67.76347351074219 + ], + [ + -0.5751469731330872, + 0.00014712446136400104, + -0.8180501461029053, + 9.235589981079102 + ], + [ + 0.038147155195474625, + -0.9989073276519775, + -0.026999792084097862, + -9.685613632202148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1792, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_638468980", + "mask_path": "../../mask/hdr_front_01792.png" + }, + { + "file_path": "../../rgb/hdr_front_01793.png", + "transform_matrix": [ + [ + -0.8201640844345093, + -0.0482880063354969, + 0.5700868964195251, + 67.71684265136719 + ], + [ + -0.5706061720848083, + -0.0035986904986202717, + -0.8212159276008606, + 9.305498123168945 + ], + [ + 0.041706450283527374, + -0.9988269805908203, + -0.02460191771388054, + -9.673606872558594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1793, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_738468647", + "mask_path": "../../mask/hdr_front_01793.png" + }, + { + "file_path": "../../rgb/hdr_front_01794.png", + "transform_matrix": [ + [ + -0.8249403238296509, + -0.05793304368853569, + 0.5622430443763733, + 67.66796112060547 + ], + [ + -0.5630810856819153, + -0.002219052752479911, + -0.8263986110687256, + 9.366536140441895 + ], + [ + 0.04912343621253967, + -0.9983180165290833, + -0.0307904202491045, + -9.657249450683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1794, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_838470220", + "mask_path": "../../mask/hdr_front_01794.png" + }, + { + "file_path": "../../rgb/hdr_front_01795.png", + "transform_matrix": [ + [ + -0.8275589346885681, + -0.06151660904288292, + 0.55799800157547, + 67.6030044555664 + ], + [ + -0.5592062473297119, + 0.002973787486553192, + -0.8290231823921204, + 9.439895629882812 + ], + [ + 0.04933932051062584, + -0.9981016516685486, + -0.03686146438121796, + -9.645988464355469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1795, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_938469171", + "mask_path": "../../mask/hdr_front_01795.png" + }, + { + "file_path": "../../rgb/hdr_front_01796.png", + "transform_matrix": [ + [ + -0.8236801624298096, + -0.06299819052219391, + 0.5635442733764648, + 67.53801727294922 + ], + [ + -0.5649176836013794, + 0.004968754015862942, + -0.8251323103904724, + 9.511871337890625 + ], + [ + 0.049181729555130005, + -0.9980013370513916, + -0.03968146815896034, + -9.645346641540527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1796, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_38470506", + "mask_path": "../../mask/hdr_front_01796.png" + }, + { + "file_path": "../../rgb/hdr_front_01797.png", + "transform_matrix": [ + [ + -0.8195551037788391, + -0.06311307847499847, + 0.5695139765739441, + 67.48956298828125 + ], + [ + -0.5709484219551086, + 0.005907159298658371, + -0.8209646940231323, + 9.563284873962402 + ], + [ + 0.048449400812387466, + -0.9979889392852783, + -0.04087555408477783, + -9.645402908325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1797, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_138469457", + "mask_path": "../../mask/hdr_front_01797.png" + }, + { + "file_path": "../../rgb/hdr_front_01798.png", + "transform_matrix": [ + [ + -0.8194006085395813, + -0.062382638454437256, + 0.5698167681694031, + 67.44131469726562 + ], + [ + -0.5712120532989502, + 0.005703585222363472, + -0.8207826614379883, + 9.62753963470459 + ], + [ + 0.04795258864760399, + -0.9980360269546509, + -0.040307238698005676, + -9.640494346618652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1798, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_238469839", + "mask_path": "../../mask/hdr_front_01798.png" + }, + { + "file_path": "../../rgb/hdr_front_01799.png", + "transform_matrix": [ + [ + -0.825340211391449, + -0.05996084213256836, + 0.5614430904388428, + 67.40029907226562 + ], + [ + -0.562961995601654, + 0.010879953391849995, + -0.8264111876487732, + 9.695510864257812 + ], + [ + 0.04344383254647255, + -0.9981414675712585, + -0.04273534193634987, + -9.619723320007324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1799, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_338469982", + "mask_path": "../../mask/hdr_front_01799.png" + }, + { + "file_path": "../../rgb/hdr_front_01800.png", + "transform_matrix": [ + [ + -0.8293226361274719, + -0.06713354587554932, + 0.5547224879264832, + 67.35938262939453 + ], + [ + -0.5567325949668884, + 0.014573452062904835, + -0.8305639624595642, + 9.758234024047852 + ], + [ + 0.04767448455095291, + -0.9976376295089722, + -0.049461521208286285, + -9.60255241394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1800, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_438469886", + "mask_path": "../../mask/hdr_front_01800.png" + }, + { + "file_path": "../../rgb/hdr_front_01801.png", + "transform_matrix": [ + [ + -0.8290157318115234, + -0.07024572789669037, + 0.5547958016395569, + 67.30382537841797 + ], + [ + -0.5570293664932251, + 0.015896901488304138, + -0.8303406238555908, + 9.827521324157715 + ], + [ + 0.04950835555791855, + -0.997403085231781, + -0.05230771750211716, + -9.590665817260742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1801, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_538469076", + "mask_path": "../../mask/hdr_front_01801.png" + }, + { + "file_path": "../../rgb/hdr_front_01802.png", + "transform_matrix": [ + [ + -0.8253417611122131, + -0.07124452292919159, + 0.5601207613945007, + 67.2544937133789 + ], + [ + -0.5624544024467468, + 0.016668714582920074, + -0.8266602754592896, + 9.89298152923584 + ], + [ + 0.04955852031707764, + -0.9973196387290955, + -0.05382917821407318, + -9.592130661010742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1802, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_638469696", + "mask_path": "../../mask/hdr_front_01802.png" + }, + { + "file_path": "../../rgb/hdr_front_01803.png", + "transform_matrix": [ + [ + -0.8243071436882019, + -0.0716501921415329, + 0.5615905523300171, + 67.21401977539062 + ], + [ + -0.5640469193458557, + 0.018661102280020714, + -0.8255318403244019, + 9.950818061828613 + ], + [ + 0.04866961017251015, + -0.9972553849220276, + -0.0557965449988842, + -9.589261054992676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1803, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_738470077", + "mask_path": "../../mask/hdr_front_01803.png" + }, + { + "file_path": "../../rgb/hdr_front_01804.png", + "transform_matrix": [ + [ + -0.8272859454154968, + -0.07021994143724442, + 0.5573751330375671, + 67.1775131225586 + ], + [ + -0.5598403811454773, + 0.02065449394285679, + -0.8283429145812988, + 10.020153999328613 + ], + [ + 0.04665389657020569, + -0.9973177313804626, + -0.056399136781692505, + -9.574347496032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1804, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_838469505", + "mask_path": "../../mask/hdr_front_01804.png" + }, + { + "file_path": "../../rgb/hdr_front_01805.png", + "transform_matrix": [ + [ + -0.831049382686615, + -0.07893768697977066, + 0.5505685210227966, + 67.13790130615234 + ], + [ + -0.5536416172981262, + 0.022595888003706932, + -0.8324483633041382, + 10.080924034118652 + ], + [ + 0.05327096953988075, + -0.9966235160827637, + -0.06248148903250694, + -9.556852340698242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1805, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_938469409", + "mask_path": "../../mask/hdr_front_01805.png" + }, + { + "file_path": "../../rgb/hdr_front_01806.png", + "transform_matrix": [ + [ + -0.8289937973022461, + -0.08872485905885696, + 0.5521749258041382, + 67.08003234863281 + ], + [ + -0.5557641386985779, + 0.020508695393800735, + -0.831087052822113, + 10.143472671508789 + ], + [ + 0.06241369619965553, + -0.9958450198173523, + -0.06631167232990265, + -9.541868209838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1806, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_38470268", + "mask_path": "../../mask/hdr_front_01806.png" + }, + { + "file_path": "../../rgb/hdr_front_01807.png", + "transform_matrix": [ + [ + -0.8222784996032715, + -0.09291807562112808, + 0.5614483952522278, + 67.01871490478516 + ], + [ + -0.565321683883667, + 0.02009265124797821, + -0.8246257901191711, + 10.208213806152344 + ], + [ + 0.06534165143966675, + -0.9954710602760315, + -0.06905034929513931, + -9.542349815368652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1807, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_138469696", + "mask_path": "../../mask/hdr_front_01807.png" + }, + { + "file_path": "../../rgb/hdr_front_01808.png", + "transform_matrix": [ + [ + -0.8162387609481812, + -0.0943140909075737, + 0.5699641108512878, + 66.9742431640625 + ], + [ + -0.574141263961792, + 0.022869717329740524, + -0.8184368014335632, + 10.257650375366211 + ], + [ + 0.064155213534832, + -0.995279848575592, + -0.07281676679849625, + -9.542488098144531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1808, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_238470315", + "mask_path": "../../mask/hdr_front_01808.png" + }, + { + "file_path": "../../rgb/hdr_front_01809.png", + "transform_matrix": [ + [ + -0.8155441284179688, + -0.09400493651628494, + 0.5710086226463318, + 66.93074035644531 + ], + [ + -0.5753433704376221, + 0.025671374052762985, + -0.8175090551376343, + 10.319108009338379 + ], + [ + 0.062191303819417953, + -0.9952407479286194, + -0.07502124458551407, + -9.526528358459473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1809, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_338470697", + "mask_path": "../../mask/hdr_front_01809.png" + }, + { + "file_path": "../../rgb/hdr_front_01810.png", + "transform_matrix": [ + [ + -0.8211972713470459, + -0.10176806151866913, + 0.561496376991272, + 66.89212036132812 + ], + [ + -0.5663090944290161, + 0.024280907586216927, + -0.8238351941108704, + 10.379661560058594 + ], + [ + 0.07020646333694458, + -0.9945118427276611, + -0.07757159322500229, + -9.500994682312012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1810, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_438470602", + "mask_path": "../../mask/hdr_front_01810.png" + }, + { + "file_path": "../../rgb/hdr_front_01811.png", + "transform_matrix": [ + [ + -0.824858546257019, + -0.11104413866996765, + 0.5543262958526611, + 66.8478775024414 + ], + [ + -0.5598904490470886, + 0.024651531130075455, + -0.8281999230384827, + 10.435062408447266 + ], + [ + 0.07830175757408142, + -0.9935097694396973, + -0.08250656723976135, + -9.48348331451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1811, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_538470745", + "mask_path": "../../mask/hdr_front_01811.png" + }, + { + "file_path": "../../rgb/hdr_front_01812.png", + "transform_matrix": [ + [ + -0.8235890865325928, + -0.11502641439437866, + 0.5554006695747375, + 66.78617095947266 + ], + [ + -0.561293363571167, + 0.024493075907230377, + -0.8272544145584106, + 10.508622169494629 + ], + [ + 0.08155263215303421, + -0.9930604696273804, + -0.08473578840494156, + -9.4732666015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1812, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_638468980", + "mask_path": "../../mask/hdr_front_01812.png" + }, + { + "file_path": "../../rgb/hdr_front_01813.png", + "transform_matrix": [ + [ + -0.8180729746818542, + -0.11986933648586273, + 0.5624834895133972, + 66.72700500488281 + ], + [ + -0.5687803030014038, + 0.0238767322152853, + -0.8221427798271179, + 10.568632125854492 + ], + [ + 0.08511944860219955, + -0.9925025105476379, + -0.08771223574876785, + -9.473441123962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1813, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_738467931", + "mask_path": "../../mask/hdr_front_01813.png" + }, + { + "file_path": "../../rgb/hdr_front_01814.png", + "transform_matrix": [ + [ + -0.8147155046463013, + -0.12388354539871216, + 0.5664729475975037, + 66.67515563964844 + ], + [ + -0.5728270411491394, + 0.020247839391231537, + -0.8194261193275452, + 10.61918830871582 + ], + [ + 0.0900435522198677, + -0.9920901656150818, + -0.08746006339788437, + -9.467900276184082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1814, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_838469982", + "mask_path": "../../mask/hdr_front_01814.png" + }, + { + "file_path": "../../rgb/hdr_front_01815.png", + "transform_matrix": [ + [ + -0.8162699937820435, + -0.12288755923509598, + 0.5644484758377075, + 66.62660217285156 + ], + [ + -0.5704230070114136, + 0.01717173121869564, + -0.8211715221405029, + 10.676852226257324 + ], + [ + 0.09121920168399811, + -0.9922720193862915, + -0.08411465585231781, + -9.457940101623535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1815, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_938470125", + "mask_path": "../../mask/hdr_front_01815.png" + }, + { + "file_path": "../../rgb/hdr_front_01816.png", + "transform_matrix": [ + [ + -0.8222476243972778, + -0.12869438529014587, + 0.5543885827064514, + 66.57899475097656 + ], + [ + -0.5611887574195862, + 0.021180015057325363, + -0.8274168372154236, + 10.7418212890625 + ], + [ + 0.09474195539951324, + -0.9914581179618835, + -0.08963707089424133, + -9.429658889770508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1816, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_38470506", + "mask_path": "../../mask/hdr_front_01816.png" + }, + { + "file_path": "../../rgb/hdr_front_01817.png", + "transform_matrix": [ + [ + -0.8268340229988098, + -0.13042892515659332, + 0.5471140742301941, + 66.52796936035156 + ], + [ + -0.5542552471160889, + 0.02354269288480282, + -0.8320137858390808, + 10.804987907409668 + ], + [ + 0.09563811123371124, + -0.9911781549453735, + -0.09175680577754974, + -9.410551071166992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1817, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_138470649", + "mask_path": "../../mask/hdr_front_01817.png" + }, + { + "file_path": "../../rgb/hdr_front_01818.png", + "transform_matrix": [ + [ + -0.8281306028366089, + -0.12666626274585724, + 0.5460359454154968, + 66.46519470214844 + ], + [ + -0.5527068972587585, + 0.02228831872344017, + -0.8330776691436768, + 10.881449699401855 + ], + [ + 0.09335260838270187, + -0.991694986820221, + -0.08846695721149445, + -9.401143074035645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1818, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_238470554", + "mask_path": "../../mask/hdr_front_01818.png" + }, + { + "file_path": "../../rgb/hdr_front_01819.png", + "transform_matrix": [ + [ + -0.8247874975204468, + -0.12580670416355133, + 0.5512698292732239, + 66.40889739990234 + ], + [ + -0.557800829410553, + 0.021283121779561043, + -0.8297019004821777, + 10.946480751037598 + ], + [ + 0.09264931082725525, + -0.9918264746665955, + -0.08772915601730347, + -9.4003267288208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1819, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_338469982", + "mask_path": "../../mask/hdr_front_01819.png" + }, + { + "file_path": "../../rgb/hdr_front_01820.png", + "transform_matrix": [ + [ + -0.823486864566803, + -0.12363628298044205, + 0.5536997318267822, + 66.36561584472656 + ], + [ + -0.5598641633987427, + 0.019228866323828697, + -0.8283612728118896, + 11.005453109741211 + ], + [ + 0.09176848083734512, + -0.9921413064002991, + -0.08505424857139587, + -9.39443588256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1820, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_438470363", + "mask_path": "../../mask/hdr_front_01820.png" + }, + { + "file_path": "../../rgb/hdr_front_01821.png", + "transform_matrix": [ + [ + -0.8263081908226013, + -0.12040603905916214, + 0.5501974821090698, + 66.32032012939453 + ], + [ + -0.5557428598403931, + 0.015672560781240463, + -0.8312065005302429, + 11.081360816955566 + ], + [ + 0.09145927429199219, + -0.9926010370254517, + -0.07986515015363693, + -9.382993698120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1821, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_538470268", + "mask_path": "../../mask/hdr_front_01821.png" + }, + { + "file_path": "../../rgb/hdr_front_01822.png", + "transform_matrix": [ + [ + -0.8339340090751648, + -0.1197173148393631, + 0.5387224555015564, + 66.27979278564453 + ], + [ + -0.5446633696556091, + 0.021364372223615646, + -0.8383827209472656, + 11.150519371032715 + ], + [ + 0.0888594537973404, + -0.9925782084465027, + -0.0830221101641655, + -9.359678268432617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1822, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_638469934", + "mask_path": "../../mask/hdr_front_01822.png" + }, + { + "file_path": "../../rgb/hdr_front_01823.png", + "transform_matrix": [ + [ + -0.8397833108901978, + -0.12001471221446991, + 0.5294906497001648, + 66.23766326904297 + ], + [ + -0.5356919765472412, + 0.024539485573768616, + -0.8440567851066589, + 11.212754249572754 + ], + [ + 0.08830580115318298, + -0.9924687743186951, + -0.08489878475666046, + -9.347589492797852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1823, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_738470315", + "mask_path": "../../mask/hdr_front_01823.png" + }, + { + "file_path": "../../rgb/hdr_front_01824.png", + "transform_matrix": [ + [ + -0.8430508971214294, + -0.11837077140808105, + 0.5246461033821106, + 66.1793441772461 + ], + [ + -0.5309619903564453, + 0.027737805619835854, + -0.8469416499137878, + 11.295960426330566 + ], + [ + 0.08570059388875961, + -0.9925820231437683, + -0.08623475581407547, + -9.331424713134766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1824, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_838469743", + "mask_path": "../../mask/hdr_front_01824.png" + }, + { + "file_path": "../../rgb/hdr_front_01825.png", + "transform_matrix": [ + [ + -0.8403680324554443, + -0.11566516757011414, + 0.5295311212539673, + 66.1268539428711 + ], + [ + -0.5356476902961731, + 0.027901075780391693, + -0.8439804911613464, + 11.366561889648438 + ], + [ + 0.08284465968608856, + -0.9928963780403137, + -0.0854029431939125, + -9.330742835998535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1825, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_938470125", + "mask_path": "../../mask/hdr_front_01825.png" + }, + { + "file_path": "../../rgb/hdr_front_01826.png", + "transform_matrix": [ + [ + -0.8390611410140991, + -0.11347325891256332, + 0.5320718288421631, + 66.08331298828125 + ], + [ + -0.5380082726478577, + 0.027871593832969666, + -0.8424786925315857, + 11.430516242980957 + ], + [ + 0.08076910674571991, + -0.9931500554084778, + -0.08443552255630493, + -9.328781127929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1826, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_38469791", + "mask_path": "../../mask/hdr_front_01826.png" + }, + { + "file_path": "../../rgb/hdr_front_01827.png", + "transform_matrix": [ + [ + -0.8407883644104004, + -0.11157232522964478, + 0.5297419428825378, + 66.03893280029297 + ], + [ + -0.5354839563369751, + 0.027568569406867027, + -0.8440953493118286, + 11.508737564086914 + ], + [ + 0.07957344502210617, + -0.9933738708496094, + -0.08292452245950699, + -9.31622314453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1827, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_138469934", + "mask_path": "../../mask/hdr_front_01827.png" + }, + { + "file_path": "../../rgb/hdr_front_01828.png", + "transform_matrix": [ + [ + -0.8471468687057495, + -0.11356058716773987, + 0.5190819501876831, + 65.9998779296875 + ], + [ + -0.5249122381210327, + 0.027145633473992348, + -0.8507233262062073, + 11.578778266906738 + ], + [ + 0.0825178325176239, + -0.9931601881980896, + -0.08260568231344223, + -9.297962188720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1828, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_238470315", + "mask_path": "../../mask/hdr_front_01828.png" + }, + { + "file_path": "../../rgb/hdr_front_01829.png", + "transform_matrix": [ + [ + -0.8513370752334595, + -0.1149199828505516, + 0.5118775367736816, + 65.95606231689453 + ], + [ + -0.5177187323570251, + 0.02630535326898098, + -0.8551463484764099, + 11.647904396057129 + ], + [ + 0.08480828255414963, + -0.9930263757705688, + -0.08189095556735992, + -9.28605842590332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1829, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_338470458", + "mask_path": "../../mask/hdr_front_01829.png" + }, + { + "file_path": "../../rgb/hdr_front_01830.png", + "transform_matrix": [ + [ + -0.8532539010047913, + -0.11070363223552704, + 0.5096101760864258, + 65.89529418945312 + ], + [ + -0.5154157876968384, + 0.03023383766412735, + -0.8564068078994751, + 11.733592987060547 + ], + [ + 0.07939986139535904, + -0.9933935403823853, + -0.08285553753376007, + -9.278363227844238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1830, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_438470602", + "mask_path": "../../mask/hdr_front_01830.png" + }, + { + "file_path": "../../rgb/hdr_front_01831.png", + "transform_matrix": [ + [ + -0.8512440323829651, + -0.10760024189949036, + 0.5136202573776245, + 65.84806060791016 + ], + [ + -0.519092857837677, + 0.029074233025312424, + -0.8542233109474182, + 11.802837371826172 + ], + [ + 0.07698151469230652, + -0.9937689900398254, + -0.08060377836227417, + -9.285540580749512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1831, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_538470745", + "mask_path": "../../mask/hdr_front_01831.png" + }, + { + "file_path": "../../rgb/hdr_front_01832.png", + "transform_matrix": [ + [ + -0.8509440422058105, + -0.10691291093826294, + 0.5142605900764465, + 65.80657958984375 + ], + [ + -0.519501805305481, + 0.02677677944302559, + -0.8540497422218323, + 11.872251510620117 + ], + [ + 0.07753870636224747, + -0.9939078688621521, + -0.07832697778940201, + -9.281872749328613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1832, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_638472318", + "mask_path": "../../mask/hdr_front_01832.png" + }, + { + "file_path": "../../rgb/hdr_front_01833.png", + "transform_matrix": [ + [ + -0.854665219783783, + -0.10391022264957428, + 0.5086748003959656, + 65.77098083496094 + ], + [ + -0.5131802558898926, + 0.020564978942275047, + -0.8580344319343567, + 11.939817428588867 + ], + [ + 0.07869765907526016, + -0.9943740963935852, + -0.07090084999799728, + -9.27049446105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1833, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_738470077", + "mask_path": "../../mask/hdr_front_01833.png" + }, + { + "file_path": "../../rgb/hdr_front_01834.png", + "transform_matrix": [ + [ + -0.8615904450416565, + -0.10571643710136414, + 0.4964735507965088, + 65.7368392944336 + ], + [ + -0.5012774467468262, + 0.023263081908226013, + -0.8649738430976868, + 12.003430366516113 + ], + [ + 0.07989244163036346, + -0.994124174118042, + -0.07303652167320251, + -9.249882698059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1834, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_838469982", + "mask_path": "../../mask/hdr_front_01834.png" + }, + { + "file_path": "../../rgb/hdr_front_01835.png", + "transform_matrix": [ + [ + -0.8656116724014282, + -0.10484766960144043, + 0.4896155297756195, + 65.69779968261719 + ], + [ + -0.494200199842453, + 0.021663514897227287, + -0.8690781593322754, + 12.070918083190918 + ], + [ + 0.08051402866840363, + -0.9942523837089539, + -0.07056794315576553, + -9.242700576782227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1835, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_938470125", + "mask_path": "../../mask/hdr_front_01835.png" + }, + { + "file_path": "../../rgb/hdr_front_01836.png", + "transform_matrix": [ + [ + -0.8663079738616943, + -0.09405049681663513, + 0.4905760586261749, + 65.64839172363281 + ], + [ + -0.49398747086524963, + 0.01567206345498562, + -0.8693277835845947, + 12.15099811553955 + ], + [ + 0.07407236099243164, + -0.9954440593719482, + -0.06003660708665848, + -9.245662689208984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1836, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_38470029", + "mask_path": "../../mask/hdr_front_01836.png" + }, + { + "file_path": "../../rgb/hdr_front_01837.png", + "transform_matrix": [ + [ + -0.862576961517334, + -0.08996861428022385, + 0.49786198139190674, + 65.60142517089844 + ], + [ + -0.5006872415542603, + 0.010559300892055035, + -0.8655639290809631, + 12.224593162536621 + ], + [ + 0.07261651009321213, + -0.9958886504173279, + -0.054154351353645325, + -9.256244659423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1837, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_138471603", + "mask_path": "../../mask/hdr_front_01837.png" + }, + { + "file_path": "../../rgb/hdr_front_01838.png", + "transform_matrix": [ + [ + -0.8605039715766907, + -0.08761056512594223, + 0.501853883266449, + 65.55826568603516 + ], + [ + -0.5045499205589294, + 0.010346592403948307, + -0.8633205890655518, + 12.2925443649292 + ], + [ + 0.0704435184597969, + -0.9961011409759521, + -0.05310719087719917, + -9.254916191101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1838, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_238469600", + "mask_path": "../../mask/hdr_front_01838.png" + }, + { + "file_path": "../../rgb/hdr_front_01839.png", + "transform_matrix": [ + [ + -0.8604519963264465, + -0.08249614387750626, + 0.5028087496757507, + 65.51414489746094 + ], + [ + -0.5046547055244446, + 0.00177741888910532, + -0.863319456577301, + 12.367220878601074 + ], + [ + 0.07032682001590729, + -0.9965898990631104, + -0.04316145181655884, + -9.253965377807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1839, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_338470697", + "mask_path": "../../mask/hdr_front_01839.png" + }, + { + "file_path": "../../rgb/hdr_front_01840.png", + "transform_matrix": [ + [ + -0.8611080050468445, + -0.07501473277807236, + 0.5028577446937561, + 65.47867584228516 + ], + [ + -0.503976047039032, + -0.004573973827064037, + -0.8637055158615112, + 12.431755065917969 + ], + [ + 0.06709069013595581, + -0.997171938419342, + -0.033866945654153824, + -9.243165969848633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1840, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_438470602", + "mask_path": "../../mask/hdr_front_01840.png" + }, + { + "file_path": "../../rgb/hdr_front_01841.png", + "transform_matrix": [ + [ + -0.85683673620224, + -0.07804941385984421, + 0.5096459984779358, + 65.4378662109375 + ], + [ + -0.5109785199165344, + -0.0033296614419668913, + -0.8595870137214661, + 12.486018180847168 + ], + [ + 0.06878720968961716, + -0.996944010257721, + -0.03702859580516815, + -9.236760139465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1841, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_538470745", + "mask_path": "../../mask/hdr_front_01841.png" + }, + { + "file_path": "../../rgb/hdr_front_01842.png", + "transform_matrix": [ + [ + -0.8489999175071716, + -0.0798649713397026, + 0.522322416305542, + 65.3814468383789 + ], + [ + -0.5238533020019531, + -0.002075670752674341, + -0.8518058657646179, + 12.54827880859375 + ], + [ + 0.06911361962556839, + -0.9968035221099854, + -0.04007529467344284, + -9.234190940856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1842, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_638470172", + "mask_path": "../../mask/hdr_front_01842.png" + }, + { + "file_path": "../../rgb/hdr_front_01843.png", + "transform_matrix": [ + [ + -0.8352972865104675, + -0.0733884871006012, + 0.5448784828186035, + 65.32083892822266 + ], + [ + -0.546140730381012, + -0.003373300889506936, + -0.8376867175102234, + 12.616148948669434 + ], + [ + 0.06331459432840347, + -0.9972977638244629, + -0.037262726575136185, + -9.236570358276367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1843, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_738470792", + "mask_path": "../../mask/hdr_front_01843.png" + }, + { + "file_path": "../../rgb/hdr_front_01844.png", + "transform_matrix": [ + [ + -0.8177317380905151, + -0.0690845400094986, + 0.5714386105537415, + 65.27200317382812 + ], + [ + -0.572638213634491, + -0.0029343795031309128, + -0.8198030591011047, + 12.652215957641602 + ], + [ + 0.05831253528594971, + -0.9976065158843994, + -0.037160906940698624, + -9.239909172058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1844, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_838470458", + "mask_path": "../../mask/hdr_front_01844.png" + }, + { + "file_path": "../../rgb/hdr_front_01845.png", + "transform_matrix": [ + [ + -0.7984969615936279, + -0.07025527209043503, + 0.5978851318359375, + 65.21775817871094 + ], + [ + -0.5990191698074341, + -0.005964258220046759, + -0.8007124066352844, + 12.698225975036621 + ], + [ + 0.05982021614909172, + -0.9975112676620483, + -0.03732180595397949, + -9.241171836853027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1845, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_938469648", + "mask_path": "../../mask/hdr_front_01845.png" + }, + { + "file_path": "../../rgb/hdr_front_01846.png", + "transform_matrix": [ + [ + -0.7828667759895325, + -0.07073190063238144, + 0.6181557774543762, + 65.16417694091797 + ], + [ + -0.6190020442008972, + -0.01189199835062027, + -0.7852993011474609, + 12.754855155944824 + ], + [ + 0.06289681792259216, + -0.9974244832992554, + -0.03447334095835686, + -9.234439849853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1846, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_38468837", + "mask_path": "../../mask/hdr_front_01846.png" + }, + { + "file_path": "../../rgb/hdr_front_01847.png", + "transform_matrix": [ + [ + -0.775724470615387, + -0.0714898332953453, + 0.627009391784668, + 65.1190414428711 + ], + [ + -0.6276493668556213, + -0.015933189541101456, + -0.7783330082893372, + 12.802206993103027 + ], + [ + 0.06563315540552139, + -0.9973140954971313, + -0.03251079097390175, + -9.221453666687012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1847, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_138469696", + "mask_path": "../../mask/hdr_front_01847.png" + }, + { + "file_path": "../../rgb/hdr_front_01848.png", + "transform_matrix": [ + [ + -0.7673150897026062, + -0.07946126908063889, + 0.6363281011581421, + 65.07292175292969 + ], + [ + -0.6372392177581787, + -0.016604067757725716, + -0.7704871892929077, + 12.843636512756348 + ], + [ + 0.07178952544927597, + -0.9966996908187866, + -0.03789528086781502, + -9.216508865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1848, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_238470315", + "mask_path": "../../mask/hdr_front_01848.png" + }, + { + "file_path": "../../rgb/hdr_front_01849.png", + "transform_matrix": [ + [ + -0.7552598118782043, + -0.08659854531288147, + 0.64967942237854, + 65.00774383544922 + ], + [ + -0.6511582732200623, + -0.013786224648356438, + -0.7588167190551758, + 12.89964485168457 + ], + [ + 0.07466904073953629, + -0.9961479306221008, + -0.04597717523574829, + -9.208897590637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1849, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_338470458", + "mask_path": "../../mask/hdr_front_01849.png" + }, + { + "file_path": "../../rgb/hdr_front_01850.png", + "transform_matrix": [ + [ + -0.7361211776733398, + -0.0855267196893692, + 0.671424388885498, + 64.93014526367188 + ], + [ + -0.6733465194702148, + -0.008261596783995628, + -0.7392808794975281, + 12.9599609375 + ], + [ + 0.06877530366182327, + -0.9963017106056213, + -0.051507581025362015, + -9.205204963684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1850, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_438471078", + "mask_path": "../../mask/hdr_front_01850.png" + }, + { + "file_path": "../../rgb/hdr_front_01851.png", + "transform_matrix": [ + [ + -0.7162364721298218, + -0.07890203595161438, + 0.6933828592300415, + 64.87748718261719 + ], + [ + -0.6954588294029236, + -0.00160972960293293, + -0.7185640335083008, + 12.99278450012207 + ], + [ + 0.05781233310699463, + -0.9968810677528381, + -0.053720179945230484, + -9.204129219055176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1851, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_538471221", + "mask_path": "../../mask/hdr_front_01851.png" + }, + { + "file_path": "../../rgb/hdr_front_01852.png", + "transform_matrix": [ + [ + -0.6979907751083374, + -0.07811477780342102, + 0.7118335962295532, + 64.82438659667969 + ], + [ + -0.7138727307319641, + -0.002556055784225464, + -0.7002708315849304, + 13.026527404785156 + ], + [ + 0.0565209724009037, + -0.996941089630127, + -0.05397990718483925, + -9.200094223022461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1852, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_638470411", + "mask_path": "../../mask/hdr_front_01852.png" + }, + { + "file_path": "../../rgb/hdr_front_01853.png", + "transform_matrix": [ + [ + -0.6850917339324951, + -0.07903022319078445, + 0.7241570353507996, + 64.76897430419922 + ], + [ + -0.7259353399276733, + -0.008570349775254726, + -0.6877095699310303, + 13.073945999145508 + ], + [ + 0.060556113719940186, + -0.996835470199585, + -0.05149935930967331, + -9.19405746459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1853, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_738470554", + "mask_path": "../../mask/hdr_front_01853.png" + }, + { + "file_path": "../../rgb/hdr_left_01765.png", + "transform_matrix": [ + [ + 0.07013452798128128, + -0.003451825585216284, + -0.9975314736366272, + 69.67411041259766 + ], + [ + 0.9974968433380127, + 0.009275884367525578, + 0.07010000199079514, + 5.261926651000977 + ], + [ + 0.009011014364659786, + -0.9999510049819946, + 0.004093747120350599, + -9.792706489562988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1765, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_338470458", + "mask_path": "../../mask/hdr_left_01765.png" + }, + { + "file_path": "../../rgb/hdr_left_01766.png", + "transform_matrix": [ + [ + 0.054133232682943344, + -0.006828176788985729, + -0.9985104203224182, + 69.6551742553711 + ], + [ + 0.9985080361366272, + 0.007544449530541897, + 0.054081499576568604, + 5.342922210693359 + ], + [ + 0.007163932081311941, + -0.999948263168335, + 0.007226394489407539, + -9.79820442199707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1766, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_438470602", + "mask_path": "../../mask/hdr_left_01766.png" + }, + { + "file_path": "../../rgb/hdr_left_01767.png", + "transform_matrix": [ + [ + 0.022847730666399002, + -0.006144731305539608, + -0.99972003698349, + 69.6301040649414 + ], + [ + 0.9997361898422241, + 0.002487423364073038, + 0.02283279411494732, + 5.4292311668396 + ], + [ + 0.002346424153074622, + -0.9999780654907227, + 0.006199941970407963, + -9.813384056091309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1767, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_538470029", + "mask_path": "../../mask/hdr_left_01767.png" + }, + { + "file_path": "../../rgb/hdr_left_01768.png", + "transform_matrix": [ + [ + -0.00875526387244463, + -0.006465117912739515, + -0.9999407529830933, + 69.60354614257812 + ], + [ + 0.9999592900276184, + 0.0021316714119166136, + -0.008769203908741474, + 5.502316474914551 + ], + [ + 0.002188238548114896, + -0.9999768733978271, + 0.006446193903684616, + -9.816489219665527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1768, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_638469219", + "mask_path": "../../mask/hdr_left_01768.png" + }, + { + "file_path": "../../rgb/hdr_left_01769.png", + "transform_matrix": [ + [ + -0.030056502670049667, + -0.011871704831719398, + -0.9994776844978333, + 69.58533477783203 + ], + [ + 0.9995481371879578, + -0.0007322277524508536, + -0.030049921944737434, + 5.588831424713135 + ], + [ + -0.0003751021868083626, + -0.9999292492866516, + 0.011888349428772926, + -9.812262535095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1769, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_738469600", + "mask_path": "../../mask/hdr_left_01769.png" + }, + { + "file_path": "../../rgb/hdr_left_01770.png", + "transform_matrix": [ + [ + -0.03598086163401604, + -0.013456229120492935, + -0.9992618560791016, + 69.57295227050781 + ], + [ + 0.999346137046814, + -0.004041673149913549, + -0.03592946007847786, + 5.667468070983887 + ], + [ + -0.003555215196684003, + -0.9999013543128967, + 0.013592856004834175, + -9.800811767578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1770, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_838469028", + "mask_path": "../../mask/hdr_left_01770.png" + }, + { + "file_path": "../../rgb/hdr_left_01771.png", + "transform_matrix": [ + [ + -0.03999657928943634, + -0.01829826831817627, + -0.9990322589874268, + 69.55653381347656 + ], + [ + 0.9991908669471741, + -0.004957179538905621, + -0.03991216793656349, + 5.739753246307373 + ], + [ + -0.004222059156745672, + -0.999820351600647, + 0.01848173514008522, + -9.798513412475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1771, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_938469648", + "mask_path": "../../mask/hdr_left_01771.png" + }, + { + "file_path": "../../rgb/hdr_left_01772.png", + "transform_matrix": [ + [ + -0.05071195214986801, + -0.01579069159924984, + -0.9985884428024292, + 69.53177642822266 + ], + [ + 0.9986857175827026, + -0.008227514103055, + -0.05058678984642029, + 5.8190813064575195 + ], + [ + -0.007417101413011551, + -0.9998415112495422, + 0.01618717424571514, + -9.805583000183105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1772, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_38470268", + "mask_path": "../../mask/hdr_left_01772.png" + }, + { + "file_path": "../../rgb/hdr_left_01773.png", + "transform_matrix": [ + [ + -0.06843122094869614, + -0.009381688199937344, + -0.9976117014884949, + 69.50239562988281 + ], + [ + 0.9976058602333069, + -0.010651448741555214, + -0.06833064556121826, + 5.903043746948242 + ], + [ + -0.009984954260289669, + -0.9998992681503296, + 0.010088120587170124, + -9.81831169128418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1773, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_138469457", + "mask_path": "../../mask/hdr_left_01773.png" + }, + { + "file_path": "../../rgb/hdr_left_01774.png", + "transform_matrix": [ + [ + -0.07886380702257156, + -0.007377283647656441, + -0.9968581199645996, + 69.48114776611328 + ], + [ + 0.9968527555465698, + -0.008676846511662006, + -0.07879920303821564, + 5.982163906097412 + ], + [ + -0.008068260736763477, + -0.9999351501464844, + 0.008038354106247425, + -9.817767143249512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1774, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_238469839", + "mask_path": "../../mask/hdr_left_01774.png" + }, + { + "file_path": "../../rgb/hdr_left_01775.png", + "transform_matrix": [ + [ + -0.07429623603820801, + -0.010213813744485378, + -0.9971839189529419, + 69.46707153320312 + ], + [ + 0.9971994757652283, + -0.009341204538941383, + -0.07420173287391663, + 6.0679030418396 + ], + [ + -0.008557016029953957, + -0.999904215335846, + 0.010879226960241795, + -9.813940048217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1775, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_338470935", + "mask_path": "../../mask/hdr_left_01775.png" + }, + { + "file_path": "../../rgb/hdr_left_01776.png", + "transform_matrix": [ + [ + -0.05792960524559021, + -0.014498908072710037, + -0.99821537733078, + 69.45374298095703 + ], + [ + 0.9982852935791016, + -0.009256336838006973, + -0.057799212634563446, + 6.143645763397217 + ], + [ + -0.00840179156512022, + -0.9998521208763123, + 0.01501026377081871, + -9.803986549377441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1776, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_438469409", + "mask_path": "../../mask/hdr_left_01776.png" + }, + { + "file_path": "../../rgb/hdr_left_01777.png", + "transform_matrix": [ + [ + -0.04296957328915596, + -0.018222041428089142, + -0.9989101886749268, + 69.43453979492188 + ], + [ + 0.99906325340271, + -0.0058962879702448845, + -0.04286860302090645, + 6.214156150817871 + ], + [ + -0.005108709447085857, + -0.9998167157173157, + 0.018458334729075432, + -9.800220489501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1777, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_538470029", + "mask_path": "../../mask/hdr_left_01777.png" + }, + { + "file_path": "../../rgb/hdr_left_01778.png", + "transform_matrix": [ + [ + -0.038015421479940414, + -0.01331127155572176, + -0.9991885423660278, + 69.40414428710938 + ], + [ + 0.9992716312408447, + -0.0038167862221598625, + -0.0379677452147007, + 6.313174724578857 + ], + [ + -0.003308290848508477, + -0.999904215335846, + 0.013446674682199955, + -9.802289009094238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1778, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_638468503", + "mask_path": "../../mask/hdr_left_01778.png" + }, + { + "file_path": "../../rgb/hdr_left_01779.png", + "transform_matrix": [ + [ + -0.047933343797922134, + -0.00820169411599636, + -0.9988167881965637, + 69.37730407714844 + ], + [ + 0.9988396763801575, + -0.005058625712990761, + -0.04789287969470024, + 6.391008377075195 + ], + [ + -0.004659838508814573, + -0.9999536275863647, + 0.0084346579387784, + -9.811424255371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1779, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_738468647", + "mask_path": "../../mask/hdr_left_01779.png" + }, + { + "file_path": "../../rgb/hdr_left_01780.png", + "transform_matrix": [ + [ + -0.0603875070810318, + -0.0072637805715203285, + -0.9981485605239868, + 69.35167694091797 + ], + [ + 0.998169481754303, + -0.0037364698946475983, + -0.060361623764038086, + 6.464593887329102 + ], + [ + -0.003291098866611719, + -0.9999666810035706, + 0.00747612165287137, + -9.810110092163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1780, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_838469505", + "mask_path": "../../mask/hdr_left_01780.png" + }, + { + "file_path": "../../rgb/hdr_left_01781.png", + "transform_matrix": [ + [ + -0.0670105367898941, + -0.007106203585863113, + -0.9977269172668457, + 69.3290786743164 + ], + [ + 0.9977434873580933, + -0.004641316831111908, + -0.0669785737991333, + 6.5480146408081055 + ], + [ + -0.004154804162681103, + -0.9999639987945557, + 0.0074011883698403835, + -9.80113410949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1781, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_938469409", + "mask_path": "../../mask/hdr_left_01781.png" + }, + { + "file_path": "../../rgb/hdr_left_01782.png", + "transform_matrix": [ + [ + -0.06551902741193771, + -0.012593735940754414, + -0.9977717995643616, + 69.31282806396484 + ], + [ + 0.9978507161140442, + -0.0018795343348756433, + -0.06550051271915436, + 6.619673728942871 + ], + [ + -0.0010504504898563027, + -0.9999189972877502, + 0.01268981583416462, + -9.790338516235352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1782, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_38469552", + "mask_path": "../../mask/hdr_left_01782.png" + }, + { + "file_path": "../../rgb/hdr_left_01783.png", + "transform_matrix": [ + [ + -0.06829925626516342, + -0.01584613509476185, + -0.9975391030311584, + 69.287109375 + ], + [ + 0.997663676738739, + 0.0004458204784896225, + -0.06831492483615875, + 6.695742130279541 + ], + [ + 0.0015272501623257995, + -0.9998743534088135, + 0.015778666362166405, + -9.787988662719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1783, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_138468742", + "mask_path": "../../mask/hdr_left_01783.png" + }, + { + "file_path": "../../rgb/hdr_left_01784.png", + "transform_matrix": [ + [ + -0.08166571706533432, + -0.011783369816839695, + -0.9965901970863342, + 69.25637817382812 + ], + [ + 0.9966588020324707, + 0.0004288429336156696, + -0.0816764235496521, + 6.784582138061523 + ], + [ + 0.0013898040633648634, + -0.9999305605888367, + 0.01170897763222456, + -9.793766975402832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1784, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_238469839", + "mask_path": "../../mask/hdr_left_01784.png" + }, + { + "file_path": "../../rgb/hdr_left_01785.png", + "transform_matrix": [ + [ + -0.10719013959169388, + -0.005911636166274548, + -0.9942209720611572, + 69.22309875488281 + ], + [ + 0.994231641292572, + 0.003069176571443677, + -0.10720957815647125, + 6.864090919494629 + ], + [ + 0.0036852227058261633, + -0.9999778866767883, + 0.005548553541302681, + -9.797823905944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1785, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_338469743", + "mask_path": "../../mask/hdr_left_01785.png" + }, + { + "file_path": "../../rgb/hdr_left_01786.png", + "transform_matrix": [ + [ + -0.13212890923023224, + -0.006930498406291008, + -0.9912081956863403, + 69.19293975830078 + ], + [ + 0.9912176728248596, + 0.004549281671643257, + -0.13216198980808258, + 6.94280481338501 + ], + [ + 0.005425234325230122, + -0.9999656677246094, + 0.006268543191254139, + -9.79421615600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1786, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_438470125", + "mask_path": "../../mask/hdr_left_01786.png" + }, + { + "file_path": "../../rgb/hdr_left_01787.png", + "transform_matrix": [ + [ + -0.14650970697402954, + -0.009908672422170639, + -0.9891595840454102, + 69.1683349609375 + ], + [ + 0.9892078042030334, + 0.00018766782886814326, + -0.14651872217655182, + 7.021319389343262 + ], + [ + 0.001637438079342246, + -0.9999510049819946, + 0.009774245321750641, + -9.788224220275879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1787, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_538469791", + "mask_path": "../../mask/hdr_left_01787.png" + }, + { + "file_path": "../../rgb/hdr_left_01788.png", + "transform_matrix": [ + [ + -0.1502780318260193, + -0.015811653807759285, + -0.9885172843933105, + 69.14825439453125 + ], + [ + 0.9886358976364136, + 0.001583595760166645, + -0.15032142400741577, + 7.087786674499512 + ], + [ + 0.003942240960896015, + -0.9998737573623657, + 0.015393991954624653, + -9.781801223754883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1788, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_638470649", + "mask_path": "../../mask/hdr_left_01788.png" + }, + { + "file_path": "../../rgb/hdr_left_01789.png", + "transform_matrix": [ + [ + -0.15382738411426544, + -0.020995017141103745, + -0.9878745675086975, + 69.11817169189453 + ], + [ + 0.9880788326263428, + 0.0029073094483464956, + -0.153920978307724, + 7.161767482757568 + ], + [ + 0.006103630177676678, + -0.9997754096984863, + 0.020297512412071228, + -9.781688690185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1789, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_738469600", + "mask_path": "../../mask/hdr_left_01789.png" + }, + { + "file_path": "../../rgb/hdr_left_01790.png", + "transform_matrix": [ + [ + -0.16603544354438782, + -0.020156243816018105, + -0.9859138131141663, + 69.0759048461914 + ], + [ + 0.9861058592796326, + 0.0019057684112340212, + -0.16610682010650635, + 7.247172832489014 + ], + [ + 0.005227011628448963, + -0.9997950792312622, + 0.019559765234589577, + -9.784355163574219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1790, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_838469266", + "mask_path": "../../mask/hdr_left_01790.png" + }, + { + "file_path": "../../rgb/hdr_left_01791.png", + "transform_matrix": [ + [ + -0.18735510110855103, + -0.016070853918790817, + -0.9821608066558838, + 69.03267669677734 + ], + [ + 0.9822682738304138, + 0.0039140330627560616, + -0.18743963539600372, + 7.313643455505371 + ], + [ + 0.006856523919850588, + -0.9998632073402405, + 0.01505257748067379, + -9.7843599319458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1791, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_938470363", + "mask_path": "../../mask/hdr_left_01791.png" + }, + { + "file_path": "../../rgb/hdr_left_01792.png", + "transform_matrix": [ + [ + -0.202602818608284, + -0.018907103687524796, + -0.9790783524513245, + 68.9944839477539 + ], + [ + 0.9792335629463196, + 0.0035678395070135593, + -0.2027038186788559, + 7.3758440017700195 + ], + [ + 0.007325735874474049, + -0.9998149871826172, + 0.017791621387004852, + -9.783003807067871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1792, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_38469791", + "mask_path": "../../mask/hdr_left_01792.png" + }, + { + "file_path": "../../rgb/hdr_left_01793.png", + "transform_matrix": [ + [ + -0.20835910737514496, + -0.02453329786658287, + -0.9777446389198303, + 68.95999145507812 + ], + [ + 0.9780492186546326, + -0.002687474712729454, + -0.20835661888122559, + 7.455557823181152 + ], + [ + 0.0024840098340064287, + -0.9996954798698425, + 0.02455473318696022, + -9.78377628326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1793, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_138469696", + "mask_path": "../../mask/hdr_left_01793.png" + }, + { + "file_path": "../../rgb/hdr_left_01794.png", + "transform_matrix": [ + [ + -0.20155714452266693, + -0.02650061994791031, + -0.9791181683540344, + 68.93106079101562 + ], + [ + 0.9794766902923584, + -0.005834298674017191, + -0.20147301256656647, + 7.525322437286377 + ], + [ + -0.00037330825580284, + -0.9996318221092224, + 0.027132684364914894, + -9.77034854888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1794, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_238470077", + "mask_path": "../../mask/hdr_left_01794.png" + }, + { + "file_path": "../../rgb/hdr_left_01795.png", + "transform_matrix": [ + [ + -0.19404062628746033, + -0.03693392127752304, + -0.9802979230880737, + 68.90039825439453 + ], + [ + 0.9809882044792175, + -0.004046423360705376, + -0.19402478635311127, + 7.594820976257324 + ], + [ + 0.0031993945594877005, + -0.9993095397949219, + 0.037016913294792175, + -9.763911247253418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1795, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_338470220", + "mask_path": "../../mask/hdr_left_01795.png" + }, + { + "file_path": "../../rgb/hdr_left_01796.png", + "transform_matrix": [ + [ + -0.18984906375408173, + -0.04187243804335594, + -0.9809200167655945, + 68.85767364501953 + ], + [ + 0.9817784428596497, + 0.00031566235702484846, + -0.19002872705459595, + 7.682920932769775 + ], + [ + 0.008266603574156761, + -0.9991229772567749, + 0.0410495288670063, + -9.76075553894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1796, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_438470125", + "mask_path": "../../mask/hdr_left_01796.png" + }, + { + "file_path": "../../rgb/hdr_left_01797.png", + "transform_matrix": [ + [ + -0.1968250870704651, + -0.03743015602231026, + -0.9797238707542419, + 68.81314086914062 + ], + [ + 0.9804052114486694, + 0.0007353312685154378, + -0.19699010252952576, + 7.770766258239746 + ], + [ + 0.008093790151178837, + -0.9992989897727966, + 0.03655198961496353, + -9.761833190917969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1797, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_538469791", + "mask_path": "../../mask/hdr_left_01797.png" + }, + { + "file_path": "../../rgb/hdr_left_01798.png", + "transform_matrix": [ + [ + -0.20424510538578033, + -0.03503242880105972, + -0.97829270362854, + 68.77867126464844 + ], + [ + 0.9788503050804138, + 0.0045946273021399975, + -0.2045261114835739, + 7.838470935821533 + ], + [ + 0.011659936048090458, + -0.9993756413459778, + 0.03335307911038399, + -9.762199401855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1798, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_638471364", + "mask_path": "../../mask/hdr_left_01798.png" + }, + { + "file_path": "../../rgb/hdr_left_01799.png", + "transform_matrix": [ + [ + -0.2047371119260788, + -0.037731219083070755, + -0.978089451789856, + 68.74593353271484 + ], + [ + 0.9787666201591492, + 0.002239156747236848, + -0.20496518909931183, + 7.918062686920166 + ], + [ + 0.009923680685460567, + -0.9992854595184326, + 0.03647162392735481, + -9.760449409484863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1799, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_738470315", + "mask_path": "../../mask/hdr_left_01799.png" + }, + { + "file_path": "../../rgb/hdr_left_01800.png", + "transform_matrix": [ + [ + -0.1951667219400406, + -0.04048718512058258, + -0.9799339771270752, + 68.72039794921875 + ], + [ + 0.9807697534561157, + -0.007255952805280685, + -0.19503332674503326, + 7.991161346435547 + ], + [ + 0.0007859944016672671, + -0.9991537928581238, + 0.04112472012639046, + -9.744980812072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1800, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_838470935", + "mask_path": "../../mask/hdr_left_01800.png" + }, + { + "file_path": "../../rgb/hdr_left_01801.png", + "transform_matrix": [ + [ + -0.18686898052692413, + -0.0495593287050724, + -0.9811339378356934, + 68.69605255126953 + ], + [ + 0.982374370098114, + -0.004830258432775736, + -0.1868613064289093, + 8.057723999023438 + ], + [ + 0.004521587397903204, + -0.9987596273422241, + 0.04958844557404518, + -9.7358980178833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1801, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_938470363", + "mask_path": "../../mask/hdr_left_01801.png" + }, + { + "file_path": "../../rgb/hdr_left_01802.png", + "transform_matrix": [ + [ + -0.18356430530548096, + -0.05208653584122658, + -0.9816268086433411, + 68.65666961669922 + ], + [ + 0.982954204082489, + 0.0006845736061222851, + -0.18384890258312225, + 8.137785911560059 + ], + [ + 0.010248045437037945, + -0.9986423850059509, + 0.051073022186756134, + -9.728423118591309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1802, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_38470029", + "mask_path": "../../mask/hdr_left_01802.png" + }, + { + "file_path": "../../rgb/hdr_left_01803.png", + "transform_matrix": [ + [ + -0.19433733820915222, + -0.044582054018974304, + -0.9799212217330933, + 68.61109161376953 + ], + [ + 0.9808815121650696, + 0.0015810375334694982, + -0.19459976255893707, + 8.222696304321289 + ], + [ + 0.010224945843219757, + -0.9990045428276062, + 0.04342244938015938, + -9.737136840820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1803, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_138469696", + "mask_path": "../../mask/hdr_left_01803.png" + }, + { + "file_path": "../../rgb/hdr_left_01804.png", + "transform_matrix": [ + [ + -0.21845734119415283, + -0.03944460675120354, + -0.9750489592552185, + 68.56869506835938 + ], + [ + 0.9757554531097412, + 0.004812103696167469, + -0.2188103348016739, + 8.29249382019043 + ], + [ + 0.0133229224011302, + -0.9992101788520813, + 0.03743705898523331, + -9.738994598388672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1804, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_238469839", + "mask_path": "../../mask/hdr_left_01804.png" + }, + { + "file_path": "../../rgb/hdr_left_01805.png", + "transform_matrix": [ + [ + -0.24721701443195343, + -0.03931697830557823, + -0.9681621193885803, + 68.52497100830078 + ], + [ + 0.9688805937767029, + 0.0027704748790711164, + -0.2475130259990692, + 8.360044479370117 + ], + [ + 0.012413729913532734, + -0.9992230534553528, + 0.03740854933857918, + -9.734606742858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1805, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_338470697", + "mask_path": "../../mask/hdr_left_01805.png" + }, + { + "file_path": "../../rgb/hdr_left_01806.png", + "transform_matrix": [ + [ + -0.2720346450805664, + -0.04117586836218834, + -0.9614061117172241, + 68.4806900024414 + ], + [ + 0.9622704982757568, + -0.005722380243241787, + -0.2720341980457306, + 8.433760643005371 + ], + [ + 0.005699713248759508, + -0.9991355538368225, + 0.04117901250720024, + -9.728339195251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1806, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_438469171", + "mask_path": "../../mask/hdr_left_01806.png" + }, + { + "file_path": "../../rgb/hdr_left_01807.png", + "transform_matrix": [ + [ + -0.2905755937099457, + -0.05113692581653595, + -0.9554845690727234, + 68.43889617919922 + ], + [ + 0.9568033218383789, + -0.0054521155543625355, + -0.2906847894191742, + 8.49327564239502 + ], + [ + 0.00965531263500452, + -0.9986768364906311, + 0.05051223188638687, + -9.716200828552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1807, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_538469314", + "mask_path": "../../mask/hdr_left_01807.png" + }, + { + "file_path": "../../rgb/hdr_left_01808.png", + "transform_matrix": [ + [ + -0.3076415956020355, + -0.05936746671795845, + -0.9496484398841858, + 68.39006042480469 + ], + [ + 0.9514173269271851, + -0.005854490213096142, + -0.30784863233566284, + 8.557076454162598 + ], + [ + 0.012716484256088734, + -0.9982190728187561, + 0.05828431248664856, + -9.710827827453613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1808, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_638469934", + "mask_path": "../../mask/hdr_left_01808.png" + }, + { + "file_path": "../../rgb/hdr_left_01809.png", + "transform_matrix": [ + [ + -0.3253846764564514, + -0.05646313726902008, + -0.9438944458961487, + 68.3338851928711 + ], + [ + 0.9455216526985168, + -0.008187362924218178, + -0.3254559338092804, + 8.643999099731445 + ], + [ + 0.010648251511156559, + -0.9983711838722229, + 0.05605116859078407, + -9.716729164123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1809, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_738469839", + "mask_path": "../../mask/hdr_left_01809.png" + }, + { + "file_path": "../../rgb/hdr_left_01810.png", + "transform_matrix": [ + [ + -0.3470004200935364, + -0.05069572478532791, + -0.9364938139915466, + 68.28549194335938 + ], + [ + 0.9377948045730591, + -0.006545170210301876, + -0.3471282124519348, + 8.708564758300781 + ], + [ + 0.011468401178717613, + -0.9986926913261414, + 0.049813367426395416, + -9.72006607055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1810, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_838469266", + "mask_path": "../../mask/hdr_left_01810.png" + }, + { + "file_path": "../../rgb/hdr_left_01811.png", + "transform_matrix": [ + [ + -0.3657743036746979, + -0.04895419627428055, + -0.929415225982666, + 68.24263000488281 + ], + [ + 0.9305931925773621, + -0.0038600945845246315, + -0.3660346269607544, + 8.770364761352539 + ], + [ + 0.01433129794895649, + -0.9987935423851013, + 0.04696836322546005, + -9.717632293701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1811, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_938469171", + "mask_path": "../../mask/hdr_left_01811.png" + }, + { + "file_path": "../../rgb/hdr_left_01812.png", + "transform_matrix": [ + [ + -0.37758830189704895, + -0.0516989566385746, + -0.9245291948318481, + 68.19490051269531 + ], + [ + 0.9258587956428528, + -0.005355621688067913, + -0.37783172726631165, + 8.853302001953125 + ], + [ + 0.014582077972590923, + -0.9986484050750732, + 0.049888160079717636, + -9.714017868041992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1812, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_38469791", + "mask_path": "../../mask/hdr_left_01812.png" + }, + { + "file_path": "../../rgb/hdr_left_01813.png", + "transform_matrix": [ + [ + -0.3790760636329651, + -0.05236043035984039, + -0.9238829016685486, + 68.15106964111328 + ], + [ + 0.9252422451972961, + -0.005156620871275663, + -0.3793415427207947, + 8.918309211730957 + ], + [ + 0.015098374336957932, + -0.9986149668693542, + 0.05040083825588226, + -9.701157569885254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1813, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_138469219", + "mask_path": "../../mask/hdr_left_01813.png" + }, + { + "file_path": "../../rgb/hdr_left_01814.png", + "transform_matrix": [ + [ + -0.38072729110717773, + -0.058173768222332, + -0.9228556752204895, + 68.11186218261719 + ], + [ + 0.9245144724845886, + -0.004650316666811705, + -0.3811184763908386, + 8.970555305480957 + ], + [ + 0.017879527062177658, + -0.9982956647872925, + 0.055552996695041656, + -9.693815231323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1814, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_238468647", + "mask_path": "../../mask/hdr_left_01814.png" + }, + { + "file_path": "../../rgb/hdr_left_01815.png", + "transform_matrix": [ + [ + -0.3860936164855957, + -0.05897196754813194, + -0.9205726385116577, + 68.056396484375 + ], + [ + 0.9222543835639954, + -0.003630618564784527, + -0.3865663707256317, + 9.044814109802246 + ], + [ + 0.01945433020591736, + -0.9982530474662781, + 0.05578891560435295, + -9.689146995544434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1815, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_338468551", + "mask_path": "../../mask/hdr_left_01815.png" + }, + { + "file_path": "../../rgb/hdr_left_01816.png", + "transform_matrix": [ + [ + -0.40085139870643616, + -0.05245036631822586, + -0.9146404266357422, + 67.99750518798828 + ], + [ + 0.9159995913505554, + -0.005273890215903521, + -0.4011445641517639, + 9.117952346801758 + ], + [ + 0.016216464340686798, + -0.998609721660614, + 0.05015856400132179, + -9.694278717041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1816, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_438469886", + "mask_path": "../../mask/hdr_left_01816.png" + }, + { + "file_path": "../../rgb/hdr_left_01817.png", + "transform_matrix": [ + [ + -0.4124032258987427, + -0.05300210416316986, + -0.9094582796096802, + 67.94630432128906 + ], + [ + 0.9108302593231201, + -0.004639590159058571, + -0.41275501251220703, + 9.169564247131348 + ], + [ + 0.017657365649938583, + -0.9985836744308472, + 0.0501893013715744, + -9.696742057800293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1817, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_538470268", + "mask_path": "../../mask/hdr_left_01817.png" + }, + { + "file_path": "../../rgb/hdr_left_01818.png", + "transform_matrix": [ + [ + -0.4172484278678894, + -0.05673070251941681, + -0.9070200324058533, + 67.89266204833984 + ], + [ + 0.9086529016494751, + -0.0085525494068861, + -0.41746464371681213, + 9.229951858520508 + ], + [ + 0.015925729647278786, + -0.9983528852462769, + 0.055117059499025345, + -9.692787170410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1818, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_638468980", + "mask_path": "../../mask/hdr_left_01818.png" + }, + { + "file_path": "../../rgb/hdr_left_01819.png", + "transform_matrix": [ + [ + -0.4123575687408447, + -0.05832909420132637, + -0.9091528058052063, + 67.84598541259766 + ], + [ + 0.910930335521698, + -0.012242432683706284, + -0.41237837076187134, + 9.299139976501465 + ], + [ + 0.012923412024974823, + -0.9982223510742188, + 0.0581820048391819, + -9.68095588684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1819, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_738468647", + "mask_path": "../../mask/hdr_left_01819.png" + }, + { + "file_path": "../../rgb/hdr_left_01820.png", + "transform_matrix": [ + [ + -0.4038146138191223, + -0.06804695725440979, + -0.9123066067695618, + 67.79696655273438 + ], + [ + 0.9146701693534851, + -0.01077068317681551, + -0.40405741333961487, + 9.358997344970703 + ], + [ + 0.0176687128841877, + -0.9976240396499634, + 0.06658988445997238, + -9.665847778320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1820, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_838470220", + "mask_path": "../../mask/hdr_left_01820.png" + }, + { + "file_path": "../../rgb/hdr_left_01821.png", + "transform_matrix": [ + [ + -0.39917904138565063, + -0.0716705173254013, + -0.9140674471855164, + 67.73193359375 + ], + [ + 0.9165691137313843, + -0.005530748516321182, + -0.399837851524353, + 9.431757926940918 + ], + [ + 0.023601109161973, + -0.9974130392074585, + 0.06789875030517578, + -9.655089378356934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1821, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_938469171", + "mask_path": "../../mask/hdr_left_01821.png" + }, + { + "file_path": "../../rgb/hdr_left_01822.png", + "transform_matrix": [ + [ + -0.405341237783432, + -0.07309326529502869, + -0.9112385511398315, + 67.66698455810547 + ], + [ + 0.9137840867042542, + -0.0036060186102986336, + -0.4061843156814575, + 9.504629135131836 + ], + [ + 0.02640339732170105, + -0.997318685054779, + 0.06825312972068787, + -9.654653549194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1822, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_38470506", + "mask_path": "../../mask/hdr_left_01822.png" + }, + { + "file_path": "../../rgb/hdr_left_01823.png", + "transform_matrix": [ + [ + -0.41195958852767944, + -0.07314560562372208, + -0.9082615375518799, + 67.61858367919922 + ], + [ + 0.9107806086540222, + -0.002741592237725854, + -0.41288137435913086, + 9.556992530822754 + ], + [ + 0.02771037630736828, + -0.9973175525665283, + 0.0677490308880806, + -9.654728889465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1823, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_138469457", + "mask_path": "../../mask/hdr_left_01823.png" + }, + { + "file_path": "../../rgb/hdr_left_01824.png", + "transform_matrix": [ + [ + -0.41228264570236206, + -0.07241278141736984, + -0.908173680305481, + 67.57034301757812 + ], + [ + 0.9106485247612, + -0.0029483793769031763, + -0.41317105293273926, + 9.621288299560547 + ], + [ + 0.02724122256040573, + -0.9973704218864441, + 0.06715816259384155, + -9.649724006652832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1824, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_238469839", + "mask_path": "../../mask/hdr_left_01824.png" + }, + { + "file_path": "../../rgb/hdr_left_01825.png", + "transform_matrix": [ + [ + -0.40296298265457153, + -0.07008093595504761, + -0.9125291705131531, + 67.5292739868164 + ], + [ + 0.914709746837616, + 0.0023287246003746986, + -0.4041047692298889, + 9.687973976135254 + ], + [ + 0.030445069074630737, + -0.9975386261940002, + 0.0631653219461441, + -9.628682136535645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1825, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_338469982", + "mask_path": "../../mask/hdr_left_01825.png" + }, + { + "file_path": "../../rgb/hdr_left_01826.png", + "transform_matrix": [ + [ + -0.3956592082977295, + -0.07731468230485916, + -0.9151372313499451, + 67.48823547363281 + ], + [ + 0.9176798462867737, + 0.00609843572601676, + -0.39727386832237244, + 9.749733924865723 + ], + [ + 0.03629600256681442, + -0.9969881772994995, + 0.06853722035884857, + -9.61247730255127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1826, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_438469886", + "mask_path": "../../mask/hdr_left_01826.png" + }, + { + "file_path": "../../rgb/hdr_left_01827.png", + "transform_matrix": [ + [ + -0.3957985043525696, + -0.08042244613170624, + -0.9148091077804565, + 67.4326400756836 + ], + [ + 0.9175188541412354, + 0.0074181570671498775, + -0.3976229727268219, + 9.819070816040039 + ], + [ + 0.03876401111483574, + -0.9967333078384399, + 0.07085302472114563, + -9.601003646850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1827, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_538469076", + "mask_path": "../../mask/hdr_left_01827.png" + }, + { + "file_path": "../../rgb/hdr_left_01828.png", + "transform_matrix": [ + [ + -0.40170425176620483, + -0.0813654437661171, + -0.912147581577301, + 67.38335418701172 + ], + [ + 0.9148843884468079, + 0.008123334497213364, + -0.4036341905593872, + 9.88537883758545 + ], + [ + 0.04025155305862427, + -0.996651291847229, + 0.07117678970098495, + -9.602593421936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1828, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_638469696", + "mask_path": "../../mask/hdr_left_01828.png" + }, + { + "file_path": "../../rgb/hdr_left_01829.png", + "transform_matrix": [ + [ + -0.40333861112594604, + -0.08175542950630188, + -0.9113912582397461, + 67.34288787841797 + ], + [ + 0.9140703082084656, + 0.010096070356667042, + -0.4054299294948578, + 9.943470001220703 + ], + [ + 0.042347561568021774, + -0.996601402759552, + 0.07065807282924652, + -9.599787712097168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1829, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_738470077", + "mask_path": "../../mask/hdr_left_01829.png" + }, + { + "file_path": "../../rgb/hdr_left_01830.png", + "transform_matrix": [ + [ + -0.3986482322216034, + -0.08037032932043076, + -0.9135754108428955, + 67.30635833740234 + ], + [ + 0.9160808324813843, + 0.012140962295234203, + -0.400809645652771, + 10.012154579162598 + ], + [ + 0.04330488294363022, + -0.9966911673545837, + 0.06878575682640076, + -9.584714889526367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1830, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_838469505", + "mask_path": "../../mask/hdr_left_01830.png" + }, + { + "file_path": "../../rgb/hdr_left_01831.png", + "transform_matrix": [ + [ + -0.3913052976131439, + -0.0891462117433548, + -0.915932834148407, + 67.26658630371094 + ], + [ + 0.9190033674240112, + 0.014158383943140507, + -0.39399513602256775, + 10.071966171264648 + ], + [ + 0.048091303557157516, + -0.9959179759025574, + 0.07638543099164963, + -9.568378448486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1831, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_938469409", + "mask_path": "../../mask/hdr_left_01831.png" + }, + { + "file_path": "../../rgb/hdr_left_01832.png", + "transform_matrix": [ + [ + -0.39329370856285095, + -0.09890322387218475, + -0.9140777587890625, + 67.20862579345703 + ], + [ + 0.9180409908294678, + 0.012045225128531456, + -0.39630234241485596, + 10.134839057922363 + ], + [ + 0.05020584538578987, + -0.9950242042541504, + 0.08605991303920746, + -9.554634094238281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1832, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_38470268", + "mask_path": "../../mask/hdr_left_01832.png" + }, + { + "file_path": "../../rgb/hdr_left_01833.png", + "transform_matrix": [ + [ + -0.4036453068256378, + -0.1029948741197586, + -0.909099817276001, + 67.1473388671875 + ], + [ + 0.9134154319763184, + 0.0115119069814682, + -0.40686577558517456, + 10.201070785522461 + ], + [ + 0.05237054452300072, + -0.994615375995636, + 0.08943036198616028, + -9.555632591247559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1833, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_138469696", + "mask_path": "../../mask/hdr_left_01833.png" + }, + { + "file_path": "../../rgb/hdr_left_01834.png", + "transform_matrix": [ + [ + -0.4131188988685608, + -0.10429950803518295, + -0.9046846628189087, + 67.10292053222656 + ], + [ + 0.9089357852935791, + 0.014180786907672882, + -0.41669490933418274, + 10.251903533935547 + ], + [ + 0.05629021301865578, + -0.9944449067115784, + 0.08894322067499161, + -9.555946350097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1834, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_238470315", + "mask_path": "../../mask/hdr_left_01834.png" + }, + { + "file_path": "../../rgb/hdr_left_01835.png", + "transform_matrix": [ + [ + -0.41427069902420044, + -0.10397979617118835, + -0.9041945934295654, + 67.05943298339844 + ], + [ + 0.9082513451576233, + 0.01696760207414627, + -0.4180806577205658, + 10.31356143951416 + ], + [ + 0.05881394073367119, + -0.9944347739219666, + 0.08741061389446259, + -9.539959907531738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1835, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_338470697", + "mask_path": "../../mask/hdr_left_01835.png" + }, + { + "file_path": "../../rgb/hdr_left_01836.png", + "transform_matrix": [ + [ + -0.4039212763309479, + -0.11182975023984909, + -0.9079326391220093, + 67.0206298828125 + ], + [ + 0.9128322601318359, + 0.015687843784689903, + -0.40803325176239014, + 10.372687339782715 + ], + [ + 0.05987374857068062, + -0.9936035871505737, + 0.09574515372514725, + -9.515448570251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1836, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_438470602", + "mask_path": "../../mask/hdr_left_01836.png" + }, + { + "file_path": "../../rgb/hdr_left_01837.png", + "transform_matrix": [ + [ + -0.39624133706092834, + -0.12116306275129318, + -0.9101166725158691, + 66.97618865966797 + ], + [ + 0.9159641861915588, + 0.016137180849909782, + -0.400935560464859, + 10.427083969116211 + ], + [ + 0.06326528638601303, + -0.9925014972686768, + 0.10458679497241974, + -9.499156951904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1837, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_538470745", + "mask_path": "../../mask/hdr_left_01837.png" + }, + { + "file_path": "../../rgb/hdr_left_01838.png", + "transform_matrix": [ + [ + -0.39754265546798706, + -0.12512677907943726, + -0.9090121388435364, + 66.91443634033203 + ], + [ + 0.9152876734733582, + 0.01596151851117611, + -0.40248438715934753, + 10.500863075256348 + ], + [ + 0.06487078219652176, + -0.9920124411582947, + 0.10818160325288773, + -9.489448547363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1838, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_638468980", + "mask_path": "../../mask/hdr_left_01838.png" + }, + { + "file_path": "../../rgb/hdr_left_01839.png", + "transform_matrix": [ + [ + -0.4055250585079193, + -0.12988686561584473, + -0.9048085808753967, + 66.85525512695312 + ], + [ + 0.9116137027740479, + 0.015253402292728424, + -0.4107647240161896, + 10.562044143676758 + ], + [ + 0.06715435534715652, + -0.9914115071296692, + 0.11222101747989655, + -9.490224838256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1839, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_738467931", + "mask_path": "../../mask/hdr_left_01839.png" + }, + { + "file_path": "../../rgb/hdr_left_01840.png", + "transform_matrix": [ + [ + -0.41007137298583984, + -0.13385100662708282, + -0.9021781086921692, + 66.8033676147461 + ], + [ + 0.9096609950065613, + 0.011575134471058846, + -0.4151899516582489, + 10.613225936889648 + ], + [ + 0.06601641327142715, + -0.990933895111084, + 0.11701241135597229, + -9.48516845703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1840, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_838469982", + "mask_path": "../../mask/hdr_left_01840.png" + }, + { + "file_path": "../../rgb/hdr_left_01841.png", + "transform_matrix": [ + [ + -0.4077952802181244, + -0.132878378033638, + -0.9033529162406921, + 66.75481414794922 + ], + [ + 0.9109309315681458, + 0.008528640493750572, + -0.41247066855430603, + 10.670501708984375 + ], + [ + 0.06251278519630432, + -0.9910956621170044, + 0.11756507307291031, + -9.475065231323242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1841, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_938470125", + "mask_path": "../../mask/hdr_left_01841.png" + }, + { + "file_path": "../../rgb/hdr_left_01842.png", + "transform_matrix": [ + [ + -0.3968410789966583, + -0.1387772262096405, + -0.907335638999939, + 66.70702362060547 + ], + [ + 0.9154160618782043, + 0.012649906799197197, + -0.40231001377105713, + 10.734034538269043 + ], + [ + 0.0673091784119606, + -0.9902428388595581, + 0.12201891094446182, + -9.447580337524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1842, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_38470506", + "mask_path": "../../mask/hdr_left_01842.png" + }, + { + "file_path": "../../rgb/hdr_left_01843.png", + "transform_matrix": [ + [ + -0.3888629674911499, + -0.14058201014995575, + -0.9105066061019897, + 66.6558837890625 + ], + [ + 0.91869056224823, + 0.015097601339221, + -0.39468929171562195, + 10.796128273010254 + ], + [ + 0.06923266500234604, + -0.9899539947509766, + 0.12328045815229416, + -9.428731918334961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1843, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_138470649", + "mask_path": "../../mask/hdr_left_01843.png" + }, + { + "file_path": "../../rgb/hdr_left_01844.png", + "transform_matrix": [ + [ + -0.3875538408756256, + -0.13683824241161346, + -0.9116343259811401, + 66.59317016601562 + ], + [ + 0.919451892375946, + 0.013862318359315395, + -0.3929580748081207, + 10.872346878051758 + ], + [ + 0.06640905141830444, + -0.9904964566230774, + 0.12044379115104675, + -9.418829917907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1844, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_238470554", + "mask_path": "../../mask/hdr_left_01844.png" + }, + { + "file_path": "../../rgb/hdr_left_01845.png", + "transform_matrix": [ + [ + -0.3933033347129822, + -0.13592755794525146, + -0.9093053936958313, + 66.53694152832031 + ], + [ + 0.9170504212379456, + 0.012794595211744308, + -0.3985659182071686, + 10.938165664672852 + ], + [ + 0.06581029295921326, + -0.9906362295150757, + 0.11962025612592697, + -9.41788387298584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1845, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_338469982", + "mask_path": "../../mask/hdr_left_01845.png" + }, + { + "file_path": "../../rgb/hdr_left_01846.png", + "transform_matrix": [ + [ + -0.39592045545578003, + -0.13373684883117676, + -0.9084940552711487, + 66.49372100830078 + ], + [ + 0.9160978198051453, + 0.01071512047201395, + -0.4008115231990814, + 10.997453689575195 + ], + [ + 0.06333789229393005, + -0.9909589886665344, + 0.11827370524406433, + -9.411691665649414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1846, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_438470363", + "mask_path": "../../mask/hdr_left_01846.png" + }, + { + "file_path": "../../rgb/hdr_left_01847.png", + "transform_matrix": [ + [ + -0.3919532895088196, + -0.1305488646030426, + -0.9106754064559937, + 66.44844055175781 + ], + [ + 0.9181365966796875, + 0.007209632080048323, + -0.39619821310043335, + 11.072709083557129 + ], + [ + 0.05828884616494179, + -0.9914156794548035, + 0.1170358657836914, + -9.399807929992676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1847, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_538470268", + "mask_path": "../../mask/hdr_left_01847.png" + }, + { + "file_path": "../../rgb/hdr_left_01848.png", + "transform_matrix": [ + [ + -0.3792847990989685, + -0.12997640669345856, + -0.9161053895950317, + 66.40778350830078 + ], + [ + 0.923209547996521, + 0.013037359341979027, + -0.384075790643692, + 11.14017105102539 + ], + [ + 0.06186437979340553, + -0.9914314150810242, + 0.11505059897899628, + -9.376474380493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1848, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_638469934", + "mask_path": "../../mask/hdr_left_01848.png" + }, + { + "file_path": "../../rgb/hdr_left_01849.png", + "transform_matrix": [ + [ + -0.36914774775505066, + -0.13036349415779114, + -0.9201821684837341, + 66.36553192138672 + ], + [ + 0.9271774291992188, + 0.01632283814251423, + -0.37426647543907166, + 11.201040267944336 + ], + [ + 0.06381067633628845, + -0.991331934928894, + 0.11484456807374954, + -9.364477157592773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1849, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_738470315", + "mask_path": "../../mask/hdr_left_01849.png" + }, + { + "file_path": "../../rgb/hdr_left_01850.png", + "transform_matrix": [ + [ + -0.3637855648994446, + -0.1287693977355957, + -0.9225391745567322, + 66.30716705322266 + ], + [ + 0.9291701912879944, + 0.019579356536269188, + -0.3691332936286926, + 11.283536911010742 + ], + [ + 0.06559579819440842, + -0.9914813041687012, + 0.11252599209547043, + -9.348151206970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1850, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_838469743", + "mask_path": "../../mask/hdr_left_01850.png" + }, + { + "file_path": "../../rgb/hdr_left_01851.png", + "transform_matrix": [ + [ + -0.3690654933452606, + -0.12602199614048004, + -0.9208198189735413, + 66.2547836303711 + ], + [ + 0.9271069765090942, + 0.019684821367263794, + -0.3742794692516327, + 11.354852676391602 + ], + [ + 0.06529361754655838, + -0.9918321967124939, + 0.10957088321447372, + -9.347110748291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1851, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_938470125", + "mask_path": "../../mask/hdr_left_01851.png" + }, + { + "file_path": "../../rgb/hdr_left_01852.png", + "transform_matrix": [ + [ + -0.37179261445999146, + -0.1238095834851265, + -0.9200225472450256, + 66.21131896972656 + ], + [ + 0.9260572195053101, + 0.019626237452030182, + -0.3768724203109741, + 11.419168472290039 + ], + [ + 0.06471700221300125, + -0.9921119213104248, + 0.10735786706209183, + -9.344860076904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1852, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_38469791", + "mask_path": "../../mask/hdr_left_01852.png" + }, + { + "file_path": "../../rgb/hdr_left_01853.png", + "transform_matrix": [ + [ + -0.36918145418167114, + -0.12193477153778076, + -0.9213234782218933, + 66.16693115234375 + ], + [ + 0.92718905210495, + 0.01935434713959694, + -0.3740934133529663, + 11.497001647949219 + ], + [ + 0.06344660371541977, + -0.9923494458198547, + 0.10591131448745728, + -9.332059860229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1853, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_138469934", + "mask_path": "../../mask/hdr_left_01853.png" + }, + { + "file_path": "../../rgb/hdr_left_01854.png", + "transform_matrix": [ + [ + -0.3575538992881775, + -0.12402123212814331, + -0.9256207942962646, + 66.127685546875 + ], + [ + 0.9317919611930847, + 0.01906190812587738, + -0.3624918758869171, + 11.565434455871582 + ], + [ + 0.06260077655315399, + -0.992096483707428, + 0.10874632745981216, + -9.31407642364502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1854, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_238470315", + "mask_path": "../../mask/hdr_left_01854.png" + }, + { + "file_path": "../../rgb/hdr_left_01855.png", + "transform_matrix": [ + [ + -0.34971505403518677, + -0.12544558942317963, + -0.9284194707870483, + 66.08373260498047 + ], + [ + 0.9348363876342773, + 0.01831059344112873, + -0.3546062111854553, + 11.633471488952637 + ], + [ + 0.06148369982838631, + -0.9919314980506897, + 0.11086761206388474, + -9.302350044250488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1855, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_338470458", + "mask_path": "../../mask/hdr_left_01855.png" + }, + { + "file_path": "../../rgb/hdr_left_01856.png", + "transform_matrix": [ + [ + -0.3471224308013916, + -0.1212579756975174, + -0.929947555065155, + 66.02297973632812 + ], + [ + 0.9356736540794373, + 0.022267401218414307, + -0.35216331481933594, + 11.718828201293945 + ], + [ + 0.06341011077165604, + -0.9923712611198425, + 0.10572837293148041, + -9.294177055358887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1856, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_438470602", + "mask_path": "../../mask/hdr_left_01856.png" + }, + { + "file_path": "../../rgb/hdr_left_01857.png", + "transform_matrix": [ + [ + -0.35141855478286743, + -0.1181228905916214, + -0.9287367463111877, + 65.97586059570312 + ], + [ + 0.9341875910758972, + 0.021062355488538742, + -0.35615986585617065, + 11.78862190246582 + ], + [ + 0.06163201853632927, + -0.992775559425354, + 0.10294723510742188, + -9.300929069519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1857, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_538470745", + "mask_path": "../../mask/hdr_left_01857.png" + }, + { + "file_path": "../../rgb/hdr_left_01858.png", + "transform_matrix": [ + [ + -0.3521000146865845, + -0.11743079125881195, + -0.9285663962364197, + 65.93440246582031 + ], + [ + 0.9340824484825134, + 0.018759945407509804, + -0.3565642237663269, + 11.858089447021484 + ], + [ + 0.05929145961999893, + -0.9929039478302002, + 0.10308466851711273, + -9.297138214111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1858, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_638472318", + "mask_path": "../../mask/hdr_left_01858.png" + }, + { + "file_path": "../../rgb/hdr_left_01859.png", + "transform_matrix": [ + [ + -0.34592172503471375, + -0.11448505520820618, + -0.9312525987625122, + 65.89875030517578 + ], + [ + 0.9368336200714111, + 0.012626673094928265, + -0.3495471179485321, + 11.924684524536133 + ], + [ + 0.051776543259620667, + -0.993344783782959, + 0.10288561135530472, + -9.285292625427246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1859, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_738470077", + "mask_path": "../../mask/hdr_left_01859.png" + }, + { + "file_path": "../../rgb/hdr_left_01860.png", + "transform_matrix": [ + [ + -0.33267515897750854, + -0.11639905720949173, + -0.9358303546905518, + 65.86434936523438 + ], + [ + 0.9415134787559509, + 0.015472136437892914, + -0.33661988377571106, + 11.986531257629395 + ], + [ + 0.0536615289747715, + -0.9930820465087891, + 0.10444407910108566, + -9.264971733093262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1860, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_838469982", + "mask_path": "../../mask/hdr_left_01860.png" + }, + { + "file_path": "../../rgb/hdr_left_01861.png", + "transform_matrix": [ + [ + -0.32519927620887756, + -0.11559274047613144, + -0.9385541081428528, + 65.82518005371094 + ], + [ + 0.9442627429962158, + 0.013960499316453934, + -0.3288966119289398, + 12.052967071533203 + ], + [ + 0.05112074315547943, + -0.9931986927986145, + 0.10460996627807617, + -9.257658958435059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1861, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_938470125", + "mask_path": "../../mask/hdr_left_01861.png" + }, + { + "file_path": "../../rgb/hdr_left_01862.png", + "transform_matrix": [ + [ + -0.3259775936603546, + -0.1048043966293335, + -0.9395501613616943, + 65.77593231201172 + ], + [ + 0.94444739818573, + 0.007972042076289654, + -0.32856592535972595, + 12.1329984664917 + ], + [ + 0.04192529246211052, + -0.9944608807563782, + 0.09638351947069168, + -9.25912857055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1862, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_38470029", + "mask_path": "../../mask/hdr_left_01862.png" + }, + { + "file_path": "../../rgb/hdr_left_01863.png", + "transform_matrix": [ + [ + -0.33380335569381714, + -0.10066374391317368, + -0.937252402305603, + 65.72916412353516 + ], + [ + 0.941939651966095, + 0.0027764574624598026, + -0.3357709050178528, + 12.207571983337402 + ], + [ + 0.03640219569206238, + -0.9949166774749756, + 0.09389237314462662, + -9.269096374511719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1863, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_138471603", + "mask_path": "../../mask/hdr_left_01863.png" + }, + { + "file_path": "../../rgb/hdr_left_01864.png", + "transform_matrix": [ + [ + -0.3380957841873169, + -0.0982731282711029, + -0.9359666705131531, + 65.68611145019531 + ], + [ + 0.9404317736625671, + 0.002515857107937336, + -0.33997291326522827, + 12.27609634399414 + ], + [ + 0.03576495870947838, + -0.9951563477516174, + 0.09156857430934906, + -9.267462730407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1864, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_238469600", + "mask_path": "../../mask/hdr_left_01864.png" + }, + { + "file_path": "../../rgb/hdr_left_01865.png", + "transform_matrix": [ + [ + -0.33902522921562195, + -0.09315717220306396, + -0.9361535906791687, + 65.6420669555664 + ], + [ + 0.9404178261756897, + -0.006053943186998367, + -0.3399670720100403, + 12.350773811340332 + ], + [ + 0.026002947241067886, + -0.9956331253051758, + 0.08965910971164703, + -9.265715599060059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1865, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_338470697", + "mask_path": "../../mask/hdr_left_01865.png" + }, + { + "file_path": "../../rgb/hdr_left_01866.png", + "transform_matrix": [ + [ + -0.3389267325401306, + -0.08568500727415085, + -0.9369027614593506, + 65.60667419433594 + ], + [ + 0.9406509399414062, + -0.012396348640322685, + -0.3391489088535309, + 12.415202140808105 + ], + [ + 0.017445804551243782, + -0.9962452054023743, + 0.08480113744735718, + -9.253849983215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1866, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_438470602", + "mask_path": "../../mask/hdr_left_01866.png" + }, + { + "file_path": "../../rgb/hdr_left_01867.png", + "transform_matrix": [ + [ + -0.3463873565196991, + -0.08865384012460709, + -0.9338929653167725, + 65.56596374511719 + ], + [ + 0.9378729462623596, + -0.011238929815590382, + -0.3467966914176941, + 12.47050952911377 + ], + [ + 0.02024889923632145, + -0.9959991574287415, + 0.08703906834125519, + -9.247867584228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1867, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_538470745", + "mask_path": "../../mask/hdr_left_01867.png" + }, + { + "file_path": "../../rgb/hdr_left_01868.png", + "transform_matrix": [ + [ + -0.3602798283100128, + -0.09034862369298935, + -0.9284586906433105, + 65.50973510742188 + ], + [ + 0.9325559735298157, + -0.010144327767193317, + -0.36088255047798157, + 12.534707069396973 + ], + [ + 0.02318665385246277, + -0.9958585500717163, + 0.08790995925664902, + -9.245572090148926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1868, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_638470172", + "mask_path": "../../mask/hdr_left_01868.png" + }, + { + "file_path": "../../rgb/hdr_left_01869.png", + "transform_matrix": [ + [ + -0.3849196434020996, + -0.0836612731218338, + -0.9191505312919617, + 65.44951629638672 + ], + [ + 0.9227003455162048, + -0.011716683395206928, + -0.38533979654312134, + 12.605978965759277 + ], + [ + 0.021468617022037506, + -0.9964253902435303, + 0.0817042738199234, + -9.247135162353516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1869, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_738470792", + "mask_path": "../../mask/hdr_left_01869.png" + }, + { + "file_path": "../../rgb/hdr_left_01870.png", + "transform_matrix": [ + [ + -0.41420477628707886, + -0.07908986508846283, + -0.9067409038543701, + 65.4009780883789 + ], + [ + 0.9099112153053284, + -0.011603066697716713, + -0.41464096307754517, + 12.646177291870117 + ], + [ + 0.02227291464805603, + -0.9968000054359436, + 0.07677080482244492, + -9.249953269958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1870, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_838470458", + "mask_path": "../../mask/hdr_left_01870.png" + }, + { + "file_path": "../../rgb/hdr_left_01871.png", + "transform_matrix": [ + [ + -0.44370076060295105, + -0.07997079938650131, + -0.8925997018814087, + 65.34684753417969 + ], + [ + 0.8959009647369385, + -0.014954768121242523, + -0.4440018832683563, + 12.696399688720703 + ], + [ + 0.022158555686473846, + -0.9966850876808167, + 0.07828135788440704, + -9.251382827758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1871, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_938469648", + "mask_path": "../../mask/hdr_left_01871.png" + }, + { + "file_path": "../../rgb/hdr_left_01872.png", + "transform_matrix": [ + [ + -0.4664677381515503, + -0.08021362125873566, + -0.8808935284614563, + 65.29326629638672 + ], + [ + 0.8843383193016052, + -0.021124666556715965, + -0.46636831760406494, + 12.756290435791016 + ], + [ + 0.018800508230924606, + -0.9965538382530212, + 0.0807899609208107, + -9.244742393493652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1872, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_38468837", + "mask_path": "../../mask/hdr_left_01872.png" + }, + { + "file_path": "../../rgb/hdr_left_01873.png", + "transform_matrix": [ + [ + -0.47647082805633545, + -0.08086522668600082, + -0.8754634261131287, + 65.24810028076172 + ], + [ + 0.879037618637085, + -0.025270113721489906, + -0.4760819971561432, + 12.805075645446777 + ], + [ + 0.01637542061507702, + -0.9964047074317932, + 0.0831240564584732, + -9.231881141662598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1873, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_138469696", + "mask_path": "../../mask/hdr_left_01873.png" + }, + { + "file_path": "../../rgb/hdr_left_01874.png", + "transform_matrix": [ + [ + -0.4871877431869507, + -0.08871234953403473, + -0.868779718875885, + 65.20184326171875 + ], + [ + 0.8730552196502686, + -0.026056785136461258, + -0.4869246184825897, + 12.848108291625977 + ], + [ + 0.020558619871735573, + -0.9957164525985718, + 0.09014533460140228, + -9.227992057800293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1874, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_238470315", + "mask_path": "../../mask/hdr_left_01874.png" + }, + { + "file_path": "../../rgb/hdr_left_01875.png", + "transform_matrix": [ + [ + -0.5025274157524109, + -0.09567181766033173, + -0.8592514395713806, + 65.136474609375 + ], + [ + 0.864108145236969, + -0.02340695820748806, + -0.5027615427970886, + 12.90647029876709 + ], + [ + 0.02798764407634735, + -0.9951377511024475, + 0.09443341940641403, + -9.221314430236816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1875, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_338470458", + "mask_path": "../../mask/hdr_left_01875.png" + }, + { + "file_path": "../../rgb/hdr_left_01876.png", + "transform_matrix": [ + [ + -0.527373731136322, + -0.09431803226470947, + -0.8443819284439087, + 65.05863189697266 + ], + [ + 0.8489328622817993, + -0.018148986622691154, + -0.528188943862915, + 12.970612525939941 + ], + [ + 0.034493062645196915, + -0.9953767657279968, + 0.08964098244905472, + -9.21745491027832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1876, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_438471078", + "mask_path": "../../mask/hdr_left_01876.png" + }, + { + "file_path": "../../rgb/hdr_left_01877.png", + "transform_matrix": [ + [ + -0.5525445938110352, + -0.08740175515413284, + -0.8288880586624146, + 65.00567626953125 + ], + [ + 0.8325866460800171, + -0.01176126766949892, + -0.5537698864936829, + 13.007349967956543 + ], + [ + 0.038651689887046814, + -0.9961037039756775, + 0.07926816493272781, + -9.215429306030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1877, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_538471221", + "mask_path": "../../mask/hdr_left_01877.png" + }, + { + "file_path": "../../rgb/hdr_left_01878.png", + "transform_matrix": [ + [ + -0.5739905834197998, + -0.08634877949953079, + -0.8142964839935303, + 64.95216369628906 + ], + [ + 0.8179258704185486, + -0.012925575487315655, + -0.5751782655715942, + 13.044425964355469 + ], + [ + 0.03914069011807442, + -0.9961811304092407, + 0.078046053647995, + -9.211282730102539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1878, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_638470411", + "mask_path": "../../mask/hdr_left_01878.png" + }, + { + "file_path": "../../rgb/hdr_left_01879.png", + "transform_matrix": [ + [ + -0.5884490609169006, + -0.08707721531391144, + -0.8038315176963806, + 64.89640045166016 + ], + [ + 0.8077337145805359, + -0.01908140629529953, + -0.5892385244369507, + 13.09406852722168 + ], + [ + 0.035971011966466904, + -0.9960188865661621, + 0.08156364411115646, + -9.205463409423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1879, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_738470554", + "mask_path": "../../mask/hdr_left_01879.png" + }, + { + "file_path": "../../rgb/hdr_right_01752.png", + "transform_matrix": [ + [ + 0.2744016945362091, + 0.0055650705471634865, + 0.9615989923477173, + 69.46800231933594 + ], + [ + -0.9615275263786316, + 0.015089447610080242, + 0.2742939591407776, + 5.241362571716309 + ], + [ + -0.012983533553779125, + -0.9998705983161926, + 0.009491539560258389, + -9.79322338104248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1752, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_338470458", + "mask_path": "../../mask/hdr_right_01752.png" + }, + { + "file_path": "../../rgb/hdr_right_01753.png", + "transform_matrix": [ + [ + 0.2897662818431854, + 0.00209439848549664, + 0.9570952653884888, + 69.44942474365234 + ], + [ + -0.957018256187439, + 0.01350216381251812, + 0.28971341252326965, + 5.3190507888793945 + ], + [ + -0.012316079810261726, + -0.9999066591262817, + 0.005916848313063383, + -9.798016548156738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1753, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_438470602", + "mask_path": "../../mask/hdr_right_01753.png" + }, + { + "file_path": "../../rgb/hdr_right_01754.png", + "transform_matrix": [ + [ + 0.3195892572402954, + 0.0025869591627269983, + 0.9475526809692383, + 69.42520141601562 + ], + [ + -0.9475270509719849, + 0.008721654303371906, + 0.3195568025112152, + 5.398931980133057 + ], + [ + -0.007437545340508223, + -0.9999586343765259, + 0.005238561891019344, + -9.813238143920898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1754, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_538470029", + "mask_path": "../../mask/hdr_right_01754.png" + }, + { + "file_path": "../../rgb/hdr_right_01755.png", + "transform_matrix": [ + [ + 0.3493701219558716, + 0.002065210836008191, + 0.9369825124740601, + 69.39970397949219 + ], + [ + -0.9369558691978455, + 0.008638717234134674, + 0.34934112429618835, + 5.46555757522583 + ], + [ + -0.007372864056378603, + -0.9999605417251587, + 0.004953119438141584, + -9.81628704071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1755, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_638469219", + "mask_path": "../../mask/hdr_right_01755.png" + }, + { + "file_path": "../../rgb/hdr_right_01756.png", + "transform_matrix": [ + [ + 0.36921828985214233, + -0.003482053056359291, + 0.9293361902236938, + 69.38232421875 + ], + [ + -0.9293177127838135, + 0.005955071188509464, + 0.36923325061798096, + 5.547739028930664 + ], + [ + -0.006819952744990587, + -0.9999761581420898, + -0.0010372127871960402, + -9.810859680175781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1756, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_738469600", + "mask_path": "../../mask/hdr_right_01756.png" + }, + { + "file_path": "../../rgb/hdr_right_01757.png", + "transform_matrix": [ + [ + 0.3747085928916931, + -0.005106445401906967, + 0.9271286129951477, + 69.37019348144531 + ], + [ + -0.9271321892738342, + 0.0026950037572532892, + 0.3747248351573944, + 5.625178813934326 + ], + [ + -0.0044121271930634975, + -0.9999833106994629, + -0.00372451008297503, + -9.7989501953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1757, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_838469028", + "mask_path": "../../mask/hdr_right_01757.png" + }, + { + "file_path": "../../rgb/hdr_right_01758.png", + "transform_matrix": [ + [ + 0.3783899247646332, + -0.009976007044315338, + 0.9255926012992859, + 69.35395812988281 + ], + [ + -0.9256302118301392, + 0.0018127502407878637, + 0.37842488288879395, + 5.6966552734375 + ], + [ + -0.005453037563711405, + -0.9999486207962036, + -0.00854816846549511, + -9.795629501342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1758, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594342_938469648", + "mask_path": "../../mask/hdr_right_01758.png" + }, + { + "file_path": "../../rgb/hdr_right_01759.png", + "transform_matrix": [ + [ + 0.38831865787506104, + -0.007541308179497719, + 0.9214943051338196, + 69.32966613769531 + ], + [ + -0.9215236306190491, + -0.0013689851621165872, + 0.38831982016563416, + 5.7738189697265625 + ], + [ + -0.0016669274773448706, + -0.9999706149101257, + -0.0074810972437262535, + -9.803056716918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1759, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_38470268", + "mask_path": "../../mask/hdr_right_01759.png" + }, + { + "file_path": "../../rgb/hdr_right_01760.png", + "transform_matrix": [ + [ + 0.4046613872051239, + -0.0012550329556688666, + 0.9144657850265503, + 69.30110931396484 + ], + [ + -0.9144622683525085, + -0.0036473635118454695, + 0.4046548306941986, + 5.854193687438965 + ], + [ + 0.0028275339864194393, + -0.9999925494194031, + -0.002623629290610552, + -9.816940307617188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1760, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_138469457", + "mask_path": "../../mask/hdr_right_01760.png" + }, + { + "file_path": "../../rgb/hdr_right_01761.png", + "transform_matrix": [ + [ + 0.414217084646225, + 0.0006756813381798565, + 0.9101779460906982, + 69.28038787841797 + ], + [ + -0.9101765155792236, + -0.001587827573530376, + 0.41421762108802795, + 5.931204795837402 + ], + [ + 0.0017250849632546306, + -0.9999985098838806, + -4.271599027561024e-05, + -9.816882133483887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1761, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_238469839", + "mask_path": "../../mask/hdr_right_01761.png" + }, + { + "file_path": "../../rgb/hdr_right_01762.png", + "transform_matrix": [ + [ + 0.4100258946418762, + -0.002128509571775794, + 0.9120714068412781, + 69.26607513427734 + ], + [ + -0.9120730757713318, + -0.002289394149556756, + 0.4100213050842285, + 6.01786994934082 + ], + [ + 0.0012153569841757417, + -0.9999950528144836, + -0.0028800680302083492, + -9.812458038330078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1762, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_338470935", + "mask_path": "../../mask/hdr_right_01762.png" + }, + { + "file_path": "../../rgb/hdr_right_01763.png", + "transform_matrix": [ + [ + 0.39497992396354675, + -0.006299227941781282, + 0.9186681509017944, + 69.25196838378906 + ], + [ + -0.9186897277832031, + -0.0023383924271911383, + 0.39497315883636475, + 6.096923828125 + ], + [ + -0.00033981972956098616, + -0.9999774694442749, + -0.006710653658956289, + -9.801666259765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1763, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_438469409", + "mask_path": "../../mask/hdr_right_01763.png" + }, + { + "file_path": "../../rgb/hdr_right_01764.png", + "transform_matrix": [ + [ + 0.38114306330680847, + -0.009919954463839531, + 0.9244629144668579, + 69.23209381103516 + ], + [ + -0.9245046377182007, + 0.0008982613799162209, + 0.3811699151992798, + 6.1704583168029785 + ], + [ + -0.004611597862094641, + -0.9999504685401917, + -0.008828678168356419, + -9.797310829162598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1764, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_538470029", + "mask_path": "../../mask/hdr_right_01764.png" + }, + { + "file_path": "../../rgb/hdr_right_01765.png", + "transform_matrix": [ + [ + 0.37659648060798645, + -0.0049752127379179, + 0.9263640642166138, + 69.20147705078125 + ], + [ + -0.9263660311698914, + 0.002936900593340397, + 0.3766130208969116, + 6.270472526550293 + ], + [ + -0.004594369325786829, + -0.9999833703041077, + -0.003502842504531145, + -9.80046558380127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1765, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_638468503", + "mask_path": "../../mask/hdr_right_01765.png" + }, + { + "file_path": "../../rgb/hdr_right_01766.png", + "transform_matrix": [ + [ + 0.3858083486557007, + 6.708523869747296e-05, + 0.9225788712501526, + 69.17505645751953 + ], + [ + -0.9225775599479675, + 0.001777578960172832, + 0.3858076333999634, + 6.3462934494018555 + ], + [ + -0.0016140751540660858, + -0.9999984502792358, + 0.0007476942846551538, + -9.810577392578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1766, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_738468647", + "mask_path": "../../mask/hdr_right_01766.png" + }, + { + "file_path": "../../rgb/hdr_right_01767.png", + "transform_matrix": [ + [ + 0.3972901403903961, + 0.0009191006538458169, + 0.9176927208900452, + 69.1500015258789 + ], + [ + -0.9176893830299377, + 0.003202415071427822, + 0.3972855806350708, + 6.4173583984375 + ], + [ + -0.0025736873503774405, + -0.9999944567680359, + 0.0021157364826649427, + -9.8095064163208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1767, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_838469505", + "mask_path": "../../mask/hdr_right_01767.png" + }, + { + "file_path": "../../rgb/hdr_right_01768.png", + "transform_matrix": [ + [ + 0.4033723473548889, + 0.0010304463794454932, + 0.9150353074073792, + 69.12773132324219 + ], + [ + -0.915034294128418, + 0.002351697999984026, + 0.40336915850639343, + 6.499442100524902 + ], + [ + -0.0017362366197630763, + -0.9999966621398926, + 0.0018915038090199232, + -9.800515174865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1768, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594343_938469409", + "mask_path": "../../mask/hdr_right_01768.png" + }, + { + "file_path": "../../rgb/hdr_right_01769.png", + "transform_matrix": [ + [ + 0.4019685387611389, + -0.004446789622306824, + 0.9156426787376404, + 69.11140441894531 + ], + [ + -0.9156306982040405, + 0.005101319868117571, + 0.40198811888694763, + 6.571402072906494 + ], + [ + -0.00645854277536273, + -0.9999771118164062, + -0.002021048218011856, + -9.788747787475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1769, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_38469552", + "mask_path": "../../mask/hdr_right_01769.png" + }, + { + "file_path": "../../rgb/hdr_right_01770.png", + "transform_matrix": [ + [ + 0.40449240803718567, + -0.007718884386122227, + 0.9145088195800781, + 69.08582305908203 + ], + [ + -0.9144874215126038, + 0.007449503522366285, + 0.4045458436012268, + 6.646904945373535 + ], + [ + -0.009935279376804829, + -0.999942421913147, + -0.004045555833727121, + -9.785859107971191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1770, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_138468742", + "mask_path": "../../mask/hdr_right_01770.png" + }, + { + "file_path": "../../rgb/hdr_right_01771.png", + "transform_matrix": [ + [ + 0.41674569249153137, + -0.003750474890694022, + 0.9090154767036438, + 69.0557632446289 + ], + [ + -0.9089841246604919, + 0.00754079595208168, + 0.41676244139671326, + 6.7330522537231445 + ], + [ + -0.008417757228016853, + -0.9999645352363586, + -0.00026652871747501194, + -9.792462348937988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1771, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_238469839", + "mask_path": "../../mask/hdr_right_01771.png" + }, + { + "file_path": "../../rgb/hdr_right_01772.png", + "transform_matrix": [ + [ + 0.4399484097957611, + 0.001936400425620377, + 0.8980209827423096, + 69.02386474609375 + ], + [ + -0.8979830145835876, + 0.010384613648056984, + 0.4399074614048004, + 6.807435989379883 + ], + [ + -0.008473764173686504, + -0.9999442100524902, + 0.006307546980679035, + -9.797858238220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1772, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_338469743", + "mask_path": "../../mask/hdr_right_01772.png" + }, + { + "file_path": "../../rgb/hdr_right_01773.png", + "transform_matrix": [ + [ + 0.46235960721969604, + 0.0007313184323720634, + 0.8866921663284302, + 68.99519348144531 + ], + [ + -0.8866320252418518, + 0.012059507891535759, + 0.4623183608055115, + 6.881162643432617 + ], + [ + -0.010354970581829548, + -0.9999269843101501, + 0.006224238313734531, + -9.794163703918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1773, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_438470125", + "mask_path": "../../mask/hdr_right_01773.png" + }, + { + "file_path": "../../rgb/hdr_right_01774.png", + "transform_matrix": [ + [ + 0.47516924142837524, + -0.0023567762691527605, + 0.8798912763595581, + 68.97151184082031 + ], + [ + -0.879858136177063, + 0.007808495778590441, + 0.4751722514629364, + 6.956811904907227 + ], + [ + -0.007990501821041107, + -0.9999668002128601, + 0.0016367267817258835, + -9.787323951721191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1774, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_538469791", + "mask_path": "../../mask/hdr_right_01774.png" + }, + { + "file_path": "../../rgb/hdr_right_01775.png", + "transform_matrix": [ + [ + 0.4784739315509796, + -0.008289170451462269, + 0.8780626654624939, + 68.9516830444336 + ], + [ + -0.8780186772346497, + 0.009233317337930202, + 0.4785371720790863, + 7.022524356842041 + ], + [ + -0.012074107304215431, + -0.9999229907989502, + -0.002860148437321186, + -9.779833793640137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1775, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_638470649", + "mask_path": "../../mask/hdr_right_01775.png" + }, + { + "file_path": "../../rgb/hdr_right_01776.png", + "transform_matrix": [ + [ + 0.4815748333930969, + -0.013500585220754147, + 0.8763009309768677, + 68.9218521118164 + ], + [ + -0.876262903213501, + 0.010584280826151371, + 0.48171699047088623, + 7.095791339874268 + ], + [ + -0.015778478235006332, + -0.9998528957366943, + -0.00673293974250555, + -9.778796195983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1776, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_738469600", + "mask_path": "../../mask/hdr_right_01776.png" + }, + { + "file_path": "../../rgb/hdr_right_01777.png", + "transform_matrix": [ + [ + 0.4923839569091797, + -0.01275721937417984, + 0.8702846765518188, + 68.88041687011719 + ], + [ + -0.8702539205551147, + 0.009674744680523872, + 0.4925084114074707, + 7.178776741027832 + ], + [ + -0.014702819287776947, + -0.9998717904090881, + -0.00633833184838295, + -9.781582832336426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1777, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_838469266", + "mask_path": "../../mask/hdr_right_01777.png" + }, + { + "file_path": "../../rgb/hdr_right_01778.png", + "transform_matrix": [ + [ + 0.5111564993858337, + -0.008841422386467457, + 0.8594422340393066, + 68.83869934082031 + ], + [ + -0.8593618869781494, + 0.01184138935059309, + 0.5112305879592896, + 7.241028785705566 + ], + [ + -0.014696994796395302, + -0.9998908042907715, + -0.001545179751701653, + -9.782564163208008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1778, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594344_938470363", + "mask_path": "../../mask/hdr_right_01778.png" + }, + { + "file_path": "../../rgb/hdr_right_01779.png", + "transform_matrix": [ + [ + 0.5244287848472595, + -0.011802051216363907, + 0.851372480392456, + 68.80166625976562 + ], + [ + -0.8513025641441345, + 0.011606765910983086, + 0.5245466232299805, + 7.30021858215332 + ], + [ + -0.016072409227490425, + -0.9998630285263062, + -0.003960197325795889, + -9.780665397644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1779, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_38469791", + "mask_path": "../../mask/hdr_right_01779.png" + }, + { + "file_path": "../../rgb/hdr_right_01780.png", + "transform_matrix": [ + [ + 0.5293670892715454, + -0.0174763984978199, + 0.8482129573822021, + 68.76763916015625 + ], + [ + -0.8482801914215088, + 0.005392734427005053, + 0.5295202136039734, + 7.37881326675415 + ], + [ + -0.013828293420374393, + -0.9998327493667603, + -0.011970148421823978, + -9.779888153076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1780, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_138469696", + "mask_path": "../../mask/hdr_right_01780.png" + }, + { + "file_path": "../../rgb/hdr_right_01781.png", + "transform_matrix": [ + [ + 0.5234357714653015, + -0.01938806287944317, + 0.8518445491790771, + 68.73818969726562 + ], + [ + -0.8519803285598755, + 0.0021961648017168045, + 0.5235692262649536, + 7.449930191040039 + ], + [ + -0.012021783739328384, + -0.9998096227645874, + -0.015368698164820671, + -9.765832901000977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1781, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_238470077", + "mask_path": "../../mask/hdr_right_01781.png" + }, + { + "file_path": "../../rgb/hdr_right_01782.png", + "transform_matrix": [ + [ + 0.5167403221130371, + -0.029762284830212593, + 0.8556247353553772, + 68.70701599121094 + ], + [ + -0.8559368252754211, + 0.003929703496396542, + 0.5170654058456421, + 7.52089786529541 + ], + [ + -0.018751399591565132, + -0.9995492696762085, + -0.023444002494215965, + -9.757503509521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1782, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_338470220", + "mask_path": "../../mask/hdr_right_01782.png" + }, + { + "file_path": "../../rgb/hdr_right_01783.png", + "transform_matrix": [ + [ + 0.5129971504211426, + -0.0346682146191597, + 0.8576900959014893, + 68.66400909423828 + ], + [ + -0.8580294251441956, + 0.00826230738312006, + 0.5135341286659241, + 7.609790802001953 + ], + [ + -0.024889810010790825, + -0.9993647336959839, + -0.025507809594273567, + -9.753700256347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1783, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_438470125", + "mask_path": "../../mask/hdr_right_01783.png" + }, + { + "file_path": "../../rgb/hdr_right_01784.png", + "transform_matrix": [ + [ + 0.519160270690918, + -0.03028132952749729, + 0.8541404008865356, + 68.61996459960938 + ], + [ + -0.8543621301651001, + 0.00873289443552494, + 0.5196047425270081, + 7.696263313293457 + ], + [ + -0.023193441331386566, + -0.9995032548904419, + -0.02133745327591896, + -9.755690574645996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1784, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_538469791", + "mask_path": "../../mask/hdr_right_01784.png" + }, + { + "file_path": "../../rgb/hdr_right_01785.png", + "transform_matrix": [ + [ + 0.5256542563438416, + -0.02794376015663147, + 0.8502392172813416, + 68.5860595703125 + ], + [ + -0.8503173589706421, + 0.01264667697250843, + 0.5261182188987732, + 7.762487888336182 + ], + [ + -0.02545442245900631, + -0.9995294809341431, + -0.01711328886449337, + -9.756834983825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1785, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_638471364", + "mask_path": "../../mask/hdr_right_01785.png" + }, + { + "file_path": "../../rgb/hdr_right_01786.png", + "transform_matrix": [ + [ + 0.5260389447212219, + -0.03064730204641819, + 0.8499080538749695, + 68.55337524414062 + ], + [ + -0.8500964045524597, + 0.010294575244188309, + 0.5265265703201294, + 7.8419904708862305 + ], + [ + -0.024886062368750572, + -0.9994772672653198, + -0.020637813955545425, + -9.754387855529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1786, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_738470315", + "mask_path": "../../mask/hdr_right_01786.png" + }, + { + "file_path": "../../rgb/hdr_right_01787.png", + "transform_matrix": [ + [ + 0.5176635980606079, + -0.033325713127851486, + 0.8549349904060364, + 68.5271224975586 + ], + [ + -0.8553973436355591, + 0.000727613631170243, + 0.5179718732833862, + 7.917037010192871 + ], + [ + -0.017883842810988426, + -0.999444305896759, + -0.02813006192445755, + -9.737648963928223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1787, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_838470935", + "mask_path": "../../mask/hdr_right_01787.png" + }, + { + "file_path": "../../rgb/hdr_right_01788.png", + "transform_matrix": [ + [ + 0.5102449059486389, + -0.042333658784627914, + 0.8589866757392883, + 68.50223541259766 + ], + [ + -0.8596863150596619, + 0.003093317849561572, + 0.5108129978179932, + 7.985214710235596 + ], + [ + -0.024281702935695648, + -0.9990988373756409, + -0.03481531888246536, + -9.726968765258789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1788, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594345_938470363", + "mask_path": "../../mask/hdr_right_01788.png" + }, + { + "file_path": "../../rgb/hdr_right_01789.png", + "transform_matrix": [ + [ + 0.5072988271713257, + -0.04483523219823837, + 0.8606032133102417, + 68.46263122558594 + ], + [ + -0.8612419366836548, + 0.008585695177316666, + 0.5081226229667664, + 8.065876960754395 + ], + [ + -0.03017067350447178, + -0.9989574551582336, + -0.03425847366452217, + -9.719391822814941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1789, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_38470029", + "mask_path": "../../mask/hdr_right_01789.png" + }, + { + "file_path": "../../rgb/hdr_right_01790.png", + "transform_matrix": [ + [ + 0.5168668031692505, + -0.037415120750665665, + 0.8552479147911072, + 68.41779327392578 + ], + [ + -0.8556227684020996, + 0.009561089798808098, + 0.5175117254257202, + 8.148665428161621 + ], + [ + -0.02753986045718193, + -0.9992541074752808, + -0.02707141637802124, + -9.729666709899902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1790, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_138469696", + "mask_path": "../../mask/hdr_right_01790.png" + }, + { + "file_path": "../../rgb/hdr_right_01791.png", + "transform_matrix": [ + [ + 0.5378931760787964, + -0.03247494995594025, + 0.8423872590065002, + 68.37723541259766 + ], + [ + -0.8425341844558716, + 0.012966890819370747, + 0.5384868383407593, + 8.213703155517578 + ], + [ + -0.028410479426383972, + -0.9993883967399597, + -0.020386457443237305, + -9.732854843139648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1791, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_238469839", + "mask_path": "../../mask/hdr_right_01791.png" + }, + { + "file_path": "../../rgb/hdr_right_01792.png", + "transform_matrix": [ + [ + 0.5625777840614319, + -0.032591450959444046, + 0.8261017203330994, + 68.33592224121094 + ], + [ + -0.8262853622436523, + 0.011127622798085213, + 0.5631418228149414, + 8.27563190460205 + ], + [ + -0.02754615806043148, + -0.9994068741798401, + -0.020669685676693916, + -9.72844123840332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1792, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_338470697", + "mask_path": "../../mask/hdr_right_01792.png" + }, + { + "file_path": "../../rgb/hdr_right_01793.png", + "transform_matrix": [ + [ + 0.583595335483551, + -0.03466787934303284, + 0.8113043308258057, + 68.29388427734375 + ], + [ + -0.8117322325706482, + 0.002803297946229577, + 0.5840230584144592, + 8.344564437866211 + ], + [ + -0.022521167993545532, + -0.999394953250885, + -0.026505043730139732, + -9.721168518066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1793, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_438469171", + "mask_path": "../../mask/hdr_right_01793.png" + }, + { + "file_path": "../../rgb/hdr_right_01794.png", + "transform_matrix": [ + [ + 0.5989723205566406, + -0.044798463582992554, + 0.7995156049728394, + 68.25394439697266 + ], + [ + -0.8002290725708008, + 0.00319852982647717, + 0.5996859669685364, + 8.400464057922363 + ], + [ + -0.02942228503525257, + -0.9989909529685974, + -0.03393319994211197, + -9.707262992858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1794, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_538469314", + "mask_path": "../../mask/hdr_right_01794.png" + }, + { + "file_path": "../../rgb/hdr_right_01795.png", + "transform_matrix": [ + [ + 0.6129974722862244, + -0.05318841710686684, + 0.7882925868034363, + 68.20687866210938 + ], + [ + -0.7893115878105164, + 0.0029089171439409256, + 0.613986074924469, + 8.46094799041748 + ], + [ + -0.03495002165436745, + -0.998580276966095, + -0.04019906744360924, + -9.700409889221191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1795, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_638469934", + "mask_path": "../../mask/hdr_right_01795.png" + }, + { + "file_path": "../../rgb/hdr_right_01796.png", + "transform_matrix": [ + [ + 0.6277217268943787, + -0.05044778808951378, + 0.7768015265464783, + 68.15250396728516 + ], + [ + -0.7777696847915649, + 0.0006894472753629088, + 0.6285489797592163, + 8.544479370117188 + ], + [ + -0.03224446624517441, + -0.998726487159729, + -0.038803983479738235, + -9.706694602966309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1796, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_738469839", + "mask_path": "../../mask/hdr_right_01796.png" + }, + { + "file_path": "../../rgb/hdr_right_01797.png", + "transform_matrix": [ + [ + 0.6455333828926086, + -0.04488328844308853, + 0.7624121308326721, + 68.10638427734375 + ], + [ + -0.7631072402000427, + 0.002467940328642726, + 0.6462672352790833, + 8.604893684387207 + ], + [ + -0.030888184905052185, + -0.9989891052246094, + -0.03265763074159622, + -9.711334228515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1797, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_838469266", + "mask_path": "../../mask/hdr_right_01797.png" + }, + { + "file_path": "../../rgb/hdr_right_01798.png", + "transform_matrix": [ + [ + 0.6607710719108582, + -0.04332340136170387, + 0.7493362426757812, + 68.06562805175781 + ], + [ + -0.7498789429664612, + 0.00526888482272625, + 0.6615541577339172, + 8.663087844848633 + ], + [ + -0.032608941197395325, + -0.9990471601486206, + -0.029005777090787888, + -9.70958137512207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1798, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594346_938469171", + "mask_path": "../../mask/hdr_right_01798.png" + }, + { + "file_path": "../../rgb/hdr_right_01799.png", + "transform_matrix": [ + [ + 0.670200526714325, + -0.046185947954654694, + 0.7407416105270386, + 68.0193099975586 + ], + [ + -0.7414082884788513, + 0.0038442909717559814, + 0.6710432767868042, + 8.743781089782715 + ], + [ + -0.033840399235486984, + -0.9989254474639893, + -0.03166620433330536, + -9.705379486083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1799, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_38469791", + "mask_path": "../../mask/hdr_right_01799.png" + }, + { + "file_path": "../../rgb/hdr_right_01800.png", + "transform_matrix": [ + [ + 0.6713765263557434, + -0.04686250165104866, + 0.7396333813667297, + 67.97565460205078 + ], + [ + -0.7403130531311035, + 0.004052278585731983, + 0.6722500920295715, + 8.808502197265625 + ], + [ + -0.034500524401664734, + -0.9988930821418762, + -0.03197231888771057, + -9.692432403564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1800, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_138469219", + "mask_path": "../../mask/hdr_right_01800.png" + }, + { + "file_path": "../../rgb/hdr_right_01801.png", + "transform_matrix": [ + [ + 0.6725599765777588, + -0.05269494652748108, + 0.7381642460823059, + 67.93671417236328 + ], + [ + -0.7390210628509521, + 0.004569130018353462, + 0.6736668348312378, + 8.860410690307617 + ], + [ + -0.038871608674526215, + -0.99860018491745, + -0.03586966544389725, + -9.684134483337402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1801, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_238468647", + "mask_path": "../../mask/hdr_right_01801.png" + }, + { + "file_path": "../../rgb/hdr_right_01802.png", + "transform_matrix": [ + [ + 0.6768229007720947, + -0.053547222167253494, + 0.7341958284378052, + 67.88190460205078 + ], + [ + -0.735034704208374, + 0.005621012300252914, + 0.6780061721801758, + 8.933637619018555 + ], + [ + -0.04043227434158325, + -0.9985494613647461, + -0.035554639995098114, + -9.679473876953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1802, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_338468551", + "mask_path": "../../mask/hdr_right_01802.png" + }, + { + "file_path": "../../rgb/hdr_right_01803.png", + "transform_matrix": [ + [ + 0.6886914372444153, + -0.047171857208013535, + 0.723518431186676, + 67.82473754882812 + ], + [ + -0.7241865396499634, + 0.004062782973051071, + 0.689592182636261, + 9.004016876220703 + ], + [ + -0.035468846559524536, + -0.9988785982131958, + -0.03136322647333145, + -9.68564224243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1803, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_438469886", + "mask_path": "../../mask/hdr_right_01803.png" + }, + { + "file_path": "../../rgb/hdr_right_01804.png", + "transform_matrix": [ + [ + 0.6977803707122803, + -0.0478423647582531, + 0.714712381362915, + 67.7750015258789 + ], + [ + -0.7153642177581787, + 0.004763494245707989, + 0.6987355947494507, + 9.053439140319824 + ], + [ + -0.036833688616752625, + -0.9988435506820679, + -0.03090084344148636, + -9.688149452209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1804, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_538470268", + "mask_path": "../../mask/hdr_right_01804.png" + }, + { + "file_path": "../../rgb/hdr_right_01805.png", + "transform_matrix": [ + [ + 0.7014912962913513, + -0.05162284895777702, + 0.7108059525489807, + 67.7220230102539 + ], + [ + -0.7117227911949158, + 0.0008771957363933325, + 0.7024598717689514, + 9.112936973571777 + ], + [ + -0.03688649833202362, + -0.9986662268638611, + -0.03612582013010979, + -9.683128356933594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1805, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_638468980", + "mask_path": "../../mask/hdr_right_01805.png" + }, + { + "file_path": "../../rgb/hdr_right_01806.png", + "transform_matrix": [ + [ + 0.6976165771484375, + -0.05317137390375137, + 0.7144955396652222, + 67.67473602294922 + ], + [ + -0.7156105041503906, + -0.002841500798240304, + 0.6984937191009521, + 9.183080673217773 + ], + [ + -0.035109635442495346, + -0.9985813498497009, + -0.0400322750210762, + -9.670565605163574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1806, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_738468647", + "mask_path": "../../mask/hdr_right_01806.png" + }, + { + "file_path": "../../rgb/hdr_right_01807.png", + "transform_matrix": [ + [ + 0.6906320452690125, + -0.0628066435456276, + 0.7204740047454834, + 67.62477111816406 + ], + [ + -0.7219602465629578, + -0.0014172329101711512, + 0.6919330954551697, + 9.244507789611816 + ], + [ + -0.04243692383170128, + -0.9980247020721436, + -0.046322692185640335, + -9.653905868530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1807, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_838470220", + "mask_path": "../../mask/hdr_right_01807.png" + }, + { + "file_path": "../../rgb/hdr_right_01808.png", + "transform_matrix": [ + [ + 0.6868640780448914, + -0.06638506799936295, + 0.723747730255127, + 67.55921173095703 + ], + [ + -0.7251685261726379, + 0.003798383055254817, + 0.6885609030723572, + 9.318069458007812 + ], + [ + -0.048459235578775406, + -0.997786819934845, + -0.04553139582276344, + -9.643087387084961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1808, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594347_938469171", + "mask_path": "../../mask/hdr_right_01808.png" + }, + { + "file_path": "../../rgb/hdr_right_01809.png", + "transform_matrix": [ + [ + 0.6916869282722473, + -0.06787165254354477, + 0.7190011143684387, + 67.49504852294922 + ], + [ + -0.7203792929649353, + 0.005759584251791239, + 0.6935564279556274, + 9.38974380493164 + ], + [ + -0.051213979721069336, + -0.9976774454116821, + -0.044909510761499405, + -9.642677307128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1809, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_38470506", + "mask_path": "../../mask/hdr_right_01809.png" + }, + { + "file_path": "../../rgb/hdr_right_01810.png", + "transform_matrix": [ + [ + 0.696892261505127, + -0.06799212843179703, + 0.7139455676078796, + 67.4474868774414 + ], + [ + -0.7152684926986694, + 0.006662148516625166, + 0.6988179683685303, + 9.440845489501953 + ], + [ + -0.05227053537964821, + -0.9976636171340942, + -0.04398983344435692, + -9.642901420593262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1810, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_138469457", + "mask_path": "../../mask/hdr_right_01810.png" + }, + { + "file_path": "../../rgb/hdr_right_01811.png", + "transform_matrix": [ + [ + 0.6971681714057922, + -0.06726217269897461, + 0.7137452960014343, + 67.39927673339844 + ], + [ + -0.7150461673736572, + 0.006457011215388775, + 0.699047327041626, + 9.505086898803711 + ], + [ + -0.05162810906767845, + -0.9977144002914429, + -0.04359394311904907, + -9.638001441955566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1811, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_238469839", + "mask_path": "../../mask/hdr_right_01811.png" + }, + { + "file_path": "../../rgb/hdr_right_01812.png", + "transform_matrix": [ + [ + 0.6899010539054871, + -0.0648331269621849, + 0.7209946513175964, + 67.35700225830078 + ], + [ + -0.7219403982162476, + 0.01168208196759224, + 0.6918566226959229, + 9.573486328125 + ], + [ + -0.05327794700860977, + -0.9978277087211609, + -0.038746174424886703, + -9.617887496948242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1812, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_338469982", + "mask_path": "../../mask/hdr_right_01812.png" + }, + { + "file_path": "../../rgb/hdr_right_01813.png", + "transform_matrix": [ + [ + 0.68390291929245, + -0.07199707627296448, + 0.7260119318962097, + 67.3151626586914 + ], + [ + -0.7270511388778687, + 0.015412026084959507, + 0.6864103674888611, + 9.636541366577148 + ], + [ + -0.06060885265469551, + -0.997285783290863, + -0.04180523753166199, + -9.600789070129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1813, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_438469886", + "mask_path": "../../mask/hdr_right_01813.png" + }, + { + "file_path": "../../rgb/hdr_right_01814.png", + "transform_matrix": [ + [ + 0.6839122176170349, + -0.07510837912559509, + 0.7256878614425659, + 67.25963592529297 + ], + [ + -0.7267765998840332, + 0.01673363335430622, + 0.6866701245307922, + 9.70581340789795 + ], + [ + -0.06371807307004929, + -0.9970349669456482, + -0.04314268380403519, + -9.58892822265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1814, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_538469076", + "mask_path": "../../mask/hdr_right_01814.png" + }, + { + "file_path": "../../rgb/hdr_right_01815.png", + "transform_matrix": [ + [ + 0.6885525584220886, + -0.07611215859651566, + 0.7211812138557434, + 67.21109771728516 + ], + [ + -0.7222470641136169, + 0.017473440617322922, + 0.6914143562316895, + 9.770987510681152 + ], + [ + -0.06522655487060547, + -0.9969461560249329, + -0.042940404266119, + -9.590503692626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1815, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_638469696", + "mask_path": "../../mask/hdr_right_01815.png" + }, + { + "file_path": "../../rgb/hdr_right_01816.png", + "transform_matrix": [ + [ + 0.6898295283317566, + -0.07651912420988083, + 0.7199167013168335, + 67.17084503173828 + ], + [ + -0.7208630442619324, + 0.019456246867775917, + 0.6928043961524963, + 9.828742980957031 + ], + [ + -0.06701966375112534, + -0.9968783855438232, + -0.041738323867321014, + -9.587878227233887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1816, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_738470077", + "mask_path": "../../mask/hdr_right_01816.png" + }, + { + "file_path": "../../rgb/hdr_right_01817.png", + "transform_matrix": [ + [ + 0.6861701607704163, + -0.07508518546819687, + 0.7235555648803711, + 67.13371276855469 + ], + [ + -0.7243229150772095, + 0.021474279463291168, + 0.6891263723373413, + 9.898303031921387 + ], + [ + -0.06728101521730423, + -0.996945858001709, + -0.03965092450380325, + -9.573221206665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1817, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_838469505", + "mask_path": "../../mask/hdr_right_01817.png" + }, + { + "file_path": "../../rgb/hdr_right_01818.png", + "transform_matrix": [ + [ + 0.6800447702407837, + -0.08379308879375458, + 0.728366494178772, + 67.09318542480469 + ], + [ + -0.7293887734413147, + 0.023451870307326317, + 0.6836972832679749, + 9.959405899047852 + ], + [ + -0.07437066733837128, + -0.9962071776390076, + -0.04516943171620369, + -9.555500030517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1818, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594348_938469409", + "mask_path": "../../mask/hdr_right_01818.png" + }, + { + "file_path": "../../rgb/hdr_right_01819.png", + "transform_matrix": [ + [ + 0.6812505722045898, + -0.0935782641172409, + 0.7260446548461914, + 67.03565979003906 + ], + [ + -0.7277036309242249, + 0.021352453157305717, + 0.6855593919754028, + 10.021838188171387 + ], + [ + -0.07965628057718277, + -0.9953829050064087, + -0.05355087295174599, + -9.5398530960083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1819, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_38470268", + "mask_path": "../../mask/hdr_right_01819.png" + }, + { + "file_path": "../../rgb/hdr_right_01820.png", + "transform_matrix": [ + [ + 0.6892699003219604, + -0.09777899831533432, + 0.7178763151168823, + 66.97575378417969 + ], + [ + -0.7197531461715698, + 0.020880119875073433, + 0.6939160823822021, + 10.086074829101562 + ], + [ + -0.08283974230289459, + -0.9949891567230225, + -0.055984705686569214, + -9.540238380432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1820, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_138469696", + "mask_path": "../../mask/hdr_right_01820.png" + }, + { + "file_path": "../../rgb/hdr_right_01821.png", + "transform_matrix": [ + [ + 0.6966644525527954, + -0.09918241202831268, + 0.710507869720459, + 66.93256378173828 + ], + [ + -0.712180495262146, + 0.023604432120919228, + 0.7015994191169739, + 10.13506031036377 + ], + [ + -0.0863574668765068, + -0.9947893023490906, + -0.05419142171740532, + -9.540788650512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1821, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_238470315", + "mask_path": "../../mask/hdr_right_01821.png" + }, + { + "file_path": "../../rgb/hdr_right_01822.png", + "transform_matrix": [ + [ + 0.6975810527801514, + -0.09887433052062988, + 0.709650993347168, + 66.88921356201172 + ], + [ + -0.7110557556152344, + 0.026398582383990288, + 0.7026399374008179, + 10.196462631225586 + ], + [ + -0.08820682764053345, + -0.9947497248649597, + -0.05189001187682152, + -9.525202751159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1822, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_338470697", + "mask_path": "../../mask/hdr_right_01822.png" + }, + { + "file_path": "../../rgb/hdr_right_01823.png", + "transform_matrix": [ + [ + 0.6891034841537476, + -0.10662516206502914, + 0.7167757749557495, + 66.84928131103516 + ], + [ + -0.7187936305999756, + 0.025062087923288345, + 0.6947715878486633, + 10.257477760314941 + ], + [ + -0.09204404056072235, + -0.9939833879470825, + -0.05937112495303154, + -9.499027252197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1823, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_438470602", + "mask_path": "../../mask/hdr_right_01823.png" + }, + { + "file_path": "../../rgb/hdr_right_01824.png", + "transform_matrix": [ + [ + 0.6826004981994629, + -0.1158897876739502, + 0.7215443849563599, + 66.80411529541016 + ], + [ + -0.7241578102111816, + 0.02547059953212738, + 0.689163863658905, + 10.313214302062988 + ], + [ + -0.09824521839618683, + -0.9929354786872864, + -0.06653625518083572, + -9.481047630310059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1824, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_538470745", + "mask_path": "../../mask/hdr_right_01824.png" + }, + { + "file_path": "../../rgb/hdr_right_01825.png", + "transform_matrix": [ + [ + 0.6834345459938049, + -0.119871124625206, + 0.7201029062271118, + 66.74263000488281 + ], + [ + -0.7229939699172974, + 0.02530389465391636, + 0.6903907060623169, + 10.386700630187988 + ], + [ + -0.10097932815551758, + -0.9924669861793518, + -0.06937255710363388, + -9.470661163330078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1825, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_638468980", + "mask_path": "../../mask/hdr_right_01825.png" + }, + { + "file_path": "../../rgb/hdr_right_01826.png", + "transform_matrix": [ + [ + 0.68948894739151, + -0.12471839040517807, + 0.7134775519371033, + 66.68457794189453 + ], + [ + -0.7167176604270935, + 0.024643288925290108, + 0.6969278454780579, + 10.446318626403809 + ], + [ + -0.10450215637683868, + -0.9918860793113708, + -0.07239660620689392, + -9.470691680908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1826, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_738467931", + "mask_path": "../../mask/hdr_right_01826.png" + }, + { + "file_path": "../../rgb/hdr_right_01827.png", + "transform_matrix": [ + [ + 0.6928526163101196, + -0.12873412668704987, + 0.7094947695732117, + 66.63338470458984 + ], + [ + -0.7133838534355164, + 0.02099067158997059, + 0.7004590630531311, + 10.496661186218262 + ], + [ + -0.10506574809551239, + -0.9914569854736328, + -0.07729341089725494, + -9.464616775512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1827, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_838469982", + "mask_path": "../../mask/hdr_right_01827.png" + }, + { + "file_path": "../../rgb/hdr_right_01828.png", + "transform_matrix": [ + [ + 0.6911168694496155, + -0.12773682177066803, + 0.7113655805587769, + 66.58451843261719 + ], + [ + -0.7155147790908813, + 0.01792917214334011, + 0.6983674764633179, + 10.554445266723633 + ], + [ + -0.10196143388748169, + -0.9916459918022156, + -0.07900643348693848, + -9.454277992248535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1828, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594349_938470125", + "mask_path": "../../mask/hdr_right_01828.png" + }, + { + "file_path": "../../rgb/hdr_right_01829.png", + "transform_matrix": [ + [ + 0.682160496711731, + -0.13353067636489868, + 0.718906581401825, + 66.5355224609375 + ], + [ + -0.7231845855712891, + 0.021991802379488945, + 0.6903046369552612, + 10.61989974975586 + ], + [ + -0.10798690468072891, + -0.9908006191253662, + -0.08156540244817734, + -9.426051139831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1829, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_38470506", + "mask_path": "../../mask/hdr_right_01829.png" + }, + { + "file_path": "../../rgb/hdr_right_01830.png", + "transform_matrix": [ + [ + 0.6757374405860901, + -0.1352568119764328, + 0.7246272563934326, + 66.48345947265625 + ], + [ + -0.7288549542427063, + 0.024394981563091278, + 0.6842333674430847, + 10.68343734741211 + ], + [ + -0.11022448539733887, + -0.9905102252960205, + -0.08209799230098724, + -9.407011985778809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1830, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_138470649", + "mask_path": "../../mask/hdr_right_01830.png" + }, + { + "file_path": "../../rgb/hdr_right_01831.png", + "transform_matrix": [ + [ + 0.6749033331871033, + -0.1314951628446579, + 0.72609543800354, + 66.42046356201172 + ], + [ + -0.7301651239395142, + 0.023149799555540085, + 0.6828784942626953, + 10.759981155395508 + ], + [ + -0.10660417377948761, + -0.9910464882850647, + -0.08038931339979172, + -9.397591590881348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1831, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_238470554", + "mask_path": "../../mask/hdr_right_01831.png" + }, + { + "file_path": "../../rgb/hdr_right_01832.png", + "transform_matrix": [ + [ + 0.6795160174369812, + -0.13064149022102356, + 0.7219356298446655, + 66.36492156982422 + ], + [ + -0.7259977459907532, + 0.022114844992756844, + 0.6873413324356079, + 10.824738502502441 + ], + [ + -0.10576080530881882, + -0.9911829829216003, + -0.07981804758310318, + -9.3967924118042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1832, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_338469982", + "mask_path": "../../mask/hdr_right_01832.png" + }, + { + "file_path": "../../rgb/hdr_right_01833.png", + "transform_matrix": [ + [ + 0.6817061305046082, + -0.12847471237182617, + 0.7202576994895935, + 66.32195281982422 + ], + [ + -0.7243427038192749, + 0.02004864625632763, + 0.6891485452651978, + 10.883598327636719 + ], + [ + -0.10297835618257523, + -0.9915100932121277, + -0.0793924480676651, + -9.390789031982422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1833, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_438470363", + "mask_path": "../../mask/hdr_right_01833.png" + }, + { + "file_path": "../../rgb/hdr_right_01834.png", + "transform_matrix": [ + [ + 0.6787311434745789, + -0.125242680311203, + 0.7236286997795105, + 66.27609252929688 + ], + [ + -0.7278440594673157, + 0.016516858711838722, + 0.6855437159538269, + 10.959721565246582 + ], + [ + -0.09781139343976974, + -0.9919885993003845, + -0.07994663715362549, + -9.378981590270996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1834, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_538470268", + "mask_path": "../../mask/hdr_right_01834.png" + }, + { + "file_path": "../../rgb/hdr_right_01835.png", + "transform_matrix": [ + [ + 0.6686772108078003, + -0.12454213947057724, + 0.7330484986305237, + 66.23388671875 + ], + [ + -0.7367303371429443, + 0.022272787988185883, + 0.6758198738098145, + 11.029486656188965 + ], + [ + -0.10049508512020111, + -0.9919643402099609, + -0.07686067372560501, + -9.356178283691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1835, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_638469934", + "mask_path": "../../mask/hdr_right_01835.png" + }, + { + "file_path": "../../rgb/hdr_right_01836.png", + "transform_matrix": [ + [ + 0.6605381965637207, + -0.1248289942741394, + 0.7403424978256226, + 66.1904525756836 + ], + [ + -0.7437966465950012, + 0.025499368086457253, + 0.6679193377494812, + 11.092223167419434 + ], + [ + -0.1022539734840393, + -0.9918505549430847, + -0.07600408792495728, + -9.344291687011719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1836, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_738470315", + "mask_path": "../../mask/hdr_right_01836.png" + }, + { + "file_path": "../../rgb/hdr_right_01837.png", + "transform_matrix": [ + [ + 0.6563069224357605, + -0.12318025529384613, + 0.7443708777427673, + 66.13141632080078 + ], + [ + -0.7474110126495361, + 0.028724441304802895, + 0.6637407541275024, + 11.175701141357422 + ], + [ + -0.10314139723777771, + -0.9919685125350952, + -0.07321422547101974, + -9.32850170135498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1837, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_838469743", + "mask_path": "../../mask/hdr_right_01837.png" + }, + { + "file_path": "../../rgb/hdr_right_01838.png", + "transform_matrix": [ + [ + 0.6606919765472412, + -0.12048173695802689, + 0.7409253716468811, + 66.07957458496094 + ], + [ + -0.7437154650688171, + 0.02886081673204899, + 0.6678730249404907, + 11.246039390563965 + ], + [ + -0.10185021162033081, + -0.9922959208488464, + -0.07053603231906891, + -9.328054428100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1838, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594350_938470125", + "mask_path": "../../mask/hdr_right_01838.png" + }, + { + "file_path": "../../rgb/hdr_right_01839.png", + "transform_matrix": [ + [ + 0.6629902720451355, + -0.11829383671283722, + 0.7392229437828064, + 66.03636169433594 + ], + [ + -0.7418442368507385, + 0.02881775051355362, + 0.6699527502059937, + 11.30986213684082 + ], + [ + -0.10055403411388397, + -0.9925603866577148, + -0.06864971667528152, + -9.3262357711792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1839, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_38469791", + "mask_path": "../../mask/hdr_right_01839.png" + }, + { + "file_path": "../../rgb/hdr_right_01840.png", + "transform_matrix": [ + [ + 0.6609855890274048, + -0.11639117449522018, + 0.7413172125816345, + 65.99162292480469 + ], + [ + -0.7438571453094482, + 0.028529291972517967, + 0.6677294969558716, + 11.388223648071289 + ], + [ + -0.09886707365512848, + -0.992793619632721, + -0.06772094964981079, + -9.31368637084961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1840, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_138469934", + "mask_path": "../../mask/hdr_right_01840.png" + }, + { + "file_path": "../../rgb/hdr_right_01841.png", + "transform_matrix": [ + [ + 0.6515153646469116, + -0.1183658167719841, + 0.7493445873260498, + 65.95108795166016 + ], + [ + -0.7521429657936096, + 0.02816685661673546, + 0.6583977341651917, + 11.458863258361816 + ], + [ + -0.09903847426176071, + -0.9925704598426819, + -0.07067688554525375, + -9.29509449005127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1841, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_238470315", + "mask_path": "../../mask/hdr_right_01841.png" + }, + { + "file_path": "../../rgb/hdr_right_01842.png", + "transform_matrix": [ + [ + 0.6450973153114319, + -0.11971563845872879, + 0.7546639442443848, + 65.90628814697266 + ], + [ + -0.7576974630355835, + 0.027367454022169113, + 0.6520318984985352, + 11.528402328491211 + ], + [ + -0.09871164709329605, + -0.9924309253692627, + -0.07305356860160828, + -9.282896041870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1842, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_338470458", + "mask_path": "../../mask/hdr_right_01842.png" + }, + { + "file_path": "../../rgb/hdr_right_01843.png", + "transform_matrix": [ + [ + 0.6431947350502014, + -0.11549846827983856, + 0.7569417357444763, + 65.84513854980469 + ], + [ + -0.7593056559562683, + 0.03130844235420227, + 0.6499806642532349, + 11.614233016967773 + ], + [ + -0.09877043217420578, + -0.9928141236305237, + -0.06756121665239334, + -9.275839805603027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1843, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_438470602", + "mask_path": "../../mask/hdr_right_01843.png" + }, + { + "file_path": "../../rgb/hdr_right_01844.png", + "transform_matrix": [ + [ + 0.6468297243118286, + -0.11240159720182419, + 0.7543057799339294, + 65.79842376708984 + ], + [ + -0.7565490007400513, + 0.030128227546811104, + 0.6532427072525024, + 11.683260917663574 + ], + [ + -0.09615141898393631, + -0.9932059645652771, + -0.06554949283599854, + -9.283097267150879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1844, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_538470745", + "mask_path": "../../mask/hdr_right_01844.png" + }, + { + "file_path": "../../rgb/hdr_right_01845.png", + "transform_matrix": [ + [ + 0.6474143266677856, + -0.11171538382768631, + 0.7539061903953552, + 65.75701904296875 + ], + [ + -0.7563193440437317, + 0.027828743681311607, + 0.6536105275154114, + 11.752647399902344 + ], + [ + -0.09399860352277756, + -0.9933505654335022, + -0.06647579371929169, + -9.279196739196777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1845, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_638472318", + "mask_path": "../../mask/hdr_right_01845.png" + }, + { + "file_path": "../../rgb/hdr_right_01846.png", + "transform_matrix": [ + [ + 0.6425324082374573, + -0.1087070107460022, + 0.7585084438323975, + 65.72061157226562 + ], + [ + -0.7613186836242676, + 0.02165326662361622, + 0.6480161547660828, + 11.820572853088379 + ], + [ + -0.08686809241771698, + -0.9938379526138306, + -0.06884775310754776, + -9.267129898071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1846, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_738470077", + "mask_path": "../../mask/hdr_right_01846.png" + }, + { + "file_path": "../../rgb/hdr_right_01847.png", + "transform_matrix": [ + [ + 0.6316366195678711, + -0.1104963943362236, + 0.767349898815155, + 65.68480682373047 + ], + [ + -0.770119309425354, + 0.024417664855718613, + 0.637432336807251, + 11.88489818572998 + ], + [ + -0.08917086571455002, + -0.9935765266418457, + -0.06967231631278992, + -9.246556282043457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1847, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_838469982", + "mask_path": "../../mask/hdr_right_01847.png" + }, + { + "file_path": "../../rgb/hdr_right_01848.png", + "transform_matrix": [ + [ + 0.625541090965271, + -0.1096186488866806, + 0.7724520564079285, + 65.64482116699219 + ], + [ + -0.7753434181213379, + 0.022857479751110077, + 0.6311262249946594, + 11.952812194824219 + ], + [ + -0.08683951199054718, + -0.9937109351158142, + -0.07069379836320877, + -9.239120483398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1848, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594351_938470125", + "mask_path": "../../mask/hdr_right_01848.png" + }, + { + "file_path": "../../rgb/hdr_right_01849.png", + "transform_matrix": [ + [ + 0.6266462206840515, + -0.09882737696170807, + 0.7730120420455933, + 65.59541320800781 + ], + [ + -0.7756484746932983, + 0.01686771586537361, + 0.6309398412704468, + 12.032898902893066 + ], + [ + -0.07539308071136475, + -0.9949615597724915, + -0.06608520448207855, + -9.241950035095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1849, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_38470029", + "mask_path": "../../mask/hdr_right_01849.png" + }, + { + "file_path": "../../rgb/hdr_right_01850.png", + "transform_matrix": [ + [ + 0.6332313418388367, + -0.09475703537464142, + 0.7681400775909424, + 65.54939270019531 + ], + [ + -0.7708491086959839, + 0.011718167923390865, + 0.636910080909729, + 12.106083869934082 + ], + [ + -0.06935290992259979, + -0.9954314827919006, + -0.06562306731939316, + -9.252233505249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1850, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_138471603", + "mask_path": "../../mask/hdr_right_01850.png" + }, + { + "file_path": "../../rgb/hdr_right_01851.png", + "transform_matrix": [ + [ + 0.636834979057312, + -0.09240520745515823, + 0.7654427289962769, + 65.50675201416016 + ], + [ + -0.767998993396759, + 0.011483966372907162, + 0.6403480768203735, + 12.173803329467773 + ], + [ + -0.06796181946992874, + -0.9956552982330322, + -0.06365371495485306, + -9.251052856445312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1851, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_238469600", + "mask_path": "../../mask/hdr_right_01851.png" + }, + { + "file_path": "../../rgb/hdr_right_01852.png", + "transform_matrix": [ + [ + 0.6377883553504944, + -0.08729391545057297, + 0.7652488350868225, + 65.46270751953125 + ], + [ + -0.7680144906044006, + 0.0029145185835659504, + 0.6404258012771606, + 12.248473167419434 + ], + [ + -0.058135610073804855, + -0.996178388595581, + -0.06518415361642838, + -9.249353408813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1852, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_338470697", + "mask_path": "../../mask/hdr_right_01852.png" + }, + { + "file_path": "../../rgb/hdr_right_01853.png", + "transform_matrix": [ + [ + 0.6379746794700623, + -0.07981511950492859, + 0.7659099102020264, + 65.42716979980469 + ], + [ + -0.7685325741767883, + -0.0034330470953136683, + 0.6398014426231384, + 12.313053131103516 + ], + [ + -0.048436421900987625, + -0.9968037605285645, + -0.06353071331977844, + -9.238181114196777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1853, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_438470602", + "mask_path": "../../mask/hdr_right_01853.png" + }, + { + "file_path": "../../rgb/hdr_right_01854.png", + "transform_matrix": [ + [ + 0.6439514756202698, + -0.08285760879516602, + 0.7605662941932678, + 65.3873291015625 + ], + [ + -0.7633084058761597, + -0.002227893564850092, + 0.6460304856300354, + 12.366897583007812 + ], + [ + -0.05183408409357071, + -0.9965589046478271, + -0.0646805688738823, + -9.231839179992676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1854, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_538470745", + "mask_path": "../../mask/hdr_right_01854.png" + }, + { + "file_path": "../../rgb/hdr_right_01855.png", + "transform_matrix": [ + [ + 0.655150830745697, + -0.08468831330537796, + 0.7507364749908447, + 65.33269500732422 + ], + [ + -0.753501296043396, + -0.001046601333655417, + 0.6574455499649048, + 12.428406715393066 + ], + [ + -0.05489224195480347, + -0.9964069128036499, + -0.06449844688177109, + -9.229469299316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1855, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_638470172", + "mask_path": "../../mask/hdr_right_01855.png" + }, + { + "file_path": "../../rgb/hdr_right_01856.png", + "transform_matrix": [ + [ + 0.6751572489738464, + -0.07823976874351501, + 0.7335130572319031, + 65.27523803710938 + ], + [ + -0.7358976006507874, + -0.0024722509551793337, + 0.6770883798599243, + 12.495028495788574 + ], + [ + -0.05116180703043938, + -0.9969314932823181, + -0.05924561992287636, + -9.232239723205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1856, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_738470792", + "mask_path": "../../mask/hdr_right_01856.png" + }, + { + "file_path": "../../rgb/hdr_right_01857.png", + "transform_matrix": [ + [ + 0.6984653472900391, + -0.07396354526281357, + 0.7118114829063416, + 65.23027038574219 + ], + [ + -0.7138784527778625, + -0.002189300023019314, + 0.7002663016319275, + 12.529692649841309 + ], + [ + -0.0502358041703701, + -0.9972585439682007, + -0.05433014780282974, + -9.236093521118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1857, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_838470458", + "mask_path": "../../mask/hdr_right_01857.png" + }, + { + "file_path": "../../rgb/hdr_right_01858.png", + "transform_matrix": [ + [ + 0.72136390209198, + -0.07515557110309601, + 0.6884662508964539, + 65.1800537109375 + ], + [ + -0.6907021403312683, + -0.005378807429224253, + 0.7231193780899048, + 12.574407577514648 + ], + [ + -0.05064332112669945, + -0.9971573352813721, + -0.05579019710421562, + -9.237211227416992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1858, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594352_938469648", + "mask_path": "../../mask/hdr_right_01858.png" + }, + { + "file_path": "../../rgb/hdr_right_01859.png", + "transform_matrix": [ + [ + 0.738770067691803, + -0.0756453424692154, + 0.6696988344192505, + 65.1296615600586 + ], + [ + -0.6722214818000793, + -0.011430666781961918, + 0.7402617931365967, + 12.63012981414795 + ], + [ + -0.0483422577381134, + -0.997069239616394, + -0.05929506570100784, + -9.229940414428711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1859, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_38468837", + "mask_path": "../../mask/hdr_right_01859.png" + }, + { + "file_path": "../../rgb/hdr_right_01860.png", + "transform_matrix": [ + [ + 0.7463182210922241, + -0.07640787959098816, + 0.6611890196800232, + 65.08595275878906 + ], + [ + -0.6639377474784851, + -0.015526561997830868, + 0.747626543045044, + 12.677112579345703 + ], + [ + -0.04685858264565468, + -0.9969557523727417, + -0.06231783702969551, + -9.216517448425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1860, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_138469696", + "mask_path": "../../mask/hdr_right_01860.png" + }, + { + "file_path": "../../rgb/hdr_right_01861.png", + "transform_matrix": [ + [ + 0.7540872097015381, + -0.08438087999820709, + 0.6513313055038452, + 65.04141998291016 + ], + [ + -0.6546173691749573, + -0.016258565708994865, + 0.7557854652404785, + 12.718140602111816 + ], + [ + -0.053184133023023605, + -0.9963008761405945, + -0.06749758124351501, + -9.21134090423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1861, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_238470315", + "mask_path": "../../mask/hdr_right_01861.png" + }, + { + "file_path": "../../rgb/hdr_right_01862.png", + "transform_matrix": [ + [ + 0.7652338147163391, + -0.09152042120695114, + 0.6372137069702148, + 64.97853088378906 + ], + [ + -0.6407957077026367, + -0.013530450873076916, + 0.7675921320915222, + 12.773585319519043 + ], + [ + -0.061628568917512894, + -0.9957112669944763, + -0.06899984925985336, + -9.204047203063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1862, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_338470458", + "mask_path": "../../mask/hdr_right_01862.png" + }, + { + "file_path": "../../rgb/hdr_right_01863.png", + "transform_matrix": [ + [ + 0.7835202217102051, + -0.09045422077178955, + 0.6147471070289612, + 64.90459442138672 + ], + [ + -0.6178393363952637, + -0.008152050897479057, + 0.7862620949745178, + 12.833072662353516 + ], + [ + -0.06610926985740662, + -0.9958673119544983, + -0.062273479998111725, + -9.201393127441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1863, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_438471078", + "mask_path": "../../mask/hdr_right_01863.png" + }, + { + "file_path": "../../rgb/hdr_right_01864.png", + "transform_matrix": [ + [ + 0.8019159436225891, + -0.08383328467607498, + 0.5915258526802063, + 64.8556900024414 + ], + [ + -0.5937263369560242, + -0.0016501827631145716, + 0.8046652674674988, + 12.865165710449219 + ], + [ + -0.06648161262273788, + -0.9964783787727356, + -0.05109734833240509, + -9.201631546020508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1864, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_538471221", + "mask_path": "../../mask/hdr_right_01864.png" + }, + { + "file_path": "../../rgb/hdr_right_01865.png", + "transform_matrix": [ + [ + 0.817099928855896, + -0.08304360508918762, + 0.5704836249351501, + 64.80590057373047 + ], + [ + -0.5726449489593506, + -0.0027248940896242857, + 0.8197989463806152, + 12.898383140563965 + ], + [ + -0.06652455031871796, + -0.9965421557426453, + -0.04978100210428238, + -9.197751998901367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1865, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_638470411", + "mask_path": "../../mask/hdr_right_01865.png" + }, + { + "file_path": "../../rgb/hdr_right_01866.png", + "transform_matrix": [ + [ + 0.8271180987358093, + -0.08395485579967499, + 0.5557222366333008, + 64.7527847290039 + ], + [ + -0.5582864880561829, + -0.008825195953249931, + 0.8296013474464417, + 12.945505142211914 + ], + [ + -0.06474470347166061, + -0.996430516242981, + -0.05417034402489662, + -9.1911039352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1866, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594353_738470554", + "mask_path": "../../mask/hdr_right_01866.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/b664e18f/mesh.ply b/2024-11-14-15-22-43/splats/b664e18f/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..27d99cde56a42b4edcc57d0ceb7e21a7a05369f7 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b664e18f/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d971baf5680c3aaf8babf035313f82b4e1d86de6797d9b9c074f1fc3b7e3d975 +size 61542061 diff --git a/2024-11-14-15-22-43/splats/b664e18f/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/b664e18f/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..02a00062281e18e656e346d5526e7d20fb13707d --- /dev/null +++ b/2024-11-14-15-22-43/splats/b664e18f/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:293ab1086ad3031fea4ca10b3b5bb0e5255f6d1603bcd761dc87c42dd00abcbd +size 1577401 diff --git a/2024-11-14-15-22-43/splats/b664e18f/splatfacto/config.yml b/2024-11-14-15-22-43/splats/b664e18f/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..197749dc3c1757c8d9d2b509ae2a99562240ec59 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b664e18f/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_b664e18f +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_b664e18f + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/b664e18f/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/b664e18f/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..576c94ef401411466c23c6b0928fdfdb978d7dfe --- /dev/null +++ b/2024-11-14-15-22-43/splats/b664e18f/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.18073749542236328, + -0.9831628799438477, + 0.026919791474938393, + -2.191235065460205 + ], + [ + -0.9831628799438477, + 0.18135130405426025, + 0.02241526171565056, + 1.1173810958862305 + ], + [ + -0.026919791474938393, + -0.02241526171565056, + -0.999386191368103, + -0.3236847519874573 + ] + ], + "scale": 0.3468521151773188 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/b664e18f/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/b664e18f/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..5ee49e7227a88e810ae47c5183de5f9991b20114 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b664e18f/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16faaa84ad76e2e41d94816d962a1a45990b6748d613047bc24be49bebab244c +size 319821898 diff --git a/2024-11-14-15-22-43/splats/b664e18f/transforms.json b/2024-11-14-15-22-43/splats/b664e18f/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..daa7d76d3b560fd675b2f1fceb8f911203ae7f0a --- /dev/null +++ b/2024-11-14-15-22-43/splats/b664e18f/transforms.json @@ -0,0 +1,18150 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00426.png", + "transform_matrix": [ + [ + -0.9943727850914001, + -0.10471037030220032, + 0.016078198328614235, + -0.07115212082862854 + ], + [ + -0.018029438331723213, + 0.01771479845046997, + -0.9996805191040039, + 0.08342450857162476 + ], + [ + 0.10439208894968033, + -0.9943450093269348, + -0.01950298249721527, + -0.2582913339138031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594211_38467645", + "mask_path": "../../mask/hdr_front_00426.png" + }, + { + "file_path": "../../rgb/hdr_front_00464.png", + "transform_matrix": [ + [ + -0.9988901019096375, + -0.04228588938713074, + 0.02074667252600193, + -0.06482653319835663 + ], + [ + -0.020608702674508095, + -0.0036961869336664677, + -0.9997807741165161, + 0.09292343258857727 + ], + [ + 0.0423533096909523, + -0.9990987777709961, + 0.002820627298206091, + -0.3136308491230011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594214_838469982", + "mask_path": "../../mask/hdr_front_00464.png" + }, + { + "file_path": "../../rgb/hdr_front_00480.png", + "transform_matrix": [ + [ + -0.967971682548523, + -0.002454114379361272, + -0.2510474622249603, + 0.062511146068573 + ], + [ + 0.25097689032554626, + -0.0351027250289917, + -0.9673563838005066, + 0.07880568504333496 + ], + [ + -0.006438444834202528, + -0.9993807077407837, + 0.03459436818957329, + -0.31981611251831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 480, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594216_438469648", + "mask_path": "../../mask/hdr_front_00480.png" + }, + { + "file_path": "../../rgb/hdr_front_00485.png", + "transform_matrix": [ + [ + -0.8617845177650452, + -0.0012795107904821634, + -0.5072728395462036, + 0.15349572896957397 + ], + [ + 0.5064406394958496, + -0.05947916954755783, + -0.8602209687232971, + 0.03686213493347168 + ], + [ + -0.0290715042501688, + -0.9982287287712097, + 0.051906224340200424, + -0.3359676003456116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 485, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594216_938470363", + "mask_path": "../../mask/hdr_front_00485.png" + }, + { + "file_path": "../../rgb/hdr_front_00489.png", + "transform_matrix": [ + [ + -0.6916946172714233, + -0.03937726095318794, + -0.7211157083511353, + 0.20503219962120056 + ], + [ + 0.7217604517936707, + -0.0721278265118599, + -0.6883745193481445, + -0.04908089339733124 + ], + [ + -0.024906199425458908, + -0.9966177940368652, + 0.07831138372421265, + -0.3341485261917114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 489, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594217_338469505", + "mask_path": "../../mask/hdr_front_00489.png" + }, + { + "file_path": "../../rgb/hdr_front_00493.png", + "transform_matrix": [ + [ + -0.45005670189857483, + -0.0621926411986351, + -0.8908316493034363, + 0.27747589349746704 + ], + [ + 0.8920952677726746, + -0.07620561867952347, + -0.44537487626075745, + -0.1640031784772873 + ], + [ + -0.04018733650445938, + -0.995150625705719, + 0.0897786095738411, + -0.3425295650959015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 493, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594217_738469123", + "mask_path": "../../mask/hdr_front_00493.png" + }, + { + "file_path": "../../rgb/hdr_front_00496.png", + "transform_matrix": [ + [ + -0.22627949714660645, + -0.0924074798822403, + -0.9696693420410156, + 0.30667614936828613 + ], + [ + 0.9734296798706055, + -0.0573282465338707, + -0.22169378399848938, + -0.27526259422302246 + ], + [ + -0.03510327637195587, + -0.9940696954727173, + 0.10292437672615051, + -0.34090784192085266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 496, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_38470029", + "mask_path": "../../mask/hdr_front_00496.png" + }, + { + "file_path": "../../rgb/hdr_front_00499.png", + "transform_matrix": [ + [ + 0.02576749213039875, + -0.11190178990364075, + -0.9933851957321167, + 0.29594409465789795 + ], + [ + 0.9971524477005005, + -0.06757517158985138, + 0.03347734361886978, + -0.3994954824447632 + ], + [ + -0.07087433338165283, + -0.9914190173149109, + 0.10984188318252563, + -0.3237852156162262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 499, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_338469266", + "mask_path": "../../mask/hdr_front_00499.png" + }, + { + "file_path": "../../rgb/hdr_front_00502.png", + "transform_matrix": [ + [ + 0.25113677978515625, + -0.11469970643520355, + -0.9611318111419678, + 0.28321003913879395 + ], + [ + 0.9649444222450256, + -0.04854298755526543, + 0.25792601704597473, + -0.5327898859977722 + ], + [ + -0.07624024152755737, + -0.9922134280204773, + 0.09848789125680923, + -0.32866159081459045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 502, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_638469219", + "mask_path": "../../mask/hdr_front_00502.png" + }, + { + "file_path": "../../rgb/hdr_front_00519.png", + "transform_matrix": [ + [ + 0.645388662815094, + -0.06685234606266022, + -0.7609233856201172, + 0.527930498123169 + ], + [ + 0.7627330422401428, + 0.002442210214212537, + 0.6467088460922241, + -0.9904458522796631 + ], + [ + -0.04137566313147545, + -0.997759997844696, + 0.052566662430763245, + -0.32528141140937805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 519, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_338469266", + "mask_path": "../../mask/hdr_front_00519.png" + }, + { + "file_path": "../../rgb/hdr_front_00520.png", + "transform_matrix": [ + [ + 0.6697892546653748, + -0.05931326001882553, + -0.7401785254478455, + 0.5630702376365662 + ], + [ + 0.741418719291687, + -0.0016103083034977317, + 0.6710407137870789, + -1.028247594833374 + ], + [ + -0.040993526577949524, + -0.9982381463050842, + 0.04289739951491356, + -0.3278347849845886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 520, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_438469171", + "mask_path": "../../mask/hdr_front_00520.png" + }, + { + "file_path": "../../rgb/hdr_front_00522.png", + "transform_matrix": [ + [ + 0.7402581572532654, + -0.0647781565785408, + -0.669194757938385, + 0.5807998180389404 + ], + [ + 0.6704419851303101, + -0.0032732407562434673, + 0.7419547438621521, + -1.1129071712493896 + ], + [ + -0.05025288835167885, + -0.9978943467140198, + 0.04100695624947548, + -0.33355870842933655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 522, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_638469219", + "mask_path": "../../mask/hdr_front_00522.png" + }, + { + "file_path": "../../rgb/hdr_front_00524.png", + "transform_matrix": [ + [ + 0.8140620589256287, + -0.06131560355424881, + -0.5775321125984192, + 0.5975534915924072 + ], + [ + 0.5782766938209534, + -0.006613345816731453, + 0.8158138990402222, + -1.2027256488800049 + ], + [ + -0.053841542452573776, + -0.9980965256690979, + 0.030073711648583412, + -0.32884353399276733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 524, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_838466405", + "mask_path": "../../mask/hdr_front_00524.png" + }, + { + "file_path": "../../rgb/hdr_front_00526.png", + "transform_matrix": [ + [ + 0.8609749674797058, + -0.05639082193374634, + -0.5055118203163147, + 0.6170189380645752 + ], + [ + 0.5057511925697327, + -0.010995009914040565, + 0.862609326839447, + -1.2938556671142578 + ], + [ + -0.05420134589076042, + -0.9983482956886292, + 0.019053297117352486, + -0.3217768371105194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 526, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_38468599", + "mask_path": "../../mask/hdr_front_00526.png" + }, + { + "file_path": "../../rgb/hdr_front_00528.png", + "transform_matrix": [ + [ + 0.8894137144088745, + -0.060743629932403564, + -0.4530490040779114, + 0.6284105777740479 + ], + [ + 0.45304954051971436, + -0.014555874280631542, + 0.8913664817810059, + -1.3779590129852295 + ], + [ + -0.06073936074972153, + -0.9980472922325134, + 0.014573678374290466, + -0.32686692476272583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 528, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_238469600", + "mask_path": "../../mask/hdr_front_00528.png" + }, + { + "file_path": "../../rgb/hdr_front_00530.png", + "transform_matrix": [ + [ + 0.9051955342292786, + -0.051028817892074585, + -0.42192068696022034, + 0.6467775106430054 + ], + [ + 0.4216045141220093, + -0.017336804419755936, + 0.9066140651702881, + -1.4616940021514893 + ], + [ + -0.05357819423079491, + -0.9985467195510864, + 0.005820782855153084, + -0.32064443826675415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 530, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_438469171", + "mask_path": "../../mask/hdr_front_00530.png" + }, + { + "file_path": "../../rgb/hdr_front_00532.png", + "transform_matrix": [ + [ + 0.9037681221961975, + -0.05187130346894264, + -0.4248676896095276, + 0.6774346232414246 + ], + [ + 0.42459261417388916, + -0.016761643812060356, + 0.9052293300628662, + -1.5422921180725098 + ], + [ + -0.0540769100189209, + -0.9985131025314331, + 0.006875534541904926, + -0.3214116096496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 532, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_638470172", + "mask_path": "../../mask/hdr_front_00532.png" + }, + { + "file_path": "../../rgb/hdr_front_00534.png", + "transform_matrix": [ + [ + 0.9017728567123413, + -0.052475057542324066, + -0.4290129840373993, + 0.7087368369102478 + ], + [ + 0.4287259578704834, + -0.017182251438498497, + 0.9032711982727051, + -1.6191937923431396 + ], + [ + -0.054770611226558685, + -0.9984743595123291, + 0.0070029315538704395, + -0.32467925548553467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 534, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_838470220", + "mask_path": "../../mask/hdr_front_00534.png" + }, + { + "file_path": "../../rgb/hdr_front_00536.png", + "transform_matrix": [ + [ + 0.9093630909919739, + -0.04256702959537506, + -0.41381964087486267, + 0.7444784045219421 + ], + [ + 0.4135981798171997, + -0.014298387803137302, + 0.9103472828865051, + -1.6986093521118164 + ], + [ + -0.04466772824525833, + -0.9989913105964661, + 0.004603216890245676, + -0.3164944350719452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 536, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_38469076", + "mask_path": "../../mask/hdr_front_00536.png" + }, + { + "file_path": "../../rgb/hdr_front_00537.png", + "transform_matrix": [ + [ + 0.9091793298721313, + -0.04285519942641258, + -0.4141939878463745, + 0.7682946920394897 + ], + [ + 0.41403698921203613, + -0.012893385253846645, + 0.9101687669754028, + -1.7433829307556152 + ], + [ + -0.04434582218527794, + -0.9989981651306152, + 0.006021241657435894, + -0.3153800368309021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 537, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_138468980", + "mask_path": "../../mask/hdr_front_00537.png" + }, + { + "file_path": "../../rgb/hdr_front_00539.png", + "transform_matrix": [ + [ + 0.9064919352531433, + -0.04564857482910156, + -0.41974836587905884, + 0.8042760491371155 + ], + [ + 0.419487327337265, + -0.015618742443621159, + 0.9076268076896667, + -1.8260785341262817 + ], + [ + -0.04798780754208565, + -0.9988354444503784, + 0.00499073788523674, + -0.32174357771873474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 539, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_338469505", + "mask_path": "../../mask/hdr_front_00539.png" + }, + { + "file_path": "../../rgb/hdr_front_00541.png", + "transform_matrix": [ + [ + 0.9140953421592712, + -0.04241245612502098, + -0.40327519178390503, + 0.8319240808486938 + ], + [ + 0.4028826057910919, + -0.017807066440582275, + 0.9150784015655518, + -1.910017728805542 + ], + [ + -0.04599187523126602, + -0.9989415407180786, + 0.0008098861435428262, + -0.31285011768341064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 541, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_538470506", + "mask_path": "../../mask/hdr_front_00541.png" + }, + { + "file_path": "../../rgb/hdr_front_00542.png", + "transform_matrix": [ + [ + 0.915165364742279, + -0.03691944107413292, + -0.4013843834400177, + 0.8558199405670166 + ], + [ + 0.40096986293792725, + -0.018344907090067863, + 0.9159075617790222, + -1.9586267471313477 + ], + [ + -0.041178151965141296, + -0.9991499185562134, + -0.0019850365351885557, + -0.31138861179351807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 542, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_638470172", + "mask_path": "../../mask/hdr_front_00542.png" + }, + { + "file_path": "../../rgb/hdr_front_00543.png", + "transform_matrix": [ + [ + 0.9126816987991333, + -0.03323660418391228, + -0.40731731057167053, + 0.8820235133171082 + ], + [ + 0.40678679943084717, + -0.021715709939599037, + 0.9132649898529053, + -2.0067965984344482 + ], + [ + -0.03919900953769684, + -0.9992116093635559, + -0.006299321539700031, + -0.31365281343460083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 543, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_738469600", + "mask_path": "../../mask/hdr_front_00543.png" + }, + { + "file_path": "../../rgb/hdr_front_00545.png", + "transform_matrix": [ + [ + 0.9147747159004211, + -0.046194177120923996, + -0.40131446719169617, + 0.9048217535018921 + ], + [ + 0.40061917901039124, + -0.023843375965952873, + 0.9159344434738159, + -2.0968685150146484 + ], + [ + -0.051879528909921646, + -0.998647928237915, + -0.003305045422166586, + -0.3116190731525421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 545, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_938469409", + "mask_path": "../../mask/hdr_front_00545.png" + }, + { + "file_path": "../../rgb/hdr_front_00547.png", + "transform_matrix": [ + [ + 0.9184273481369019, + -0.04187357425689697, + -0.39336729049682617, + 0.942489743232727 + ], + [ + 0.39286482334136963, + -0.019964737817645073, + 0.919379472732544, + -2.2021236419677734 + ], + [ + -0.04635117948055267, + -0.9989234209060669, + -0.001885505160316825, + -0.30874142050743103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 547, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_138472080", + "mask_path": "../../mask/hdr_front_00547.png" + }, + { + "file_path": "../../rgb/hdr_front_00548.png", + "transform_matrix": [ + [ + 0.9159578084945679, + -0.04311490058898926, + -0.3989514112472534, + 0.9683691263198853 + ], + [ + 0.3981584906578064, + -0.026006216183304787, + 0.9169480204582214, + -2.2548413276672363 + ], + [ + -0.049909330904483795, + -0.9987316131591797, + -0.006654034834355116, + -0.3136313557624817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 548, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_238469600", + "mask_path": "../../mask/hdr_front_00548.png" + }, + { + "file_path": "../../rgb/hdr_front_00549.png", + "transform_matrix": [ + [ + 0.9160674810409546, + -0.048450056463479996, + -0.39808645844459534, + 0.9831729531288147 + ], + [ + 0.397076278924942, + -0.02935662865638733, + 0.9173160195350647, + -2.3156354427337646 + ], + [ + -0.056130483746528625, + -0.9983941912651062, + -0.007654284592717886, + -0.3121550977230072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 549, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_338470935", + "mask_path": "../../mask/hdr_front_00549.png" + }, + { + "file_path": "../../rgb/hdr_front_00550.png", + "transform_matrix": [ + [ + 0.9192627668380737, + -0.05022197961807251, + -0.3904273808002472, + 0.9983459115028381 + ], + [ + 0.3894694149494171, + -0.028029384091496468, + 0.9206128120422363, + -2.376401424407959 + ], + [ + -0.05717843025922775, + -0.9983447194099426, + -0.006206446792930365, + -0.3062897324562073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 550, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_438470363", + "mask_path": "../../mask/hdr_front_00550.png" + }, + { + "file_path": "../../rgb/hdr_front_00551.png", + "transform_matrix": [ + [ + 0.9214760661125183, + -0.04565851390361786, + -0.3857421576976776, + 1.0149563550949097 + ], + [ + 0.38491344451904297, + -0.026083584874868393, + 0.922584056854248, + -2.4278454780578613 + ], + [ + -0.05218534916639328, + -0.9986165165901184, + -0.006460824515670538, + -0.30324801802635193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 551, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_538470506", + "mask_path": "../../mask/hdr_front_00551.png" + }, + { + "file_path": "../../rgb/hdr_front_00552.png", + "transform_matrix": [ + [ + 0.9196919798851013, + -0.042855121195316315, + -0.3902949094772339, + 1.037616491317749 + ], + [ + 0.3896888792514801, + -0.022030670195817947, + 0.9206830263137817, + -2.4831125736236572 + ], + [ + -0.048054445534944534, + -0.9988384246826172, + -0.0035612641368061304, + -0.30657047033309937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 552, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_638470411", + "mask_path": "../../mask/hdr_front_00552.png" + }, + { + "file_path": "../../rgb/hdr_front_00553.png", + "transform_matrix": [ + [ + 0.916869580745697, + -0.04324471578001976, + -0.39683765172958374, + 1.0626072883605957 + ], + [ + 0.3960718512535095, + -0.025400696322321892, + 0.9178682565689087, + -2.5403859615325928 + ], + [ + -0.049772899597883224, + -0.9987415671348572, + -0.00616111233830452, + -0.3112947344779968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 553, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_738469362", + "mask_path": "../../mask/hdr_front_00553.png" + }, + { + "file_path": "../../rgb/hdr_front_00554.png", + "transform_matrix": [ + [ + 0.9173979759216309, + -0.04637178033590317, + -0.395260214805603, + 1.078686237335205 + ], + [ + 0.39445406198501587, + -0.025798259302973747, + 0.9185535311698914, + -2.6015548706054688 + ], + [ + -0.052791982889175415, + -0.9985910654067993, + -0.005375736393034458, + -0.3079487383365631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 554, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_838471651", + "mask_path": "../../mask/hdr_front_00554.png" + }, + { + "file_path": "../../rgb/hdr_front_00555.png", + "transform_matrix": [ + [ + 0.9216334223747253, + -0.048317939043045044, + -0.3850419223308563, + 1.0955541133880615 + ], + [ + 0.38432973623275757, + -0.023626115173101425, + 0.9228935837745667, + -2.6601479053497314 + ], + [ + -0.05368935689330101, + -0.9985526204109192, + -0.003204595996066928, + -0.30274498462677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 555, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_938471078", + "mask_path": "../../mask/hdr_front_00555.png" + }, + { + "file_path": "../../rgb/hdr_front_00556.png", + "transform_matrix": [ + [ + 0.924460768699646, + -0.04273827001452446, + -0.37887442111968994, + 1.1148731708526611 + ], + [ + 0.37822332978248596, + -0.022723887115716934, + 0.9254354238510132, + -2.717820405960083 + ], + [ + -0.04816100373864174, + -0.9988278746604919, + -0.004842730239033699, + -0.2979218661785126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 556, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_38469791", + "mask_path": "../../mask/hdr_front_00556.png" + }, + { + "file_path": "../../rgb/hdr_front_00557.png", + "transform_matrix": [ + [ + 0.9232602715492249, + -0.04207253456115723, + -0.38186436891555786, + 1.1414309740066528 + ], + [ + 0.38128039240837097, + -0.02144198678433895, + 0.9242107272148132, + -2.7756714820861816 + ], + [ + -0.04707181453704834, + -0.9988844990730286, + -0.0037551044952124357, + -0.3022429943084717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 557, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_138470888", + "mask_path": "../../mask/hdr_front_00557.png" + }, + { + "file_path": "../../rgb/hdr_front_00558.png", + "transform_matrix": [ + [ + 0.9212110638618469, + -0.0443103089928627, + -0.3865319788455963, + 1.1667219400405884 + ], + [ + 0.3858065903186798, + -0.024243071675300598, + 0.9222610592842102, + -2.828294277191162 + ], + [ + -0.05023639649152756, + -0.9987236261367798, + -0.005237776320427656, + -0.30881911516189575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 558, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_238470315", + "mask_path": "../../mask/hdr_front_00558.png" + }, + { + "file_path": "../../rgb/hdr_front_00559.png", + "transform_matrix": [ + [ + 0.9225935935974121, + -0.047110144048929214, + -0.3828858733177185, + 1.1845613718032837 + ], + [ + 0.3821064233779907, + -0.024924905970692635, + 0.923782229423523, + -2.881578207015991 + ], + [ + -0.05306290090084076, + -0.9985787272453308, + -0.004994472023099661, + -0.3069857954978943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 559, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_338469982", + "mask_path": "../../mask/hdr_front_00559.png" + }, + { + "file_path": "../../rgb/hdr_front_00560.png", + "transform_matrix": [ + [ + 0.926065981388092, + -0.04925721883773804, + -0.37413302063941956, + 1.2021985054016113 + ], + [ + 0.3732587397098541, + -0.026236942037940025, + 0.9273562431335449, + -2.940002679824829 + ], + [ + -0.05549509450793266, + -0.9984414577484131, + -0.005911452695727348, + -0.30118194222450256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 560, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_438470125", + "mask_path": "../../mask/hdr_front_00560.png" + }, + { + "file_path": "../../rgb/hdr_front_00561.png", + "transform_matrix": [ + [ + 0.9279845356941223, + -0.044436175376176834, + -0.36995965242385864, + 1.220791220664978 + ], + [ + 0.369197279214859, + -0.024590294808149338, + 0.9290257096290588, + -2.9963462352752686 + ], + [ + -0.050379760563373566, + -0.9987095594406128, + -0.006413699593394995, + -0.2953694462776184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 561, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_538469552", + "mask_path": "../../mask/hdr_front_00561.png" + }, + { + "file_path": "../../rgb/hdr_front_00562.png", + "transform_matrix": [ + [ + 0.9263536930084229, + -0.04492931067943573, + -0.37396541237831116, + 1.247117280960083 + ], + [ + 0.3734131455421448, + -0.02043001912534237, + 0.9274402260780334, + -3.0525169372558594 + ], + [ + -0.049309369176626205, + -0.9987813234329224, + -0.0021482312586158514, + -0.30149802565574646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 562, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_638469457", + "mask_path": "../../mask/hdr_front_00562.png" + }, + { + "file_path": "../../rgb/hdr_front_00563.png", + "transform_matrix": [ + [ + 0.9237396121025085, + -0.045251548290252686, + -0.38033854961395264, + 1.2716679573059082 + ], + [ + 0.3796611726284027, + -0.023059707134962082, + 0.9248382449150085, + -3.105788469314575 + ], + [ + -0.050620850175619125, + -0.9987094402313232, + -0.004120910540223122, + -0.3075472116470337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 563, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_738469123", + "mask_path": "../../mask/hdr_front_00563.png" + }, + { + "file_path": "../../rgb/hdr_front_00564.png", + "transform_matrix": [ + [ + 0.9243680834770203, + -0.04763660579919815, + -0.3785162568092346, + 1.287260890007019 + ], + [ + 0.37773892283439636, + -0.024728866294026375, + 0.9255819320678711, + -3.170987606048584 + ], + [ + -0.05345185101032257, + -0.9985585808753967, + -0.004864370916038752, + -0.302723228931427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 564, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_838469266", + "mask_path": "../../mask/hdr_front_00564.png" + }, + { + "file_path": "../../rgb/hdr_front_00565.png", + "transform_matrix": [ + [ + 0.927899956703186, + -0.04954741522669792, + -0.3695223331451416, + 1.3058055639266968 + ], + [ + 0.3687475621700287, + -0.02429436519742012, + 0.9292119741439819, + -3.2305612564086914 + ], + [ + -0.05501735955476761, + -0.9984762668609619, + -0.004272250924259424, + -0.2977670729160309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 565, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_938468694", + "mask_path": "../../mask/hdr_front_00565.png" + }, + { + "file_path": "../../rgb/hdr_front_00566.png", + "transform_matrix": [ + [ + 0.9299822449684143, + -0.04245586320757866, + -0.36514443159103394, + 1.3272238969802856 + ], + [ + 0.3645097017288208, + -0.02211584709584713, + 0.9309369325637817, + -3.286954641342163 + ], + [ + -0.04759921506047249, + -0.9988535046577454, + -0.005091771949082613, + -0.2927350103855133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 566, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_38469791", + "mask_path": "../../mask/hdr_front_00566.png" + }, + { + "file_path": "../../rgb/hdr_front_00567.png", + "transform_matrix": [ + [ + 0.928392231464386, + -0.04221118986606598, + -0.36919644474983215, + 1.355305552482605 + ], + [ + 0.36873412132263184, + -0.018542861565947533, + 0.929349958896637, + -3.3491039276123047 + ], + [ + -0.04607492312788963, + -0.998936653137207, + -0.0016503416700288653, + -0.298417329788208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 567, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_138469696", + "mask_path": "../../mask/hdr_front_00567.png" + }, + { + "file_path": "../../rgb/hdr_front_00568.png", + "transform_matrix": [ + [ + 0.9259935021400452, + -0.04230135679244995, + -0.3751619756221771, + 1.383205771446228 + ], + [ + 0.37453117966651917, + -0.02226431667804718, + 0.9269469976425171, + -3.4065542221069336 + ], + [ + -0.047563835978507996, + -0.9988568425178528, + -0.004773436579853296, + -0.30613112449645996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 568, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_238470554", + "mask_path": "../../mask/hdr_front_00568.png" + }, + { + "file_path": "../../rgb/hdr_front_00569.png", + "transform_matrix": [ + [ + 0.9267514944076538, + -0.0441342331469059, + -0.3730735182762146, + 1.4035178422927856 + ], + [ + 0.3723354637622833, + -0.024211717769503593, + 0.927782416343689, + -3.4757184982299805 + ], + [ + -0.049979716539382935, + -0.9987322092056274, + -0.006005505565553904, + -0.30056124925613403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 569, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_338470697", + "mask_path": "../../mask/hdr_front_00569.png" + }, + { + "file_path": "../../rgb/hdr_front_00570.png", + "transform_matrix": [ + [ + 0.9303886294364929, + -0.044629912823438644, + -0.36384761333465576, + 1.4221253395080566 + ], + [ + 0.36314716935157776, + -0.023197803646326065, + 0.9314430356025696, + -3.544376850128174 + ], + [ + -0.05001068860292435, + -0.9987342953681946, + -0.005375746171921492, + -0.2909404933452606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 570, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_438470125", + "mask_path": "../../mask/hdr_front_00570.png" + }, + { + "file_path": "../../rgb/hdr_front_00571.png", + "transform_matrix": [ + [ + 0.9333210587501526, + -0.03603123128414154, + -0.35723036527633667, + 1.4492676258087158 + ], + [ + 0.3565686047077179, + -0.023588057607412338, + 0.9339714050292969, + -3.6092281341552734 + ], + [ + -0.04207850247621536, + -0.9990723133087158, + -0.009167628362774849, + -0.2858119010925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 571, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_538469314", + "mask_path": "../../mask/hdr_front_00571.png" + }, + { + "file_path": "../../rgb/hdr_front_00572.png", + "transform_matrix": [ + [ + 0.9330137372016907, + -0.028229927644133568, + -0.358731746673584, + 1.4861218929290771 + ], + [ + 0.3581319749355316, + -0.02419140748679638, + 0.9333575367927551, + -3.688155174255371 + ], + [ + -0.03502683714032173, + -0.999308705329895, + -0.012460874393582344, + -0.2883110046386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 572, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_638469219", + "mask_path": "../../mask/hdr_front_00572.png" + }, + { + "file_path": "../../rgb/hdr_front_00573.png", + "transform_matrix": [ + [ + 0.9306343197822571, + -0.029695240780711174, + -0.3647439479827881, + 1.515802025794983 + ], + [ + 0.3640119135379791, + -0.027344297617673874, + 0.9309927225112915, + -3.755368232727051 + ], + [ + -0.03761972114443779, + -0.9991849660873413, + -0.014638119377195835, + -0.29063042998313904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 573, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_738469123", + "mask_path": "../../mask/hdr_front_00573.png" + }, + { + "file_path": "../../rgb/hdr_front_00574.png", + "transform_matrix": [ + [ + 0.9311165809631348, + -0.033414579927921295, + -0.3631878197193146, + 1.539269208908081 + ], + [ + 0.3622909486293793, + -0.030038518831133842, + 0.9315808415412903, + -3.8268375396728516 + ], + [ + -0.04203800857067108, + -0.9989901185035706, + -0.015863563865423203, + -0.28836482763290405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 574, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_838469505", + "mask_path": "../../mask/hdr_front_00574.png" + }, + { + "file_path": "../../rgb/hdr_front_00575.png", + "transform_matrix": [ + [ + 0.9346931576728821, + -0.036569993942976, + -0.35356929898262024, + 1.557072401046753 + ], + [ + 0.3526369035243988, + -0.02961585856974125, + 0.9352915287017822, + -3.9042749404907227 + ], + [ + -0.04467485845088959, + -0.9988921284675598, + -0.01478581316769123, + -0.27508509159088135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 575, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_938470363", + "mask_path": "../../mask/hdr_front_00575.png" + }, + { + "file_path": "../../rgb/hdr_front_00576.png", + "transform_matrix": [ + [ + 0.9377878308296204, + -0.02977742999792099, + -0.34592974185943604, + 1.5813661813735962 + ], + [ + 0.34513556957244873, + -0.028772374615073204, + 0.9381117224693298, + -3.973240613937378 + ], + [ + -0.03788777440786362, + -0.9991424083709717, + -0.01670513115823269, + -0.26993319392204285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 576, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_38469791", + "mask_path": "../../mask/hdr_front_00576.png" + }, + { + "file_path": "../../rgb/hdr_front_00577.png", + "transform_matrix": [ + [ + 0.9370331764221191, + -0.028087960556149483, + -0.3481091260910034, + 1.6157712936401367 + ], + [ + 0.34740349650382996, + -0.02713262476027012, + 0.9373231530189514, + -4.0526838302612305 + ], + [ + -0.03577260300517082, + -0.9992371797561646, + -0.015666311606764793, + -0.2751374840736389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 577, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_138470172", + "mask_path": "../../mask/hdr_front_00577.png" + }, + { + "file_path": "../../rgb/hdr_front_00578.png", + "transform_matrix": [ + [ + 0.9343949556350708, + -0.029619969427585602, + -0.3550053834915161, + 1.6485557556152344 + ], + [ + 0.3541565537452698, + -0.030355531722307205, + 0.9346933960914612, + -4.12899923324585 + ], + [ + -0.03846196457743645, + -0.9991002082824707, + -0.01787395216524601, + -0.281838059425354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 578, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_238469362", + "mask_path": "../../mask/hdr_front_00578.png" + }, + { + "file_path": "../../rgb/hdr_front_00579.png", + "transform_matrix": [ + [ + 0.934917151927948, + -0.03333964943885803, + -0.35329633951187134, + 1.6738159656524658 + ], + [ + 0.3522509038448334, + -0.03345254063606262, + 0.9353076219558716, + -4.201300621032715 + ], + [ + -0.043001484125852585, + -0.9988841414451599, + -0.019531434401869774, + -0.27761322259902954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 579, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_338468551", + "mask_path": "../../mask/hdr_front_00579.png" + }, + { + "file_path": "../../rgb/hdr_front_00580.png", + "transform_matrix": [ + [ + 0.9386370182037354, + -0.03558332845568657, + -0.34306591749191284, + 1.6871200799942017 + ], + [ + 0.3420862555503845, + -0.030889075249433517, + 0.9391607046127319, + -4.270928859710693 + ], + [ + -0.04401544854044914, + -0.9988892674446106, + -0.016821065917611122, + -0.264468789100647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 580, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_438469648", + "mask_path": "../../mask/hdr_front_00580.png" + }, + { + "file_path": "../../rgb/hdr_front_00581.png", + "transform_matrix": [ + [ + 0.9415691494941711, + -0.026596231386065483, + -0.3357679545879364, + 1.7108101844787598 + ], + [ + 0.33499157428741455, + -0.029774919152259827, + 0.9417506456375122, + -4.337375640869141 + ], + [ + -0.03504447638988495, + -0.9992027282714844, + -0.01912563294172287, + -0.2591964304447174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 581, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_538469076", + "mask_path": "../../mask/hdr_front_00581.png" + }, + { + "file_path": "../../rgb/hdr_front_00582.png", + "transform_matrix": [ + [ + 0.9405796527862549, + -0.020857660099864006, + -0.3389320969581604, + 1.7456262111663818 + ], + [ + 0.3382982015609741, + -0.028856787830591202, + 0.9405964016914368, + -4.411246299743652 + ], + [ + -0.029399126768112183, + -0.9993659257888794, + -0.020085996016860008, + -0.2619898021221161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 582, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_638470649", + "mask_path": "../../mask/hdr_front_00582.png" + }, + { + "file_path": "../../rgb/hdr_front_00583.png", + "transform_matrix": [ + [ + 0.9379734396934509, + -0.023263918235898018, + -0.3459257483482361, + 1.7812248468399048 + ], + [ + 0.34515222907066345, + -0.03173168748617172, + 0.9380100965499878, + -4.477860450744629 + ], + [ + -0.03279859572649002, + -0.9992256760597229, + -0.021733887493610382, + -0.26510196924209595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 583, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_738470315", + "mask_path": "../../mask/hdr_front_00583.png" + }, + { + "file_path": "../../rgb/hdr_front_00584.png", + "transform_matrix": [ + [ + 0.939245879650116, + -0.028033344075083733, + -0.34209832549095154, + 1.7989654541015625 + ], + [ + 0.34117481112480164, + -0.03305024653673172, + 0.9394187331199646, + -4.5472893714904785 + ], + [ + -0.03764147311449051, + -0.9990605115890503, + -0.021478040143847466, + -0.2597278952598572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 584, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_838469743", + "mask_path": "../../mask/hdr_front_00584.png" + }, + { + "file_path": "../../rgb/hdr_front_00585.png", + "transform_matrix": [ + [ + 0.942788302898407, + -0.029962042346596718, + -0.33204275369644165, + 1.8133504390716553 + ], + [ + 0.33108770847320557, + -0.03274769335985184, + 0.9430316090583801, + -4.621726989746094 + ], + [ + -0.03912878781557083, + -0.9990144968032837, + -0.020954079926013947, + -0.24832946062088013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 585, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_938471555", + "mask_path": "../../mask/hdr_front_00585.png" + }, + { + "file_path": "../../rgb/hdr_front_00586.png", + "transform_matrix": [ + [ + 0.9442152380943298, + -0.022389434278011322, + -0.32856690883636475, + 1.8398410081863403 + ], + [ + 0.3278674781322479, + -0.02997777983546257, + 0.9442479610443115, + -4.688504219055176 + ], + [ + -0.030990883708000183, + -0.9992998242378235, + -0.020964710041880608, + -0.24282783269882202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 586, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_38470268", + "mask_path": "../../mask/hdr_front_00586.png" + }, + { + "file_path": "../../rgb/hdr_front_00587.png", + "transform_matrix": [ + [ + 0.9426715970039368, + -0.020153967663645744, + -0.33311280608177185, + 1.8712170124053955 + ], + [ + 0.33252793550491333, + -0.027633843943476677, + 0.942688524723053, + -4.761302947998047 + ], + [ + -0.028204098343849182, + -0.9994149208068848, + -0.01934788003563881, + -0.24742338061332703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 587, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_138470649", + "mask_path": "../../mask/hdr_front_00587.png" + }, + { + "file_path": "../../rgb/hdr_front_00588.png", + "transform_matrix": [ + [ + 0.9417412877082825, + -0.021707355976104736, + -0.335636705160141, + 1.8908292055130005 + ], + [ + 0.33493682742118835, + -0.030465329065918922, + 0.9417479634284973, + -4.824132442474365 + ], + [ + -0.030668137595057487, + -0.9993001222610474, + -0.021419871598482132, + -0.25016218423843384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 588, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_238471984", + "mask_path": "../../mask/hdr_front_00588.png" + }, + { + "file_path": "../../rgb/hdr_front_00589.png", + "transform_matrix": [ + [ + 0.9438928365707397, + -0.024697663262486458, + -0.32932719588279724, + 1.9029263257980347 + ], + [ + 0.3285472095012665, + -0.030969377607107162, + 0.9439796805381775, + -4.892925262451172 + ], + [ + -0.0335131473839283, + -0.9992151856422424, + -0.021117422729730606, + -0.23799216747283936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 589, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_338471174", + "mask_path": "../../mask/hdr_front_00589.png" + }, + { + "file_path": "../../rgb/hdr_front_00590.png", + "transform_matrix": [ + [ + 0.9462801218032837, + -0.023313067853450775, + -0.32250669598579407, + 1.9235169887542725 + ], + [ + 0.32175514101982117, + -0.030995218083262444, + 0.9463154077529907, + -4.958437442779541 + ], + [ + -0.03205768018960953, + -0.9992476105690002, + -0.02182905748486519, + -0.22580011188983917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 590, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_438469648", + "mask_path": "../../mask/hdr_front_00590.png" + }, + { + "file_path": "../../rgb/hdr_front_00591.png", + "transform_matrix": [ + [ + 0.9457211494445801, + -0.019422518089413643, + -0.3243982493877411, + 1.9606082439422607 + ], + [ + 0.32378625869750977, + -0.029136737808585167, + 0.9456814527511597, + -5.0353899002075195 + ], + [ + -0.02781941555440426, + -0.9993868470191956, + -0.02126648835837841, + -0.22686704993247986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 591, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_538472175", + "mask_path": "../../mask/hdr_front_00591.png" + }, + { + "file_path": "../../rgb/hdr_front_00592.png", + "transform_matrix": [ + [ + 0.9435179233551025, + -0.017768576741218567, + -0.3308447003364563, + 1.9907991886138916 + ], + [ + 0.3301272392272949, + -0.03428841382265091, + 0.943313479423523, + -5.118058681488037 + ], + [ + -0.028105471283197403, + -0.999254047870636, + -0.02648584358394146, + -0.2353542000055313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 592, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_638470649", + "mask_path": "../../mask/hdr_front_00592.png" + }, + { + "file_path": "../../rgb/hdr_front_00593.png", + "transform_matrix": [ + [ + 0.9438652396202087, + -0.022100679576396942, + -0.3295906186103821, + 2.0047032833099365 + ], + [ + 0.3286040723323822, + -0.039064921438694, + 0.9436595439910889, + -5.179571628570557 + ], + [ + -0.033730942755937576, + -0.9989922642707825, + -0.029609646648168564, + -0.22951734066009521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 593, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_738470315", + "mask_path": "../../mask/hdr_front_00593.png" + }, + { + "file_path": "../../rgb/hdr_front_00594.png", + "transform_matrix": [ + [ + 0.947110116481781, + -0.02284945733845234, + -0.32009413838386536, + 2.0155415534973145 + ], + [ + 0.3191552460193634, + -0.03705872595310211, + 0.9469775557518005, + -5.241203784942627 + ], + [ + -0.03350020572543144, + -0.9990518689155579, + -0.027806170284748077, + -0.21371176838874817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 594, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_838470458", + "mask_path": "../../mask/hdr_front_00594.png" + }, + { + "file_path": "../../rgb/hdr_front_00595.png", + "transform_matrix": [ + [ + 0.9482293725013733, + -0.016055675223469734, + -0.31717997789382935, + 2.03558087348938 + ], + [ + 0.3164677321910858, + -0.03597269207239151, + 0.9479209780693054, + -5.293890476226807 + ], + [ + -0.02662932313978672, + -0.9992238283157349, + -0.029029259458184242, + -0.20455506443977356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 595, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_938471555", + "mask_path": "../../mask/hdr_front_00595.png" + }, + { + "file_path": "../../rgb/hdr_front_03624.png", + "transform_matrix": [ + [ + -0.9285629391670227, + 0.02068524993956089, + 0.3705982565879822, + 0.7721123695373535 + ], + [ + -0.37083208560943604, + -0.008786201477050781, + -0.9286583662033081, + -4.606347560882568 + ], + [ + -0.01595337502658367, + -0.9997474551200867, + 0.01582929491996765, + -0.26680323481559753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3624, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_838468313", + "mask_path": "../../mask/hdr_front_03624.png" + }, + { + "file_path": "../../rgb/hdr_front_03625.png", + "transform_matrix": [ + [ + -0.9283572435379028, + 0.02056499570608139, + 0.3711199164390564, + 0.7419768571853638 + ], + [ + -0.37136536836624146, + -0.009647923521697521, + -0.9284367561340332, + -4.544029712677002 + ], + [ + -0.015512759797275066, + -0.9997419714927673, + 0.016593847423791885, + -0.2754436433315277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3625, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_938467502", + "mask_path": "../../mask/hdr_front_03625.png" + }, + { + "file_path": "../../rgb/hdr_front_03626.png", + "transform_matrix": [ + [ + -0.9293656349182129, + 0.018410103395581245, + 0.36870133876800537, + 0.7140147686004639 + ], + [ + -0.3689480721950531, + -0.01242911908775568, + -0.9293668866157532, + -4.475283145904541 + ], + [ + -0.012527105398476124, + -0.9997532963752747, + 0.018343569710850716, + -0.28112921118736267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3626, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_38468360", + "mask_path": "../../mask/hdr_front_03626.png" + }, + { + "file_path": "../../rgb/hdr_front_03627.png", + "transform_matrix": [ + [ + -0.9331306219100952, + 0.01989314891397953, + 0.3589867949485779, + 0.6891191601753235 + ], + [ + -0.3593118488788605, + -0.016223352402448654, + -0.9330765604972839, + -4.3991217613220215 + ], + [ + -0.012737859971821308, + -0.9996705055236816, + 0.022286348044872284, + -0.2739120125770569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3627, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_138468265", + "mask_path": "../../mask/hdr_front_03627.png" + }, + { + "file_path": "../../rgb/hdr_front_03628.png", + "transform_matrix": [ + [ + -0.9377937912940979, + 0.01275344006717205, + 0.34695863723754883, + 0.671915590763092 + ], + [ + -0.3471226096153259, + -0.014329141937196255, + -0.9377102851867676, + -4.331843852996826 + ], + [ + -0.00698741152882576, + -0.9998160600662231, + 0.017864787951111794, + -0.26348933577537537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3628, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_238469123", + "mask_path": "../../mask/hdr_front_03628.png" + }, + { + "file_path": "../../rgb/hdr_front_03629.png", + "transform_matrix": [ + [ + -0.9417170286178589, + 0.006480167619884014, + 0.3363436162471771, + 0.6508427858352661 + ], + [ + -0.33639803528785706, + -0.011246692389249802, + -0.941652774810791, + -4.258753299713135 + ], + [ + -0.0023193133529275656, + -0.9999158382415771, + 0.012771117500960827, + -0.2633259892463684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3629, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_338468313", + "mask_path": "../../mask/hdr_front_03629.png" + }, + { + "file_path": "../../rgb/hdr_front_03630.png", + "transform_matrix": [ + [ + -0.9431352019309998, + 0.008747962303459644, + 0.33229437470436096, + 0.6145485639572144 + ], + [ + -0.3323681354522705, + -0.009043977595865726, + -0.9431063532829285, + -4.176449298858643 + ], + [ + -0.005244995001703501, + -0.9999209046363831, + 0.01143723726272583, + -0.2670072615146637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3630, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_438468217", + "mask_path": "../../mask/hdr_front_03630.png" + }, + { + "file_path": "../../rgb/hdr_front_03631.png", + "transform_matrix": [ + [ + -0.9413208365440369, + 0.013637278228998184, + 0.3372374176979065, + 0.5798052549362183 + ], + [ + -0.337380975484848, + -0.010073921643197536, + -0.9413142800331116, + -4.101034641265869 + ], + [ + -0.009439662098884583, + -0.9998562932014465, + 0.01408375147730112, + -0.27297842502593994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3631, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_538468122", + "mask_path": "../../mask/hdr_front_03631.png" + }, + { + "file_path": "../../rgb/hdr_front_03632.png", + "transform_matrix": [ + [ + -0.9405754208564758, + 0.011848818510770798, + 0.3393779695034027, + 0.557671070098877 + ], + [ + -0.33951106667518616, + -0.011994260363280773, + -0.9405255913734436, + -4.03536319732666 + ], + [ + -0.007073530461639166, + -0.9998579025268555, + 0.01530431304126978, + -0.2796444892883301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3632, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_638467550", + "mask_path": "../../mask/hdr_front_03632.png" + }, + { + "file_path": "../../rgb/hdr_front_03633.png", + "transform_matrix": [ + [ + -0.9418311715126038, + 0.009606264531612396, + 0.33594921231269836, + 0.5361340641975403 + ], + [ + -0.33606767654418945, + -0.01633320190012455, + -0.9416962265968323, + -3.964387893676758 + ], + [ + -0.0035590571351349354, + -0.9998204708099365, + 0.018611472100019455, + -0.2835451066493988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3633, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_738468647", + "mask_path": "../../mask/hdr_front_03633.png" + }, + { + "file_path": "../../rgb/hdr_front_03634.png", + "transform_matrix": [ + [ + -0.9458403587341309, + 0.011073579080402851, + 0.32444337010383606, + 0.5155242085456848 + ], + [ + -0.32458698749542236, + -0.015572426840662956, + -0.9457276463508606, + -3.8944766521453857 + ], + [ + -0.005420220084488392, + -0.999817430973053, + 0.018323371186852455, + -0.2715608477592468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3634, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_838468313", + "mask_path": "../../mask/hdr_front_03634.png" + }, + { + "file_path": "../../rgb/hdr_front_03635.png", + "transform_matrix": [ + [ + -0.9500797390937805, + 0.00516605656594038, + 0.3119645118713379, + 0.4963987171649933 + ], + [ + -0.3120051324367523, + -0.012060515582561493, + -0.9500038623809814, + -3.8238344192504883 + ], + [ + -0.0011453201295807958, + -0.9999139308929443, + 0.013070289045572281, + -0.26635605096817017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3635, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_938468694", + "mask_path": "../../mask/hdr_front_03635.png" + }, + { + "file_path": "../../rgb/hdr_front_03636.png", + "transform_matrix": [ + [ + -0.9526339769363403, + 0.003588370978832245, + 0.30409812927246094, + 0.46660298109054565 + ], + [ + -0.30411890149116516, + -0.009586953558027744, + -0.9525858759880066, + -3.739199638366699 + ], + [ + -0.0005028562154620886, + -0.9999475479125977, + 0.010224147699773312, + -0.2703756093978882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3636, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_38468599", + "mask_path": "../../mask/hdr_front_03636.png" + }, + { + "file_path": "../../rgb/hdr_front_03637.png", + "transform_matrix": [ + [ + -0.9516902565956116, + 0.006607758812606335, + 0.30698856711387634, + 0.434378981590271 + ], + [ + -0.30704036355018616, + -0.009265797212719917, + -0.9516514539718628, + -3.653373956680298 + ], + [ + -0.0034437875729054213, + -0.9999352693557739, + 0.010847018100321293, + -0.2781592905521393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3637, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_138468027", + "mask_path": "../../mask/hdr_front_03637.png" + }, + { + "file_path": "../../rgb/hdr_front_03638.png", + "transform_matrix": [ + [ + -0.9513194561004639, + 0.006635312922298908, + 0.30813512206077576, + 0.40500038862228394 + ], + [ + -0.30818262696266174, + -0.008029497228562832, + -0.9512933492660522, + -3.573237657546997 + ], + [ + -0.0038379596080631018, + -0.9999457597732544, + 0.009683504700660706, + -0.2823842167854309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3638, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_238468885", + "mask_path": "../../mask/hdr_front_03638.png" + }, + { + "file_path": "../../rgb/hdr_front_03639.png", + "transform_matrix": [ + [ + -0.9538757801055908, + 0.003754887729883194, + 0.3001781702041626, + 0.3789013922214508 + ], + [ + -0.3002016544342041, + -0.011768982745707035, + -0.9538031816482544, + -3.485309362411499 + ], + [ + -4.86320823256392e-05, + -0.9999236464500427, + 0.012353370897471905, + -0.2846912145614624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3639, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_338468551", + "mask_path": "../../mask/hdr_front_03639.png" + }, + { + "file_path": "../../rgb/hdr_front_03640.png", + "transform_matrix": [ + [ + -0.9597574472427368, + 0.002142715733498335, + 0.28082191944122314, + 0.3604022264480591 + ], + [ + -0.28082069754600525, + -0.015481963753700256, + -0.9596353769302368, + -3.4037537574768066 + ], + [ + 0.0022914500441402197, + -0.9998779296875, + 0.015460650436580181, + -0.275341272354126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3640, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_438468694", + "mask_path": "../../mask/hdr_front_03640.png" + }, + { + "file_path": "../../rgb/hdr_front_03641.png", + "transform_matrix": [ + [ + -0.9659252166748047, + -0.002194965025410056, + 0.2588120698928833, + 0.3426474928855896 + ], + [ + -0.25876978039741516, + -0.011783438734710217, + -0.9658671617507935, + -3.3254289627075195 + ], + [ + 0.005169741343706846, + -0.9999282360076904, + 0.01081392914056778, + -0.26728367805480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3641, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_538468360", + "mask_path": "../../mask/hdr_front_03641.png" + }, + { + "file_path": "../../rgb/hdr_front_03642.png", + "transform_matrix": [ + [ + -0.9704087376594543, + -0.0008017346845008433, + 0.24146690964698792, + 0.31530553102493286 + ], + [ + -0.24145258963108063, + -0.008159087970852852, + -0.9703782796859741, + -3.2327067852020264 + ], + [ + 0.002748136641457677, + -0.9999663829803467, + 0.007724068593233824, + -0.2696714997291565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3642, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_638469219", + "mask_path": "../../mask/hdr_front_03642.png" + }, + { + "file_path": "../../rgb/hdr_front_03643.png", + "transform_matrix": [ + [ + -0.9720684885978699, + -8.14804807305336e-05, + 0.234697163105011, + 0.2853401005268097 + ], + [ + -0.23468728363513947, + -0.008834227919578552, + -0.972030758857727, + -3.1475706100463867 + ], + [ + 0.002152570290490985, + -0.9999610185623169, + 0.00856835301965475, + -0.28132137656211853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3643, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_738468647", + "mask_path": "../../mask/hdr_front_03643.png" + }, + { + "file_path": "../../rgb/hdr_front_03644.png", + "transform_matrix": [ + [ + -0.9741947054862976, + -0.0004145383136346936, + 0.22570930421352386, + 0.26718050241470337 + ], + [ + -0.2257012128829956, + -0.006856889929622412, + -0.9741724729537964, + -3.0733654499053955 + ], + [ + 0.001951495767571032, + -0.9999764561653137, + 0.006586382631212473, + -0.28661617636680603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3644, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_838469028", + "mask_path": "../../mask/hdr_front_03644.png" + }, + { + "file_path": "../../rgb/hdr_front_03645.png", + "transform_matrix": [ + [ + -0.9775911569595337, + -0.0008414305048063397, + 0.2105104923248291, + 0.2544499337673187 + ], + [ + -0.2104911059141159, + -0.010237660259008408, + -0.9775421023368835, + -2.9921517372131348 + ], + [ + 0.0029776692390441895, + -0.9999473094940186, + 0.009831133298575878, + -0.28876733779907227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3645, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_938468456", + "mask_path": "../../mask/hdr_front_03645.png" + }, + { + "file_path": "../../rgb/hdr_front_03646.png", + "transform_matrix": [ + [ + -0.9827063083648682, + -0.0008231451502069831, + 0.18516921997070312, + 0.2485409826040268 + ], + [ + -0.18513454496860504, + -0.015487001277506351, + -0.9825911521911621, + -2.912322521209717 + ], + [ + 0.0036765302065759897, + -0.999879777431488, + 0.015066782012581825, + -0.275779664516449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3646, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_38468599", + "mask_path": "../../mask/hdr_front_03646.png" + }, + { + "file_path": "../../rgb/hdr_front_03647.png", + "transform_matrix": [ + [ + -0.987538754940033, + -0.006661364808678627, + 0.1572352945804596, + 0.24129129946231842 + ], + [ + -0.15715831518173218, + -0.010829547420144081, + -0.9875140190124512, + -2.8372271060943604 + ], + [ + 0.008280978538095951, + -0.9999191761016846, + 0.00964770931750536, + -0.2700384259223938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3647, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_138468265", + "mask_path": "../../mask/hdr_front_03647.png" + }, + { + "file_path": "../../rgb/hdr_front_03648.png", + "transform_matrix": [ + [ + -0.9909915924072266, + -0.005955561995506287, + 0.13379111886024475, + 0.2298889011144638 + ], + [ + -0.13375000655651093, + -0.0068391249515116215, + -0.9909916520118713, + -2.7524118423461914 + ], + [ + 0.006816926412284374, + -0.999958872795105, + 0.005980958696454763, + -0.2671026885509491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3648, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_238469123", + "mask_path": "../../mask/hdr_front_03648.png" + }, + { + "file_path": "../../rgb/hdr_front_03649.png", + "transform_matrix": [ + [ + -0.9924248456954956, + -0.002332631265744567, + 0.12283102422952652, + 0.21164096891880035 + ], + [ + -0.1228029876947403, + -0.009740200825035572, + -0.9923833012580872, + -2.6593923568725586 + ], + [ + 0.003511265153065324, + -0.9999498724937439, + 0.009379962459206581, + -0.27625370025634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3649, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_338469028", + "mask_path": "../../mask/hdr_front_03649.png" + }, + { + "file_path": "../../rgb/hdr_front_03650.png", + "transform_matrix": [ + [ + -0.993583619594574, + 0.00028969967388547957, + 0.1131000816822052, + 0.20017573237419128 + ], + [ + -0.1130981519818306, + -0.008923206478357315, + -0.993543803691864, + -2.5859923362731934 + ], + [ + 0.0007213857024908066, + -0.9999602437019348, + 0.008898716419935226, + -0.2841300666332245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3650, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_438468933", + "mask_path": "../../mask/hdr_front_03650.png" + }, + { + "file_path": "../../rgb/hdr_front_03651.png", + "transform_matrix": [ + [ + -0.9946469068527222, + -0.0011875932104885578, + 0.10332600772380829, + 0.1921534240245819 + ], + [ + -0.1033066064119339, + -0.011101611889898777, + -0.9945876002311707, + -2.5042929649353027 + ], + [ + 0.002328250790014863, + -0.9999377131462097, + 0.010919497348368168, + -0.28428947925567627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3651, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_538469314", + "mask_path": "../../mask/hdr_front_03651.png" + }, + { + "file_path": "../../rgb/hdr_front_03652.png", + "transform_matrix": [ + [ + -0.995690107345581, + -0.001430563977919519, + 0.09273190051317215, + 0.18728244304656982 + ], + [ + -0.09268674999475479, + -0.01944999024271965, + -0.9955053329467773, + -2.4242703914642334 + ], + [ + 0.003227770095691085, + -0.9998098611831665, + 0.019233567640185356, + -0.27728480100631714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3652, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_638467788", + "mask_path": "../../mask/hdr_front_03652.png" + }, + { + "file_path": "../../rgb/hdr_front_03653.png", + "transform_matrix": [ + [ + -0.9966544508934021, + -0.007758268620818853, + 0.08136124908924103, + 0.180578351020813 + ], + [ + -0.08122675865888596, + -0.01630895957350731, + -0.9965622425079346, + -2.3519186973571777 + ], + [ + 0.009058513678610325, + -0.9998369216918945, + 0.015624218620359898, + -0.2693345248699188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3653, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_738469123", + "mask_path": "../../mask/hdr_front_03653.png" + }, + { + "file_path": "../../rgb/hdr_front_03654.png", + "transform_matrix": [ + [ + -0.9972966909408569, + -0.012144445441663265, + 0.07246974855661392, + 0.1713302731513977 + ], + [ + -0.07230093330144882, + -0.013807191513478756, + -0.9972873330116272, + -2.268707275390625 + ], + [ + 0.01311210636049509, + -0.999830961227417, + 0.012891813181340694, + -0.2684551179409027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3654, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_838469028", + "mask_path": "../../mask/hdr_front_03654.png" + }, + { + "file_path": "../../rgb/hdr_front_03655.png", + "transform_matrix": [ + [ + -0.9972420930862427, + -0.008410274051129818, + 0.07373864203691483, + 0.15364192426204681 + ], + [ + -0.07356979697942734, + -0.01887485943734646, + -0.9971114993095398, + -2.1777145862579346 + ], + [ + 0.009777788072824478, + -0.9997865557670593, + 0.018204063177108765, + -0.2788972556591034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3655, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_938467502", + "mask_path": "../../mask/hdr_front_03655.png" + }, + { + "file_path": "../../rgb/hdr_front_03656.png", + "transform_matrix": [ + [ + -0.9968161582946777, + -0.004236953798681498, + 0.07962159812450409, + 0.1372436136007309 + ], + [ + -0.07952286303043365, + -0.01983501762151718, + -0.9966357350349426, + -2.099994659423828 + ], + [ + 0.005801995750516653, + -0.9997943639755249, + 0.019434930756688118, + -0.28986406326293945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3656, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_38468599", + "mask_path": "../../mask/hdr_front_03656.png" + }, + { + "file_path": "../../rgb/hdr_front_03657.png", + "transform_matrix": [ + [ + -0.9967263340950012, + -0.005869169253855944, + 0.08063694089651108, + 0.12760433554649353 + ], + [ + -0.08049270510673523, + -0.02165808156132698, + -0.9965198636054993, + -2.019339084625244 + ], + [ + 0.007595184724777937, + -0.9997482299804688, + 0.021114753559231758, + -0.292450875043869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3657, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_138468742", + "mask_path": "../../mask/hdr_front_03657.png" + }, + { + "file_path": "../../rgb/hdr_front_03658.png", + "transform_matrix": [ + [ + -0.9973142147064209, + -0.007815854623913765, + 0.07282305508852005, + 0.1268204301595688 + ], + [ + -0.07256448268890381, + -0.029412783682346344, + -0.996929943561554, + -1.9358164072036743 + ], + [ + 0.00993378832936287, + -0.9995368123054504, + 0.028766635805368423, + -0.2895156741142273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3658, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_238468885", + "mask_path": "../../mask/hdr_front_03658.png" + }, + { + "file_path": "../../rgb/hdr_front_03659.png", + "transform_matrix": [ + [ + -0.9982147812843323, + -0.010774343274533749, + 0.058746203780174255, + 0.12697899341583252 + ], + [ + -0.05845124274492264, + -0.025905344635248184, + -0.9979541301727295, + -1.8598504066467285 + ], + [ + 0.012274142354726791, + -0.9996063709259033, + 0.025229323655366898, + -0.2802604138851166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3659, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_338468790", + "mask_path": "../../mask/hdr_front_03659.png" + }, + { + "file_path": "../../rgb/hdr_front_03660.png", + "transform_matrix": [ + [ + -0.9987792372703552, + -0.013497843407094479, + 0.047516174614429474, + 0.12336200475692749 + ], + [ + -0.04721204936504364, + -0.022020787000656128, + -0.9986421465873718, + -1.7793140411376953 + ], + [ + 0.014525855891406536, + -0.9996663928031921, + 0.021356642246246338, + -0.27728262543678284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3660, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_438468456", + "mask_path": "../../mask/hdr_front_03660.png" + }, + { + "file_path": "../../rgb/hdr_front_03661.png", + "transform_matrix": [ + [ + -0.9989660978317261, + -0.009240577928721905, + 0.044511739164590836, + 0.1146962121129036 + ], + [ + -0.04428962990641594, + -0.022990543395280838, + -0.9987541437149048, + -1.686802625656128 + ], + [ + 0.01025241706520319, + -0.9996930360794067, + 0.022557513788342476, + -0.28507333993911743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3661, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_538468122", + "mask_path": "../../mask/hdr_front_03661.png" + }, + { + "file_path": "../../rgb/hdr_front_03662.png", + "transform_matrix": [ + [ + -0.998721182346344, + -0.006509645376354456, + 0.05013523995876312, + 0.1032615527510643 + ], + [ + -0.04997147619724274, + -0.023264003917574883, + -0.9984796643257141, + -1.6018116474151611 + ], + [ + 0.007666094694286585, + -0.9997081756591797, + 0.022908959537744522, + -0.2981032729148865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3662, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_638468980", + "mask_path": "../../mask/hdr_front_03662.png" + }, + { + "file_path": "../../rgb/hdr_front_03663.png", + "transform_matrix": [ + [ + -0.9985867142677307, + -0.005984331946820021, + 0.05280810967087746, + 0.09651497006416321 + ], + [ + -0.052659619599580765, + -0.02272377721965313, + -0.9983539581298828, + -1.5209475755691528 + ], + [ + 0.007174481172114611, + -0.9997239112854004, + 0.0223765317350626, + -0.30077433586120605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3663, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_738469362", + "mask_path": "../../mask/hdr_front_03663.png" + }, + { + "file_path": "../../rgb/hdr_front_03664.png", + "transform_matrix": [ + [ + -0.9988580942153931, + -0.007351031061261892, + 0.04720831662416458, + 0.09737958014011383 + ], + [ + -0.046984609216451645, + -0.02809981070458889, + -0.9985003471374512, + -1.432845115661621 + ], + [ + 0.008666551671922207, + -0.9995781183242798, + 0.02772233635187149, + -0.2992119789123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3664, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_838468551", + "mask_path": "../../mask/hdr_front_03664.png" + }, + { + "file_path": "../../rgb/hdr_front_03665.png", + "transform_matrix": [ + [ + -0.9994099140167236, + -0.00849519670009613, + 0.03328091278672218, + 0.09989628195762634 + ], + [ + -0.033038631081581116, + -0.02722293511033058, + -0.9990832209587097, + -1.3578928709030151 + ], + [ + 0.009393413551151752, + -0.9995932579040527, + 0.026926202699542046, + -0.29209983348846436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3665, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_938467502", + "mask_path": "../../mask/hdr_front_03665.png" + }, + { + "file_path": "../../rgb/hdr_front_03666.png", + "transform_matrix": [ + [ + -0.9996649026870728, + -0.013452567160129547, + 0.022116467356681824, + 0.0977979302406311 + ], + [ + -0.02180064655840397, + -0.02318689227104187, + -0.999493420124054, + -1.28035306930542 + ], + [ + 0.013958564959466457, + -0.9996406435966492, + 0.022885847836732864, + -0.28995245695114136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3666, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_38468599", + "mask_path": "../../mask/hdr_front_03666.png" + }, + { + "file_path": "../../rgb/hdr_front_03667.png", + "transform_matrix": [ + [ + -0.999721884727478, + -0.012869622558355331, + 0.019760778173804283, + 0.08818244934082031 + ], + [ + -0.019449273124337196, + -0.023895857855677605, + -0.999525249004364, + -1.180827021598816 + ], + [ + 0.013335714116692543, + -0.9996316432952881, + 0.023638905957341194, + -0.29503995180130005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3667, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_138468742", + "mask_path": "../../mask/hdr_front_03667.png" + }, + { + "file_path": "../../rgb/hdr_front_03668.png", + "transform_matrix": [ + [ + -0.9996026158332825, + -0.010958073660731316, + 0.025969238951802254, + 0.0779440850019455 + ], + [ + -0.025683630257844925, + -0.025445908308029175, + -0.9993462562561035, + -1.1042826175689697 + ], + [ + 0.011611723341047764, + -0.9996161460876465, + 0.0251543540507555, + -0.30761241912841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3668, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_238468170", + "mask_path": "../../mask/hdr_front_03668.png" + }, + { + "file_path": "../../rgb/hdr_front_03669.png", + "transform_matrix": [ + [ + -0.9995695352554321, + -0.010242372751235962, + 0.027494756504893303, + 0.07257312536239624 + ], + [ + -0.02721739560365677, + -0.026300372555851936, + -0.999283492565155, + -1.028306007385254 + ], + [ + 0.010958155617117882, + -0.9996016621589661, + 0.02601027861237526, + -0.31144458055496216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3669, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_338469028", + "mask_path": "../../mask/hdr_front_03669.png" + }, + { + "file_path": "../../rgb/hdr_front_03670.png", + "transform_matrix": [ + [ + -0.9997093677520752, + -0.010991884395480156, + 0.02145608514547348, + 0.07528947293758392 + ], + [ + -0.02109588496387005, + -0.03189946711063385, + -0.9992684125900269, + -0.9450081586837769 + ], + [ + 0.011668280698359013, + -0.9994307160377502, + 0.03165830671787262, + -0.31047189235687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3670, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_438470363", + "mask_path": "../../mask/hdr_front_03670.png" + }, + { + "file_path": "../../rgb/hdr_front_03671.png", + "transform_matrix": [ + [ + -0.9999018311500549, + -0.011204339563846588, + 0.008419066667556763, + 0.07826848328113556 + ], + [ + -0.008082110434770584, + -0.029786517843604088, + -0.9995236396789551, + -0.8694047331809998 + ], + [ + 0.011449776589870453, + -0.9994934797286987, + 0.029693037271499634, + -0.30331701040267944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3671, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_538469076", + "mask_path": "../../mask/hdr_front_03671.png" + }, + { + "file_path": "../../rgb/hdr_front_03672.png", + "transform_matrix": [ + [ + -0.9998549818992615, + -0.016795942559838295, + -0.0027795901987701654, + 0.07625262439250946 + ], + [ + 0.003189129289239645, + -0.024405891075730324, + -0.9996970295906067, + -0.7899678945541382 + ], + [ + 0.016723018139600754, + -0.999561071395874, + 0.024455919861793518, + -0.29892635345458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3672, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_638468980", + "mask_path": "../../mask/hdr_front_03672.png" + }, + { + "file_path": "../../rgb/hdr_front_03673.png", + "transform_matrix": [ + [ + -0.9998793601989746, + -0.014544464647769928, + -0.005438484717160463, + 0.07104595005512238 + ], + [ + 0.005792321637272835, + -0.02439752407371998, + -0.9996855854988098, + -0.7012995481491089 + ], + [ + 0.014407205395400524, + -0.9995965361595154, + 0.02447883039712906, + -0.3032757043838501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3673, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_738467931", + "mask_path": "../../mask/hdr_front_03673.png" + }, + { + "file_path": "../../rgb/hdr_front_03674.png", + "transform_matrix": [ + [ + -0.9999441504478455, + -0.010560616850852966, + -0.0004160830285400152, + 0.06230834126472473 + ], + [ + 0.0006870535435155034, + -0.025668011978268623, + -0.9996702671051025, + -0.6248258352279663 + ], + [ + 0.010546455159783363, + -0.9996147751808167, + 0.02567383088171482, + -0.31633472442626953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3674, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_838468074", + "mask_path": "../../mask/hdr_front_03674.png" + }, + { + "file_path": "../../rgb/hdr_front_03675.png", + "transform_matrix": [ + [ + -0.9999409914016724, + -0.010859601199626923, + 0.00020814394520130008, + 0.06083253026008606 + ], + [ + 8.792859443929046e-05, + -0.02725609391927719, + -0.999628484249115, + -0.5466035008430481 + ], + [ + 0.010861240327358246, + -0.9995695352554321, + 0.027255436405539513, + -0.3196791410446167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3675, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_938467979", + "mask_path": "../../mask/hdr_front_03675.png" + }, + { + "file_path": "../../rgb/hdr_front_03676.png", + "transform_matrix": [ + [ + -0.9998900294303894, + -0.013354061171412468, + -0.00645022839307785, + 0.06465619802474976 + ], + [ + 0.006907750386744738, + -0.03450312092900276, + -0.9993807673454285, + -0.46796461939811707 + ], + [ + 0.013123237527906895, + -0.9993153810501099, + 0.03459157422184944, + -0.3208666443824768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3676, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_38468360", + "mask_path": "../../mask/hdr_front_03676.png" + }, + { + "file_path": "../../rgb/hdr_front_03677.png", + "transform_matrix": [ + [ + -0.9997390508651733, + -0.012555541470646858, + -0.019088778644800186, + 0.07128902524709702 + ], + [ + 0.019489729776978493, + -0.03262725844979286, + -0.9992775321006775, + -0.39811116456985474 + ], + [ + 0.011923656798899174, + -0.9993887543678284, + 0.032863445580005646, + -0.31582245230674744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3677, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_138468503", + "mask_path": "../../mask/hdr_front_03677.png" + }, + { + "file_path": "../../rgb/hdr_front_03678.png", + "transform_matrix": [ + [ + -0.999410092830658, + -0.018502842634916306, + -0.028935987502336502, + 0.07249727845191956 + ], + [ + 0.02945471554994583, + -0.02840573899447918, + -0.9991623759269714, + -0.3235822319984436 + ], + [ + 0.017665397375822067, + -0.9994252324104309, + 0.028933970257639885, + -0.3131951093673706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3678, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_238468408", + "mask_path": "../../mask/hdr_front_03678.png" + }, + { + "file_path": "../../rgb/hdr_front_03679.png", + "transform_matrix": [ + [ + -0.9993888735771179, + -0.01696929894387722, + -0.03055945225059986, + 0.0668276846408844 + ], + [ + 0.03104504570364952, + -0.029130926355719566, + -0.9990934133529663, + -0.23657843470573425 + ], + [ + 0.016063690185546875, + -0.9994316101074219, + 0.029639938846230507, + -0.3181561529636383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3679, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_338469743", + "mask_path": "../../mask/hdr_front_03679.png" + }, + { + "file_path": "../../rgb/hdr_front_03680.png", + "transform_matrix": [ + [ + -0.9995976090431213, + -0.015513740479946136, + -0.023748615756630898, + 0.06071101501584053 + ], + [ + 0.024198897182941437, + -0.02951224148273468, + -0.9992713928222656, + -0.15889066457748413 + ], + [ + 0.014801561832427979, + -0.9994440078735352, + 0.029875783249735832, + -0.3306276798248291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3680, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_438466310", + "mask_path": "../../mask/hdr_front_03680.png" + }, + { + "file_path": "../../rgb/hdr_front_03681.png", + "transform_matrix": [ + [ + -0.9996509552001953, + -0.014488449320197105, + -0.022091882303357124, + 0.05925469473004341 + ], + [ + 0.02253776416182518, + -0.031370002776384354, + -0.9992536902427673, + -0.09467706084251404 + ], + [ + 0.013784612528979778, + -0.9994028210639954, + 0.031685590744018555, + -0.33387690782546997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3681, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_538470029", + "mask_path": "../../mask/hdr_front_03681.png" + }, + { + "file_path": "../../rgb/hdr_front_03682.png", + "transform_matrix": [ + [ + -0.99949049949646, + -0.013005336746573448, + -0.029147781431674957, + 0.06680531799793243 + ], + [ + 0.02961045876145363, + -0.03692827373743057, + -0.9988791942596436, + -0.02425020933151245 + ], + [ + 0.011914381757378578, + -0.9992333054542542, + 0.037294551730155945, + -0.3316677212715149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3682, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_638469696", + "mask_path": "../../mask/hdr_front_03682.png" + }, + { + "file_path": "../../rgb/hdr_front_03683.png", + "transform_matrix": [ + [ + -0.9989945888519287, + -0.013250695541501045, + -0.04282916337251663, + 0.07652928680181503 + ], + [ + 0.04324360564351082, + -0.03275543078780174, + -0.998527467250824, + 0.043750882148742676 + ], + [ + 0.011828296817839146, + -0.999375581741333, + 0.03329550474882126, + -0.32437393069267273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3683, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_738470315", + "mask_path": "../../mask/hdr_front_03683.png" + }, + { + "file_path": "../../rgb/hdr_front_03684.png", + "transform_matrix": [ + [ + -0.9983947277069092, + -0.018997061997652054, + -0.0533582866191864, + 0.08124427497386932 + ], + [ + 0.05387051776051521, + -0.027558308094739914, + -0.9981676340103149, + 0.11590385437011719 + ], + [ + 0.017491787672042847, + -0.9994397163391113, + 0.028537452220916748, + -0.3201812505722046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3684, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_838469266", + "mask_path": "../../mask/hdr_front_03684.png" + }, + { + "file_path": "../../rgb/hdr_front_03685.png", + "transform_matrix": [ + [ + -0.9984290599822998, + -0.017247365787625313, + -0.05330979824066162, + 0.07619509100914001 + ], + [ + 0.053818006068468094, + -0.030481794849038124, + -0.9980854392051697, + 0.19415412843227386 + ], + [ + 0.015589365735650063, + -0.9993865489959717, + 0.031362127512693405, + -0.32866793870925903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3685, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_938471078", + "mask_path": "../../mask/hdr_front_03685.png" + }, + { + "file_path": "../../rgb/hdr_front_03686.png", + "transform_matrix": [ + [ + -0.9987679719924927, + -0.013697775080800056, + -0.04769568517804146, + 0.07009963691234589 + ], + [ + 0.048112157732248306, + -0.03188188746571541, + -0.9983330965042114, + 0.2618855834007263 + ], + [ + 0.012154311873018742, + -0.9993977546691895, + 0.03250163793563843, + -0.34096843004226685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3686, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_38471460", + "mask_path": "../../mask/hdr_front_03686.png" + }, + { + "file_path": "../../rgb/hdr_front_03687.png", + "transform_matrix": [ + [ + -0.9987236261367798, + -0.013987801037728786, + -0.04853234440088272, + 0.07518364489078522 + ], + [ + 0.04899917170405388, + -0.03522690758109093, + -0.9981774091720581, + 0.3255496919155121 + ], + [ + 0.012252661399543285, + -0.9992814660072327, + 0.03586733341217041, + -0.34429579973220825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3687, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_138469696", + "mask_path": "../../mask/hdr_front_03687.png" + }, + { + "file_path": "../../rgb/hdr_front_03688.png", + "transform_matrix": [ + [ + -0.9981663227081299, + -0.01624245010316372, + -0.05831150710582733, + 0.08265750110149384 + ], + [ + 0.05895095318555832, + -0.042154546827077866, + -0.9973704218864441, + 0.38889673352241516 + ], + [ + 0.013741644099354744, + -0.9989790916442871, + 0.04303475841879845, + -0.3427025377750397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3688, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_238470315", + "mask_path": "../../mask/hdr_front_03688.png" + }, + { + "file_path": "../../rgb/hdr_front_03689.png", + "transform_matrix": [ + [ + -0.9971659779548645, + -0.02370230294764042, + -0.07140243053436279, + 0.08606304973363876 + ], + [ + 0.07220302522182465, + -0.034840065985918045, + -0.9967812895774841, + 0.43911364674568176 + ], + [ + 0.021138345822691917, + -0.9991118311882019, + 0.03645271062850952, + -0.33200180530548096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3689, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_338470220", + "mask_path": "../../mask/hdr_front_03689.png" + }, + { + "file_path": "../../rgb/hdr_front_03756.png", + "transform_matrix": [ + [ + -0.9753693342208862, + -0.08852605521678925, + -0.2020340859889984, + 0.1081429198384285 + ], + [ + 0.20215098559856415, + 0.007736776955425739, + -0.9793239235877991, + 0.6762633919715881 + ], + [ + 0.0882587656378746, + -0.9960438013076782, + 0.010349414311349392, + -0.2754654586315155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3756, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_38471460", + "mask_path": "../../mask/hdr_front_03756.png" + }, + { + "file_path": "../../rgb/hdr_front_03757.png", + "transform_matrix": [ + [ + -0.9690485596656799, + -0.11263178288936615, + -0.21967925131320953, + 0.09341639280319214 + ], + [ + 0.22193175554275513, + -0.007710034493356943, + -0.9750317335128784, + 0.6695767641067505 + ], + [ + 0.10812581330537796, + -0.9936069250106812, + 0.03246796503663063, + -0.22177916765213013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3757, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_138468265", + "mask_path": "../../mask/hdr_front_03757.png" + }, + { + "file_path": "../../rgb/hdr_front_03760.png", + "transform_matrix": [ + [ + -0.9833461046218872, + -0.10272643715143204, + -0.1499255895614624, + -0.02265964448451996 + ], + [ + 0.1555715948343277, + -0.04930731654167175, + -0.9865932464599609, + 0.6812679171562195 + ], + [ + 0.09395678341388702, + -0.9934868216514587, + 0.06446747481822968, + -0.11178456246852875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3760, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_438468694", + "mask_path": "../../mask/hdr_front_03760.png" + }, + { + "file_path": "../../rgb/hdr_front_03761.png", + "transform_matrix": [ + [ + -0.9923053979873657, + -0.08591128885746002, + -0.08915845304727554, + -0.08420971035957336 + ], + [ + 0.09140055626630783, + -0.022519942373037338, + -0.9955595135688782, + 0.6781913042068481 + ], + [ + 0.08352194726467133, + -0.9960482716560364, + 0.030199000611901283, + -0.06396147608757019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3761, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_538469076", + "mask_path": "../../mask/hdr_front_03761.png" + }, + { + "file_path": "../../rgb/hdr_left_00452.png", + "transform_matrix": [ + [ + 0.16382136940956116, + -0.11779779940843582, + -0.9794315695762634, + 0.03202012926340103 + ], + [ + 0.9864840507507324, + 0.016116604208946228, + 0.16306260228157043, + 0.006293892860412598 + ], + [ + -0.003423303598538041, + -0.9929068684577942, + 0.1188458800315857, + -0.27166375517845154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 452, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594211_38467645", + "mask_path": "../../mask/hdr_left_00452.png" + }, + { + "file_path": "../../rgb/hdr_left_00490.png", + "transform_matrix": [ + [ + 0.16028045117855072, + -0.05543205887079239, + -0.9855137467384338, + 0.03924846649169922 + ], + [ + 0.9869698286056519, + -0.00532666128128767, + 0.16081687808036804, + 0.01602533459663391 + ], + [ + -0.014163910411298275, + -0.9984483122825623, + 0.0538560152053833, + -0.31887948513031006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594214_838469982", + "mask_path": "../../mask/hdr_left_00490.png" + }, + { + "file_path": "../../rgb/hdr_left_00506.png", + "transform_matrix": [ + [ + 0.4221321940422058, + -0.015565311536192894, + -0.9064006209373474, + 0.14198023080825806 + ], + [ + 0.9057959318161011, + -0.03310341387987137, + 0.422419011592865, + -0.023429259657859802 + ], + [ + -0.03658003732562065, + -0.9993307590484619, + 0.00012498375144787133, + -0.3175482451915741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 506, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594216_438469648", + "mask_path": "../../mask/hdr_left_00506.png" + }, + { + "file_path": "../../rgb/hdr_left_00511.png", + "transform_matrix": [ + [ + 0.6549016237258911, + -0.013338177464902401, + -0.7555963397026062, + 0.20182332396507263 + ], + [ + 0.7540909051895142, + -0.05396182835102081, + 0.6545493602752686, + -0.08314374089241028 + ], + [ + -0.04950385540723801, + -0.9984539747238159, + -0.02528149075806141, + -0.33000826835632324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 511, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594216_938470363", + "mask_path": "../../mask/hdr_left_00511.png" + }, + { + "file_path": "../../rgb/hdr_left_00515.png", + "transform_matrix": [ + [ + 0.8342738151550293, + -0.04947928711771965, + -0.5491254329681396, + 0.2189670205116272 + ], + [ + 0.5460562705993652, + -0.06353513896465302, + 0.8353357911109924, + -0.17761188745498657 + ], + [ + -0.07622058689594269, + -0.9967523217201233, + -0.025987224653363228, + -0.32652804255485535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 515, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594217_338469505", + "mask_path": "../../mask/hdr_left_00515.png" + }, + { + "file_path": "../../rgb/hdr_left_00519.png", + "transform_matrix": [ + [ + 0.9573522806167603, + -0.06933547556400299, + -0.2804800570011139, + 0.25318172574043274 + ], + [ + 0.27622079849243164, + -0.06503511220216751, + 0.9588912725448608, + -0.2908114194869995 + ], + [ + -0.0847262293100357, + -0.9954712986946106, + -0.04310961067676544, + -0.33243343234062195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 519, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594217_738469123", + "mask_path": "../../mask/hdr_left_00519.png" + }, + { + "file_path": "../../rgb/hdr_left_00522.png", + "transform_matrix": [ + [ + 0.994260847568512, + -0.09670258313417435, + -0.04576035588979721, + 0.2531588673591614 + ], + [ + 0.041582923382520676, + -0.04478234425187111, + 0.9981309771537781, + -0.39271771907806396 + ], + [ + -0.09857108443975449, + -0.9943054914474487, + -0.040504150092601776, + -0.3302932381629944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_38470029", + "mask_path": "../../mask/hdr_left_00522.png" + }, + { + "file_path": "../../rgb/hdr_left_00525.png", + "transform_matrix": [ + [ + 0.9718807935714722, + -0.11290222406387329, + 0.20664183795452118, + 0.21467140316963196 + ], + [ + -0.2137027531862259, + -0.05436856672167778, + 0.9753846526145935, + -0.4992309510707855 + ], + [ + -0.09888827055692673, + -0.9921175241470337, + -0.0769672691822052, + -0.3089509606361389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 525, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_338469266", + "mask_path": "../../mask/hdr_left_00525.png" + }, + { + "file_path": "../../rgb/hdr_left_00528.png", + "transform_matrix": [ + [ + 0.8993486166000366, + -0.11268281936645508, + 0.4224623143672943, + 0.18136084079742432 + ], + [ + -0.428538978099823, + -0.03545789793133736, + 0.902827262878418, + -0.6114622354507446 + ], + [ + -0.0867534801363945, + -0.9929981231689453, + -0.08017798513174057, + -0.31417495012283325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 528, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_638469219", + "mask_path": "../../mask/hdr_left_00528.png" + }, + { + "file_path": "../../rgb/hdr_left_00545.png", + "transform_matrix": [ + [ + 0.6312519907951355, + -0.05936628580093384, + 0.7733023762702942, + 0.401507705450058 + ], + [ + -0.7740957140922546, + 0.013383538462221622, + 0.6329270601272583, + -1.0175906419754028 + ], + [ + -0.04792404919862747, + -0.998146653175354, + -0.037506792694330215, + -0.3180070221424103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 545, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_338469266", + "mask_path": "../../mask/hdr_left_00545.png" + }, + { + "file_path": "../../rgb/hdr_left_00546.png", + "transform_matrix": [ + [ + 0.6064606308937073, + -0.05147776007652283, + 0.793445348739624, + 0.435791939496994 + ], + [ + -0.7941815853118896, + 0.00908325519412756, + 0.6076126098632812, + -1.0512874126434326 + ], + [ + -0.03848559781908989, + -0.9986329078674316, + -0.035374049097299576, + -0.32136425375938416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 546, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_438469171", + "mask_path": "../../mask/hdr_left_00546.png" + }, + { + "file_path": "../../rgb/hdr_left_00548.png", + "transform_matrix": [ + [ + 0.5238720774650574, + -0.055916011333465576, + 0.8499596118927002, + 0.45189493894577026 + ], + [ + -0.8510795831680298, + 0.006580479443073273, + 0.5249953866004944, + -1.1230628490447998 + ], + [ + -0.034948788583278656, + -0.9984138011932373, + -0.04414164274930954, + -0.3262872099876404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 548, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_638469219", + "mask_path": "../../mask/hdr_left_00548.png" + }, + { + "file_path": "../../rgb/hdr_left_00550.png", + "transform_matrix": [ + [ + 0.4203760027885437, + -0.051355503499507904, + 0.905895471572876, + 0.4683241844177246 + ], + [ + -0.9070442914962769, + 0.002125146333128214, + 0.42102962732315063, + -1.1975923776626587 + ], + [ + -0.023547345772385597, + -0.9986782073974609, + -0.04568835347890854, + -0.3220680356025696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 550, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_838466405", + "mask_path": "../../mask/hdr_left_00550.png" + }, + { + "file_path": "../../rgb/hdr_left_00552.png", + "transform_matrix": [ + [ + 0.3410714864730835, + -0.045714352279901505, + 0.9389252066612244, + 0.48867347836494446 + ], + [ + -0.9399523138999939, + -0.0031493352726101875, + 0.34129127860069275, + -1.2775884866714478 + ], + [ + -0.012644919566810131, + -0.9989496469497681, + -0.04404344782233238, + -0.3158356249332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 552, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_38468599", + "mask_path": "../../mask/hdr_left_00552.png" + }, + { + "file_path": "../../rgb/hdr_left_00554.png", + "transform_matrix": [ + [ + 0.2843111753463745, + -0.049620285630226135, + 0.9574471116065979, + 0.5012884140014648 + ], + [ + -0.9587060213088989, + -0.007366079371422529, + 0.2843032777309418, + -1.3540161848068237 + ], + [ + -0.007054576650261879, + -0.998741090297699, + -0.04966552555561066, + -0.32060861587524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 554, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_238469600", + "mask_path": "../../mask/hdr_left_00554.png" + }, + { + "file_path": "../../rgb/hdr_left_00556.png", + "transform_matrix": [ + [ + 0.2508764863014221, + -0.039655815809965134, + 0.9672064781188965, + 0.5205070972442627 + ], + [ + -0.9680190682411194, + -0.010540885850787163, + 0.25065505504608154, + -1.4333231449127197 + ], + [ + 0.0002552816295064986, + -0.9991578459739685, + -0.041032034903764725, + -0.3158130943775177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 556, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_438469171", + "mask_path": "../../mask/hdr_left_00556.png" + }, + { + "file_path": "../../rgb/hdr_left_00558.png", + "transform_matrix": [ + [ + 0.2540300488471985, + -0.04052106291055679, + 0.9663471579551697, + 0.5510768294334412 + ], + [ + -0.9671960473060608, + -0.009928237646818161, + 0.2538369596004486, + -1.5143367052078247 + ], + [ + -0.000691619236022234, + -0.9991293549537659, + -0.041713882237672806, + -0.3164457082748413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 558, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_638470172", + "mask_path": "../../mask/hdr_left_00558.png" + }, + { + "file_path": "../../rgb/hdr_left_00560.png", + "transform_matrix": [ + [ + 0.2584657371044159, + -0.041156720370054245, + 0.9651433825492859, + 0.582255482673645 + ], + [ + -0.9660201668739319, + -0.010296939872205257, + 0.2582615315914154, + -1.5918176174163818 + ], + [ + -0.0006911761010996997, + -0.999099612236023, + -0.04241962358355522, + -0.31963205337524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 560, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_838470220", + "mask_path": "../../mask/hdr_left_00560.png" + }, + { + "file_path": "../../rgb/hdr_left_00562.png", + "transform_matrix": [ + [ + 0.24218638241291046, + -0.0311287734657526, + 0.9697301983833313, + 0.6184301376342773 + ], + [ + -0.9702296853065491, + -0.007603286765515804, + 0.24206706881523132, + -1.6691186428070068 + ], + [ + -0.00016211214824579656, + -0.99948650598526, + -0.032043471932411194, + -0.31267398595809937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 562, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_38469076", + "mask_path": "../../mask/hdr_left_00562.png" + }, + { + "file_path": "../../rgb/hdr_left_00563.png", + "transform_matrix": [ + [ + 0.24258668720722198, + -0.03141985461115837, + 0.9696208834648132, + 0.6422353982925415 + ], + [ + -0.9701284170150757, + -0.006192861590534449, + 0.242513045668602, + -1.7139497995376587 + ], + [ + -0.0016149987932294607, + -0.9994871616363525, + -0.031983595341444016, + -0.3114805817604065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 563, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_138468980", + "mask_path": "../../mask/hdr_left_00563.png" + }, + { + "file_path": "../../rgb/hdr_left_00565.png", + "transform_matrix": [ + [ + 0.24852538108825684, + -0.0342559888958931, + 0.9680194854736328, + 0.6780503392219543 + ], + [ + -0.9686252474784851, + -0.008849529549479485, + 0.2483678162097931, + -1.7974084615707397 + ], + [ + 5.8429948694538325e-05, + -0.9993739128112793, + -0.03538054600358009, + -0.31755170226097107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 565, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_338469505", + "mask_path": "../../mask/hdr_left_00565.png" + }, + { + "file_path": "../../rgb/hdr_left_00567.png", + "transform_matrix": [ + [ + 0.23096005618572235, + -0.03089745156466961, + 0.9724724888801575, + 0.706223726272583 + ], + [ + -0.9729557037353516, + -0.011246594600379467, + 0.2307174652814865, + -1.879057765007019 + ], + [ + 0.003808420617133379, + -0.9994593262672424, + -0.032659370452165604, + -0.30919355154037476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 567, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_538470506", + "mask_path": "../../mask/hdr_left_00567.png" + }, + { + "file_path": "../../rgb/hdr_left_00568.png", + "transform_matrix": [ + [ + 0.22892726957798004, + -0.025388231500983238, + 0.9731124639511108, + 0.730165421962738 + ], + [ + -0.973426878452301, + -0.011808494105935097, + 0.22869320213794708, + -1.927405595779419 + ], + [ + 0.005684871692210436, + -0.9996079802513123, + -0.02741687372326851, + -0.308447003364563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 568, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_638470172", + "mask_path": "../../mask/hdr_left_00568.png" + }, + { + "file_path": "../../rgb/hdr_left_00569.png", + "transform_matrix": [ + [ + 0.23522548377513885, + -0.021746553480625153, + 0.9716974496841431, + 0.7561590671539307 + ], + [ + -0.9718936681747437, + -0.01510585192590952, + 0.23493491113185883, + -1.9763847589492798 + ], + [ + 0.00956929475069046, + -0.9996494650840759, + -0.024688610807061195, + -0.3112552762031555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 569, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_738469600", + "mask_path": "../../mask/hdr_left_00569.png" + }, + { + "file_path": "../../rgb/hdr_left_00571.png", + "transform_matrix": [ + [ + 0.2288946956396103, + -0.03466721251606941, + 0.9728336930274963, + 0.779202401638031 + ], + [ + -0.9734103083610535, + -0.01731107011437416, + 0.22841346263885498, + -2.065615653991699 + ], + [ + 0.008922334760427475, + -0.9992489814758301, + -0.03770783543586731, + -0.3076832890510559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 571, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_938469409", + "mask_path": "../../mask/hdr_left_00571.png" + }, + { + "file_path": "../../rgb/hdr_left_00573.png", + "transform_matrix": [ + [ + 0.22043368220329285, + -0.030288001522421837, + 0.9749315977096558, + 0.8171285390853882 + ], + [ + -0.9753800630569458, + -0.01353039313107729, + 0.22011476755142212, + -2.1697981357574463 + ], + [ + 0.006524368654936552, + -0.9994496703147888, + -0.032524868845939636, + -0.30526095628738403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 573, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_138472080", + "mask_path": "../../mask/hdr_left_00573.png" + }, + { + "file_path": "../../rgb/hdr_left_00574.png", + "transform_matrix": [ + [ + 0.22636795043945312, + -0.03156938776373863, + 0.9735300540924072, + 0.842818558216095 + ], + [ + -0.9739696383476257, + -0.019504806026816368, + 0.22583766281604767, + -2.2232580184936523 + ], + [ + 0.011858956888318062, + -0.9993112683296204, + -0.03516288474202156, + -0.3101624846458435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 574, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_238469600", + "mask_path": "../../mask/hdr_left_00574.png" + }, + { + "file_path": "../../rgb/hdr_left_00575.png", + "transform_matrix": [ + [ + 0.22547756135463715, + -0.03690145164728165, + 0.9735492467880249, + 0.8576734662055969 + ], + [ + -0.9741482138633728, + -0.022868700325489044, + 0.22474943101406097, + -2.2839159965515137 + ], + [ + 0.013970221392810345, + -0.9990572929382324, + -0.04110385477542877, + -0.3081265985965729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 575, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_338470935", + "mask_path": "../../mask/hdr_left_00575.png" + }, + { + "file_path": "../../rgb/hdr_left_00576.png", + "transform_matrix": [ + [ + 0.21736003458499908, + -0.03862065449357033, + 0.9753270745277405, + 0.8731219172477722 + ], + [ + -0.9760083556175232, + -0.0216374471783638, + 0.21665507555007935, + -2.343639373779297 + ], + [ + 0.012736227363348007, + -0.9990196824073792, + -0.042397189885377884, + -0.302039235830307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 576, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_438470363", + "mask_path": "../../mask/hdr_left_00576.png" + }, + { + "file_path": "../../rgb/hdr_left_00577.png", + "transform_matrix": [ + [ + 0.21236853301525116, + -0.034022022038698196, + 0.9765971302986145, + 0.8898806571960449 + ], + [ + -0.9771149754524231, + -0.019749246537685394, + 0.21179309487342834, + -2.394458055496216 + ], + [ + 0.01208142563700676, + -0.9992259740829468, + -0.03743753954768181, + -0.2995302081108093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 577, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_538470506", + "mask_path": "../../mask/hdr_left_00577.png" + }, + { + "file_path": "../../rgb/hdr_left_00578.png", + "transform_matrix": [ + [ + 0.21717947721481323, + -0.031248603016138077, + 0.9756314158439636, + 0.9123672246932983 + ], + [ + -0.9760947823524475, + -0.015636270865797997, + 0.2167818546295166, + -2.4503607749938965 + ], + [ + 0.008481104858219624, + -0.9993894100189209, + -0.03389747813344002, + -0.3030475974082947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 578, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_638470411", + "mask_path": "../../mask/hdr_left_00578.png" + }, + { + "file_path": "../../rgb/hdr_left_00579.png", + "transform_matrix": [ + [ + 0.22412361204624176, + -0.03168429061770439, + 0.9740455746650696, + 0.9371301531791687 + ], + [ + -0.9744946956634521, + -0.01892561838030815, + 0.22361136972904205, + -2.5085153579711914 + ], + [ + 0.011349446140229702, + -0.9993187785148621, + -0.035117845982313156, + -0.30780088901519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 579, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_738469362", + "mask_path": "../../mask/hdr_left_00579.png" + }, + { + "file_path": "../../rgb/hdr_left_00580.png", + "transform_matrix": [ + [ + 0.222464919090271, + -0.03480196371674538, + 0.974319338798523, + 0.9532760381698608 + ], + [ + -0.9748771786689758, + -0.019343556836247444, + 0.22190138697624207, + -2.5694644451141357 + ], + [ + 0.011124199256300926, + -0.9992070198059082, + -0.03823090344667435, + -0.3040829300880432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 580, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_838471651", + "mask_path": "../../mask/hdr_left_00580.png" + }, + { + "file_path": "../../rgb/hdr_left_00581.png", + "transform_matrix": [ + [ + 0.21164150536060333, + -0.03667818754911423, + 0.9766588807106018, + 0.9705145955085754 + ], + [ + -0.9773045182228088, + -0.017299272119998932, + 0.211131751537323, + -2.6266732215881348 + ], + [ + 0.00915155652910471, + -0.9991774559020996, + -0.03950699791312218, + -0.2986154556274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 581, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_938471078", + "mask_path": "../../mask/hdr_left_00581.png" + }, + { + "file_path": "../../rgb/hdr_left_00582.png", + "transform_matrix": [ + [ + 0.205084890127182, + -0.031053323298692703, + 0.9782514572143555, + 0.9900372624397278 + ], + [ + -0.9786954522132874, + -0.016474228352308273, + 0.20465506613254547, + -2.6835174560546875 + ], + [ + 0.009760716930031776, + -0.999381959438324, + -0.0337703600525856, + -0.294489324092865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 582, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_38469791", + "mask_path": "../../mask/hdr_left_00582.png" + }, + { + "file_path": "../../rgb/hdr_left_00583.png", + "transform_matrix": [ + [ + 0.20824521780014038, + -0.03040754795074463, + 0.9776038527488708, + 1.0164827108383179 + ], + [ + -0.9780397415161133, + -0.015153775922954082, + 0.20786675810813904, + -2.7417776584625244 + ], + [ + 0.00849367119371891, + -0.9994227290153503, + -0.03289548680186272, + -0.2988363206386566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 583, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_138470888", + "mask_path": "../../mask/hdr_left_00583.png" + }, + { + "file_path": "../../rgb/hdr_left_00584.png", + "transform_matrix": [ + [ + 0.21319833397865295, + -0.032678503543138504, + 0.9764623045921326, + 1.0416125059127808 + ], + [ + -0.9769521355628967, + -0.017897550016641617, + 0.21270644664764404, + -2.7950217723846436 + ], + [ + 0.010525355115532875, + -0.9993057250976562, + -0.03574106842279434, + -0.30520474910736084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 584, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_238470315", + "mask_path": "../../mask/hdr_left_00584.png" + }, + { + "file_path": "../../rgb/hdr_left_00585.png", + "transform_matrix": [ + [ + 0.2093517929315567, + -0.035454899072647095, + 0.9771973490715027, + 1.0595951080322266 + ], + [ + -0.9777807593345642, + -0.018626073375344276, + 0.2088010162115097, + -2.847806930541992 + ], + [ + 0.010798330418765545, + -0.9991977214813232, + -0.03856651484966278, + -0.3030620515346527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 585, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_338469982", + "mask_path": "../../mask/hdr_left_00585.png" + }, + { + "file_path": "../../rgb/hdr_left_00586.png", + "transform_matrix": [ + [ + 0.20010697841644287, + -0.03754407912492752, + 0.9790544509887695, + 1.0775651931762695 + ], + [ + -0.9796987771987915, + -0.020049860700964928, + 0.19946986436843872, + -2.9050426483154297 + ], + [ + 0.012140994891524315, + -0.9990938305854797, + -0.0407940037548542, + -0.29708096385002136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 586, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_438470125", + "mask_path": "../../mask/hdr_left_00586.png" + }, + { + "file_path": "../../rgb/hdr_left_00587.png", + "transform_matrix": [ + [ + 0.19567322731018066, + -0.032692473381757736, + 0.9801240563392639, + 1.0962963104248047 + ], + [ + -0.9805992841720581, + -0.018454670906066895, + 0.19515258073806763, + -2.9608356952667236 + ], + [ + 0.011707846075296402, + -0.9992951154708862, + -0.035669293254613876, + -0.2918332815170288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 587, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_538469552", + "mask_path": "../../mask/hdr_left_00587.png" + }, + { + "file_path": "../../rgb/hdr_left_00588.png", + "transform_matrix": [ + [ + 0.19990618526935577, + -0.03321252763271332, + 0.9792519807815552, + 1.1224726438522339 + ], + [ + -0.9797877073287964, + -0.014241296797990799, + 0.19953253865242004, + -3.01755952835083 + ], + [ + 0.007318839430809021, + -0.999346911907196, + -0.035388145595788956, + -0.29773467779159546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 588, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_638469457", + "mask_path": "../../mask/hdr_left_00588.png" + }, + { + "file_path": "../../rgb/hdr_left_00589.png", + "transform_matrix": [ + [ + 0.20664598047733307, + -0.03357788547873497, + 0.9778394103050232, + 1.1467875242233276 + ], + [ + -0.9783697128295898, + -0.01679186150431633, + 0.20618142187595367, + -3.0716805458068848 + ], + [ + 0.00949660874903202, + -0.9992950558662415, + -0.03632155433297157, + -0.3038051128387451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 589, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_738469123", + "mask_path": "../../mask/hdr_left_00589.png" + }, + { + "file_path": "../../rgb/hdr_left_00590.png", + "transform_matrix": [ + [ + 0.20473116636276245, + -0.03595196455717087, + 0.9781578183174133, + 1.1624573469161987 + ], + [ + -0.978759229183197, + -0.01848522201180458, + 0.20417767763137817, + -3.1366257667541504 + ], + [ + 0.010740871541202068, + -0.9991825819015503, + -0.03897281363606453, + -0.29874926805496216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 590, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_838469266", + "mask_path": "../../mask/hdr_left_00590.png" + }, + { + "file_path": "../../rgb/hdr_left_00591.png", + "transform_matrix": [ + [ + 0.19523939490318298, + -0.03780378773808479, + 0.9800267815589905, + 1.181348204612732 + ], + [ + -0.9806999564170837, + -0.01816444657742977, + 0.1946728378534317, + -3.1949894428253174 + ], + [ + 0.010442270897328854, + -0.9991201162338257, + -0.0406205840408802, + -0.2935855984687805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 591, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_938468694", + "mask_path": "../../mask/hdr_left_00591.png" + }, + { + "file_path": "../../rgb/hdr_left_00592.png", + "transform_matrix": [ + [ + 0.19058334827423096, + -0.03067944012582302, + 0.9811915159225464, + 1.202906847000122 + ], + [ + -0.9816209673881531, + -0.016039684414863586, + 0.19016531109809875, + -3.25080943107605 + ], + [ + 0.00990383792668581, + -0.9994005560874939, + -0.03317248076200485, + -0.2893798351287842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 592, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_38469791", + "mask_path": "../../mask/hdr_left_00592.png" + }, + { + "file_path": "../../rgb/hdr_left_00593.png", + "transform_matrix": [ + [ + 0.1948571354150772, + -0.030461270362138748, + 0.9803584814071655, + 1.2308317422866821 + ], + [ + -0.9808117151260376, + -0.012413437478244305, + 0.1945614516735077, + -3.3135135173797607 + ], + [ + 0.006243029609322548, + -0.9994588494300842, + -0.03229561448097229, + -0.29494667053222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 593, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_138469696", + "mask_path": "../../mask/hdr_left_00593.png" + }, + { + "file_path": "../../rgb/hdr_left_00594.png", + "transform_matrix": [ + [ + 0.20115794241428375, + -0.03059118427336216, + 0.9790809750556946, + 1.258506417274475 + ], + [ + -0.9795119166374207, + -0.01606135442852974, + 0.20074467360973358, + -3.3717527389526367 + ], + [ + 0.00958434771746397, + -0.9994029998779297, + -0.033195290714502335, + -0.30275440216064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 594, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_238470554", + "mask_path": "../../mask/hdr_left_00594.png" + }, + { + "file_path": "../../rgb/hdr_left_00595.png", + "transform_matrix": [ + [ + 0.19895996153354645, + -0.032411061227321625, + 0.9794715046882629, + 1.2789037227630615 + ], + [ + -0.9799431562423706, + -0.018036415800452232, + 0.1984589546918869, + -3.4406278133392334 + ], + [ + 0.011233890429139137, + -0.9993119239807129, + -0.0353495217859745, + -0.2970338761806488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 595, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_338470697", + "mask_path": "../../mask/hdr_left_00595.png" + }, + { + "file_path": "../../rgb/hdr_left_00596.png", + "transform_matrix": [ + [ + 0.18922625482082367, + -0.03284617140889168, + 0.9813839793205261, + 1.2978665828704834 + ], + [ + -0.9818760752677917, + -0.017138833180069923, + 0.18874754011631012, + -3.5080530643463135 + ], + [ + 0.010620142333209515, + -0.9993135333061218, + -0.035493988543748856, + -0.28736019134521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 596, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_438470125", + "mask_path": "../../mask/hdr_left_00596.png" + }, + { + "file_path": "../../rgb/hdr_left_00597.png", + "transform_matrix": [ + [ + 0.18221955001354218, + -0.02420056425035, + 0.9829599857330322, + 1.3252407312393188 + ], + [ + -0.983173131942749, + -0.017612405121326447, + 0.1818254441022873, + -3.5720300674438477 + ], + [ + 0.012912013567984104, + -0.9995520114898682, + -0.027002662420272827, + -0.28334546089172363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 597, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_538469314", + "mask_path": "../../mask/hdr_left_00597.png" + }, + { + "file_path": "../../rgb/hdr_left_00598.png", + "transform_matrix": [ + [ + 0.18378081917762756, + -0.016406042501330376, + 0.982830286026001, + 1.3620166778564453 + ], + [ + -0.9828547239303589, + -0.01819591224193573, + 0.18348167836666107, + -3.6511664390563965 + ], + [ + 0.014873283915221691, + -0.9996998310089111, + -0.01946881413459778, + -0.28682854771614075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 598, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_638469219", + "mask_path": "../../mask/hdr_left_00598.png" + }, + { + "file_path": "../../rgb/hdr_left_00599.png", + "transform_matrix": [ + [ + 0.1901189237833023, + -0.01791078969836235, + 0.9815977215766907, + 1.391464114189148 + ], + [ + -0.9816052913665771, + -0.02127416618168354, + 0.18973223865032196, + -3.7191734313964844 + ], + [ + 0.01748441718518734, + -0.9996132850646973, + -0.021625947207212448, + -0.28905388712882996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 599, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_738469123", + "mask_path": "../../mask/hdr_left_00599.png" + }, + { + "file_path": "../../rgb/hdr_left_00600.png", + "transform_matrix": [ + [ + 0.18848739564418793, + -0.021621325984597206, + 0.9818375706672668, + 1.415000557899475 + ], + [ + -0.9818820953369141, + -0.023990055546164513, + 0.1879677027463913, + -3.7904226779937744 + ], + [ + 0.019490228965878487, + -0.9994783997535706, + -0.025751417502760887, + -0.28643161058425903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 600, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_838469505", + "mask_path": "../../mask/hdr_left_00600.png" + }, + { + "file_path": "../../rgb/hdr_left_00601.png", + "transform_matrix": [ + [ + 0.17836856842041016, + -0.024716204032301903, + 0.9836532473564148, + 1.433193325996399 + ], + [ + -0.9837819933891296, + -0.02368975058197975, + 0.17779673635959625, + -3.8665757179260254 + ], + [ + 0.01890804059803486, + -0.999413788318634, + -0.028540857136249542, + -0.27279603481292725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 601, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_938470363", + "mask_path": "../../mask/hdr_left_00601.png" + }, + { + "file_path": "../../rgb/hdr_left_00602.png", + "transform_matrix": [ + [ + 0.17032036185264587, + -0.017873026430606842, + 0.9852266311645508, + 1.4577810764312744 + ], + [ + -0.9851944446563721, + -0.02294147200882435, + 0.1698985993862152, + -3.9345481395721436 + ], + [ + 0.019565945491194725, + -0.9995771050453186, + -0.021515803411602974, + -0.2684924304485321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 602, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_38469791", + "mask_path": "../../mask/hdr_left_00602.png" + }, + { + "file_path": "../../rgb/hdr_left_00603.png", + "transform_matrix": [ + [ + 0.17260661721229553, + -0.01619662158191204, + 0.9848577380180359, + 1.4920932054519653 + ], + [ + -0.9848234057426453, + -0.021273016929626465, + 0.17225076258182526, + -4.014284610748291 + ], + [ + 0.01816101185977459, + -0.9996424913406372, + -0.019622672349214554, + -0.2738317549228668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 603, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_138470172", + "mask_path": "../../mask/hdr_left_00603.png" + }, + { + "file_path": "../../rgb/hdr_left_00604.png", + "transform_matrix": [ + [ + 0.17986083030700684, + -0.017772674560546875, + 0.9835315346717834, + 1.524601697921753 + ], + [ + -0.9834717512130737, + -0.024410124868154526, + 0.17940883338451385, + -4.091504096984863 + ], + [ + 0.02081955410540104, + -0.999544084072113, + -0.021869346499443054, + -0.28043070435523987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 604, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_238469362", + "mask_path": "../../mask/hdr_left_00604.png" + }, + { + "file_path": "../../rgb/hdr_left_00605.png", + "transform_matrix": [ + [ + 0.17807160317897797, + -0.021482815966010094, + 0.9837830066680908, + 1.5499391555786133 + ], + [ + -0.9837422966957092, + -0.02753116749227047, + 0.17746303975582123, + -4.163565158843994 + ], + [ + 0.023272287100553513, + -0.999390184879303, + -0.026036066934466362, + -0.2758708894252777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 605, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_338468551", + "mask_path": "../../mask/hdr_left_00605.png" + }, + { + "file_path": "../../rgb/hdr_left_00606.png", + "transform_matrix": [ + [ + 0.16732850670814514, + -0.023663315922021866, + 0.9856171011924744, + 1.5636675357818604 + ], + [ + -0.9856818914413452, + -0.025096790865063667, + 0.16673694550991058, + -4.231842994689941 + ], + [ + 0.020790275186300278, + -0.999405026435852, + -0.027523908764123917, + -0.26240819692611694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 606, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_438469648", + "mask_path": "../../mask/hdr_left_00606.png" + }, + { + "file_path": "../../rgb/hdr_left_00607.png", + "transform_matrix": [ + [ + 0.15965384244918823, + -0.01462840847671032, + 0.9870645999908447, + 1.5876437425613403 + ], + [ + -0.986940324306488, + -0.024072809144854546, + 0.15927699208259583, + -4.297356128692627 + ], + [ + 0.021431447938084602, + -0.9996032118797302, + -0.01828068308532238, + -0.2582387328147888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 607, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_538469076", + "mask_path": "../../mask/hdr_left_00607.png" + }, + { + "file_path": "../../rgb/hdr_left_00608.png", + "transform_matrix": [ + [ + 0.16296619176864624, + -0.008907697163522243, + 0.9865914583206177, + 1.6223176717758179 + ], + [ + -0.9864004850387573, + -0.023112703114748, + 0.16272597014904022, + -4.3716559410095215 + ], + [ + 0.021353280171751976, + -0.9996932148933411, + -0.0125531405210495, + -0.26168739795684814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 608, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_638470649", + "mask_path": "../../mask/hdr_left_00608.png" + }, + { + "file_path": "../../rgb/hdr_left_00609.png", + "transform_matrix": [ + [ + 0.17030709981918335, + -0.011357632465660572, + 0.9853255748748779, + 1.6576282978057861 + ], + [ + -0.9851085543632507, + -0.02590044215321541, + 0.1699710488319397, + -4.439181327819824 + ], + [ + 0.023589899763464928, + -0.9996000528335571, + -0.015599526464939117, + -0.2645808458328247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 609, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_738470315", + "mask_path": "../../mask/hdr_left_00609.png" + }, + { + "file_path": "../../rgb/hdr_left_00610.png", + "transform_matrix": [ + [ + 0.16629479825496674, + -0.016104647889733315, + 0.9859445095062256, + 1.6755354404449463 + ], + [ + -0.9857786297798157, + -0.02726944349706173, + 0.16582141816616058, + -4.508092403411865 + ], + [ + 0.024215664714574814, + -0.9994984269142151, + -0.020410379394888878, + -0.2586894631385803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 610, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_838469743", + "mask_path": "../../mask/hdr_left_00610.png" + }, + { + "file_path": "../../rgb/hdr_left_00611.png", + "transform_matrix": [ + [ + 0.15575696527957916, + -0.017972776666283607, + 0.9876317977905273, + 1.6903494596481323 + ], + [ + -0.9875045418739319, + -0.027095085009932518, + 0.1552438586950302, + -4.581209182739258 + ], + [ + 0.023969803005456924, + -0.9994713068008423, + -0.021968446671962738, + -0.24709701538085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 611, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_938471555", + "mask_path": "../../mask/hdr_left_00611.png" + }, + { + "file_path": "../../rgb/hdr_left_00612.png", + "transform_matrix": [ + [ + 0.15210847556591034, + -0.01037728413939476, + 0.9883092641830444, + 1.7169768810272217 + ], + [ + -0.988107442855835, + -0.024366244673728943, + 0.15182161331176758, + -4.647556304931641 + ], + [ + 0.02250588685274124, + -0.9996492862701416, + -0.013960180804133415, + -0.24243146181106567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 612, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_38470268", + "mask_path": "../../mask/hdr_left_00612.png" + }, + { + "file_path": "../../rgb/hdr_left_00613.png", + "transform_matrix": [ + [ + 0.15686695277690887, + -0.008168558590114117, + 0.9875859618186951, + 1.748154640197754 + ], + [ + -0.9874087572097778, + -0.021963149309158325, + 0.1566571742296219, + -4.720953941345215 + ], + [ + 0.02041083388030529, + -0.9997254610061646, + -0.011510999873280525, + -0.24718528985977173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 613, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_138470649", + "mask_path": "../../mask/hdr_left_00613.png" + }, + { + "file_path": "../../rgb/hdr_left_00614.png", + "transform_matrix": [ + [ + 0.15951180458068848, + -0.009737511165440083, + 0.9871479272842407, + 1.7676609754562378 + ], + [ + -0.9869304299354553, + -0.024763884022831917, + 0.15923240780830383, + -4.7841081619262695 + ], + [ + 0.022895092144608498, + -0.9996459484100342, + -0.013560374267399311, + -0.24983491003513336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 614, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_238471984", + "mask_path": "../../mask/hdr_left_00614.png" + }, + { + "file_path": "../../rgb/hdr_left_00615.png", + "transform_matrix": [ + [ + 0.15290597081184387, + -0.012690597213804722, + 0.9881592988967896, + 1.7800326347351074 + ], + [ + -0.9879704117774963, + -0.025349151343107224, + 0.15255124866962433, + -4.85206937789917 + ], + [ + 0.023113029077649117, + -0.9995981454849243, + -0.016413966193795204, + -0.2373490035533905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 615, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_338471174", + "mask_path": "../../mask/hdr_left_00615.png" + }, + { + "file_path": "../../rgb/hdr_left_00616.png", + "transform_matrix": [ + [ + 0.14577119052410126, + -0.011265357956290245, + 0.9892542362213135, + 1.8009189367294312 + ], + [ + -0.9890379309654236, + -0.02546142041683197, + 0.1454494148492813, + -4.91670036315918 + ], + [ + 0.02354927733540535, + -0.9996123313903809, + -0.014853406697511673, + -0.22536253929138184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 616, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_438469648", + "mask_path": "../../mask/hdr_left_00616.png" + }, + { + "file_path": "../../rgb/hdr_left_00617.png", + "transform_matrix": [ + [ + 0.14774712920188904, + -0.007385095115751028, + 0.9889975786209106, + 1.83792245388031 + ], + [ + -0.9887752532958984, + -0.023577170446515083, + 0.14753788709640503, + -4.993908882141113 + ], + [ + 0.0222281813621521, + -0.9996948838233948, + -0.01078565139323473, + -0.22682002186775208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 617, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_538472175", + "mask_path": "../../mask/hdr_left_00617.png" + }, + { + "file_path": "../../rgb/hdr_left_00618.png", + "transform_matrix": [ + [ + 0.15449203550815582, + -0.0057691289111971855, + 0.9879772067070007, + 1.867831826210022 + ], + [ + -0.9876136183738708, + -0.028647959232330322, + 0.15426790714263916, + -5.07742166519165 + ], + [ + 0.027413534000515938, + -0.9995729923248291, + -0.010123545303940773, + -0.23569011688232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 618, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_638470649", + "mask_path": "../../mask/hdr_left_00618.png" + }, + { + "file_path": "../../rgb/hdr_left_00619.png", + "transform_matrix": [ + [ + 0.15317969024181366, + -0.010094564408063889, + 0.9881467819213867, + 1.8817944526672363 + ], + [ + -0.9876959919929504, + -0.033443670719861984, + 0.15276817977428436, + -5.138755798339844 + ], + [ + 0.03150511905550957, + -0.9993896484375, + -0.015093248337507248, + -0.2295226901769638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 619, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_738470315", + "mask_path": "../../mask/hdr_left_00619.png" + }, + { + "file_path": "../../rgb/hdr_left_00620.png", + "transform_matrix": [ + [ + 0.14324992895126343, + -0.010787557810544968, + 0.9896277189254761, + 1.8930493593215942 + ], + [ + -0.9892410635948181, + -0.03155779466032982, + 0.14284998178482056, + -5.199154853820801 + ], + [ + 0.02968946285545826, + -0.999443769454956, + -0.015192144550383091, + -0.2135983109474182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 620, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_838470458", + "mask_path": "../../mask/hdr_left_00620.png" + }, + { + "file_path": "../../rgb/hdr_left_00621.png", + "transform_matrix": [ + [ + 0.14020663499832153, + -0.0039756461046636105, + 0.9901142120361328, + 1.9132119417190552 + ], + [ + -0.9896782636642456, + -0.030506029725074768, + 0.1400224268436432, + -5.251489639282227 + ], + [ + 0.029647771269083023, + -0.9995267391204834, + -0.008211755193769932, + -0.20524340867996216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 621, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_938471555", + "mask_path": "../../mask/hdr_left_00621.png" + }, + { + "file_path": "../../rgb/hdr_left_03650.png", + "transform_matrix": [ + [ + -0.19628500938415527, + 0.008936875499784946, + -0.980506181716919, + 0.8966902494430542 + ], + [ + 0.980409562587738, + -0.014939959160983562, + -0.1964019387960434, + -4.641698837280273 + ], + [ + -0.016403941437602043, + -0.9998485445976257, + -0.0058293030597269535, + -0.2650425136089325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3650, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_838468313", + "mask_path": "../../mask/hdr_left_03650.png" + }, + { + "file_path": "../../rgb/hdr_left_03651.png", + "transform_matrix": [ + [ + -0.19683577120304108, + 0.008820055052638054, + -0.9803968071937561, + 0.8665747046470642 + ], + [ + 0.9802849292755127, + -0.015808340162038803, + -0.19695551693439484, + -4.579309940338135 + ], + [ + -0.01723560504615307, + -0.9998362064361572, + -0.005534519907087088, + -0.27366769313812256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3651, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_938467502", + "mask_path": "../../mask/hdr_left_03651.png" + }, + { + "file_path": "../../rgb/hdr_left_03652.png", + "transform_matrix": [ + [ + -0.1942826509475708, + 0.006648760288953781, + -0.980923056602478, + 0.8385224938392639 + ], + [ + 0.9807518124580383, + -0.018558664247393608, + -0.19437453150749207, + -4.51088809967041 + ], + [ + -0.019496973603963852, + -0.9998056888580322, + -0.0029151556082069874, + -0.2795213460922241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3652, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_38468360", + "mask_path": "../../mask/hdr_left_03652.png" + }, + { + "file_path": "../../rgb/hdr_left_03653.png", + "transform_matrix": [ + [ + -0.18404154479503632, + 0.008068800903856754, + -0.9828853607177734, + 0.8132472038269043 + ], + [ + 0.982641339302063, + -0.0222304780036211, + -0.18417838215827942, + -4.4360127449035645 + ], + [ + -0.023336106911301613, + -0.9997203350067139, + -0.003837403142824769, + -0.27197083830833435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3653, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_138468265", + "mask_path": "../../mask/hdr_left_03653.png" + }, + { + "file_path": "../../rgb/hdr_left_03654.png", + "transform_matrix": [ + [ + -0.17139458656311035, + 0.0008518507820554078, + -0.9852021336555481, + 0.7955634593963623 + ], + [ + 0.9849988222122192, + -0.020181924104690552, + -0.17137669026851654, + -4.370349407196045 + ], + [ + -0.020029259845614433, + -0.9997960329055786, + 0.00262000085785985, + -0.2624877095222473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3654, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_238469123", + "mask_path": "../../mask/hdr_left_03654.png" + }, + { + "file_path": "../../rgb/hdr_left_03655.png", + "transform_matrix": [ + [ + -0.1602681577205658, + -0.00548705505207181, + -0.9870582818984985, + 0.7740472555160522 + ], + [ + 0.9869459867477417, + -0.016963616013526917, + -0.16015563905239105, + -4.298666954040527 + ], + [ + -0.015865294262766838, + -0.9998410940170288, + 0.00813415739685297, + -0.26320594549179077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3655, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_338468313", + "mask_path": "../../mask/hdr_left_03655.png" + }, + { + "file_path": "../../rgb/hdr_left_03656.png", + "transform_matrix": [ + [ + -0.1560206562280655, + -0.003243673127144575, + -0.9877485036849976, + 0.7375810742378235 + ], + [ + 0.9876542687416077, + -0.01470990665256977, + -0.15595750510692596, + -4.216888904571533 + ], + [ + -0.014023812487721443, + -0.9998866319656372, + 0.00549867982044816, + -0.26669245958328247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3656, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_438468217", + "mask_path": "../../mask/hdr_left_03656.png" + }, + { + "file_path": "../../rgb/hdr_left_03657.png", + "transform_matrix": [ + [ + -0.16119225323200226, + 0.0016758688725531101, + -0.9869216084480286, + 0.7030477523803711 + ], + [ + 0.9867954254150391, + -0.01580345630645752, + -0.1611984819173813, + -4.140819549560547 + ], + [ + -0.015866920351982117, + -0.9998737573623657, + 0.0008936579688452184, + -0.2720240652561188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3657, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_538468122", + "mask_path": "../../mask/hdr_left_03657.png" + }, + { + "file_path": "../../rgb/hdr_left_03658.png", + "transform_matrix": [ + [ + -0.16343903541564941, + -9.969046368496493e-05, + -0.9865533709526062, + 0.6810042262077332 + ], + [ + 0.9863982796669006, + -0.017750656232237816, + -0.16341151297092438, + -4.074869155883789 + ], + [ + -0.01749568060040474, + -0.9998425245285034, + 0.002999486168846488, + -0.2788364291191101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3658, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_638467550", + "mask_path": "../../mask/hdr_left_03658.png" + }, + { + "file_path": "../../rgb/hdr_left_03659.png", + "transform_matrix": [ + [ + -0.15984795987606049, + -0.002363273873925209, + -0.9871388673782349, + 0.6593225598335266 + ], + [ + 0.9869099855422974, + -0.022045379504561424, + -0.15975816547870636, + -4.004344940185547 + ], + [ + -0.02138429693877697, + -0.9997541904449463, + 0.005856249947100878, + -0.2828362286090851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3659, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_738468647", + "mask_path": "../../mask/hdr_left_03659.png" + }, + { + "file_path": "../../rgb/hdr_left_03660.png", + "transform_matrix": [ + [ + -0.14780104160308838, + -0.0009646216058172286, + -0.9890166521072388, + 0.6382164359092712 + ], + [ + 0.9887990355491638, + -0.021138690412044525, + -0.14774790406227112, + -3.9359290599823 + ], + [ + -0.020763996988534927, + -0.9997761249542236, + 0.004078135825693607, + -0.27068376541137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3660, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_838468313", + "mask_path": "../../mask/hdr_left_03660.png" + }, + { + "file_path": "../../rgb/hdr_left_03661.png", + "transform_matrix": [ + [ + -0.13478295505046844, + -0.006944513414055109, + -0.9908508062362671, + 0.6185330748558044 + ], + [ + 0.9907398819923401, + -0.017466910183429718, + -0.1346454620361328, + -3.8669118881225586 + ], + [ + -0.016372056677937508, + -0.9998233318328857, + 0.009234449826180935, + -0.26633283495903015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3661, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_938468694", + "mask_path": "../../mask/hdr_left_03661.png" + }, + { + "file_path": "../../rgb/hdr_left_03662.png", + "transform_matrix": [ + [ + -0.1265900880098343, + -0.008566450327634811, + -0.99191814661026, + 0.588375985622406 + ], + [ + 0.9918606281280518, + -0.014893034473061562, + -0.1264541745185852, + -3.783287286758423 + ], + [ + -0.013689406216144562, + -0.9998523592948914, + 0.010382036678493023, + -0.2706432342529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3662, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_38468599", + "mask_path": "../../mask/hdr_left_03662.png" + }, + { + "file_path": "../../rgb/hdr_left_03663.png", + "transform_matrix": [ + [ + -0.12959232926368713, + -0.005530948285013437, + -0.99155193567276, + 0.5562869906425476 + ], + [ + 0.9914717674255371, + -0.014609178528189659, + -0.1295003592967987, + -3.6970877647399902 + ], + [ + -0.013769499026238918, + -0.9998780488967896, + 0.007377019617706537, + -0.2780759632587433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3663, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_138468027", + "mask_path": "../../mask/hdr_left_03663.png" + }, + { + "file_path": "../../rgb/hdr_left_03664.png", + "transform_matrix": [ + [ + -0.1307869553565979, + -0.0054969461634755135, + -0.9913952350616455, + 0.5269609689712524 + ], + [ + 0.9913309216499329, + -0.013387570157647133, + -0.13070426881313324, + -3.616804599761963 + ], + [ + -0.012553898617625237, + -0.9998953342437744, + 0.007200214546173811, + -0.28235238790512085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3664, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_238468885", + "mask_path": "../../mask/hdr_left_03664.png" + }, + { + "file_path": "../../rgb/hdr_left_03665.png", + "transform_matrix": [ + [ + -0.12250949442386627, + -0.008421658538281918, + -0.9924315810203552, + 0.5004922151565552 + ], + [ + 0.9923404455184937, + -0.017024846747517586, + -0.12235379219055176, + -3.529897689819336 + ], + [ + -0.015865573659539223, + -0.9998195767402649, + 0.01044285949319601, + -0.28483715653419495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3665, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_338468551", + "mask_path": "../../mask/hdr_left_03665.png" + }, + { + "file_path": "../../rgb/hdr_left_03666.png", + "transform_matrix": [ + [ + -0.10241441428661346, + -0.010137594304978848, + -0.9946901202201843, + 0.481065034866333 + ], + [ + 0.9945536255836487, + -0.02048974111676216, + -0.1021915003657341, + -3.4507956504821777 + ], + [ + -0.01934496872127056, + -0.9997387528419495, + 0.012180829420685768, + -0.2754817008972168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3666, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_438468694", + "mask_path": "../../mask/hdr_left_03666.png" + }, + { + "file_path": "../../rgb/hdr_left_03667.png", + "transform_matrix": [ + [ + -0.07966797053813934, + -0.014586178585886955, + -0.9967147707939148, + 0.4621988534927368 + ], + [ + 0.9967040419578552, + -0.016509098932147026, + -0.07942556589841843, + -3.3752214908599854 + ], + [ + -0.015296347439289093, + -0.9997574090957642, + 0.01585335284471512, + -0.26808667182922363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3667, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_538468360", + "mask_path": "../../mask/hdr_left_03667.png" + }, + { + "file_path": "../../rgb/hdr_left_03668.png", + "transform_matrix": [ + [ + -0.06179263815283775, + -0.013275796547532082, + -0.9980007410049438, + 0.43394774198532104 + ], + [ + 0.9980189800262451, + -0.012662738561630249, + -0.061625346541404724, + -3.284628391265869 + ], + [ + -0.011819295585155487, + -0.9998316764831543, + 0.014031963422894478, + -0.2704702615737915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3668, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_638469219", + "mask_path": "../../mask/hdr_left_03668.png" + }, + { + "file_path": "../../rgb/hdr_left_03669.png", + "transform_matrix": [ + [ + -0.05483164265751839, + -0.012586704455316067, + -0.9984162449836731, + 0.4036184549331665 + ], + [ + 0.9984167814254761, + -0.013250812888145447, + -0.05466461926698685, + -3.200317621231079 + ], + [ + -0.01254178024828434, + -0.9998330473899841, + 0.013293343596160412, + -0.2819923162460327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3669, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_738468647", + "mask_path": "../../mask/hdr_left_03669.png" + }, + { + "file_path": "../../rgb/hdr_left_03670.png", + "transform_matrix": [ + [ + -0.04560866579413414, + -0.012959999032318592, + -0.9988753795623779, + 0.38496631383895874 + ], + [ + 0.9989035725593567, + -0.011158009059727192, + -0.045465193688869476, + -3.127201557159424 + ], + [ + -0.010556230321526527, + -0.999853789806366, + 0.01345469243824482, + -0.28742313385009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3670, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_838469028", + "mask_path": "../../mask/hdr_left_03670.png" + }, + { + "file_path": "../../rgb/hdr_left_03671.png", + "transform_matrix": [ + [ + -0.030047817155718803, + -0.013452320359647274, + -0.999457836151123, + 0.3713826537132263 + ], + [ + 0.9994512796401978, + -0.014342399314045906, + -0.02985457144677639, + -3.047818183898926 + ], + [ + -0.013933012261986732, + -0.9998067021369934, + 0.013875900767743587, + -0.2894231081008911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3671, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_938468456", + "mask_path": "../../mask/hdr_left_03671.png" + }, + { + "file_path": "../../rgb/hdr_left_03672.png", + "transform_matrix": [ + [ + -0.004199346527457237, + -0.013535965234041214, + -0.9998995661735535, + 0.36399590969085693 + ], + [ + 0.9998067021369934, + -0.0192636176943779, + -0.003938187379390001, + -2.9709954261779785 + ], + [ + -0.019208375364542007, + -0.9997228384017944, + 0.013614242896437645, + -0.2760933041572571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3672, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_38468599", + "mask_path": "../../mask/hdr_left_03672.png" + }, + { + "file_path": "../../rgb/hdr_left_03673.png", + "transform_matrix": [ + [ + 0.024125900119543076, + -0.019475392997264862, + -0.9995192885398865, + 0.355027973651886 + ], + [ + 0.9996006488800049, + -0.014244182966649532, + 0.02440539188683033, + -2.8991541862487793 + ], + [ + -0.014712640084326267, + -0.999708890914917, + 0.01912396214902401, + -0.2712527811527252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3673, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_138468265", + "mask_path": "../../mask/hdr_left_03673.png" + }, + { + "file_path": "../../rgb/hdr_left_03674.png", + "transform_matrix": [ + [ + 0.04781024530529976, + -0.018847068771719933, + -0.9986785650253296, + 0.3421279191970825 + ], + [ + 0.9987976551055908, + -0.009950018487870693, + 0.048003703355789185, + -2.8170108795166016 + ], + [ + -0.01084159966558218, + -0.999772846698761, + 0.0183486957103014, + -0.2684566378593445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3674, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_238469123", + "mask_path": "../../mask/hdr_left_03674.png" + }, + { + "file_path": "../../rgb/hdr_left_03675.png", + "transform_matrix": [ + [ + 0.0588621087372303, + -0.015258262865245342, + -0.9981494545936584, + 0.3231649696826935 + ], + [ + 0.9981736540794373, + -0.012708310037851334, + 0.0590578094124794, + -2.7252278327941895 + ], + [ + -0.013585912063717842, + -0.999802827835083, + 0.014482361264526844, + -0.27699989080429077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3675, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_338469028", + "mask_path": "../../mask/hdr_left_03675.png" + }, + { + "file_path": "../../rgb/hdr_left_03676.png", + "transform_matrix": [ + [ + 0.06865175068378448, + -0.012664674781262875, + -0.9975603222846985, + 0.3110525906085968 + ], + [ + 0.9975610375404358, + -0.011764931492507458, + 0.0688011422753334, + -2.65291428565979 + ], + [ + -0.012607572600245476, + -0.9998506903648376, + 0.0118261044844985, + -0.2846280336380005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3676, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_438468933", + "mask_path": "../../mask/hdr_left_03676.png" + }, + { + "file_path": "../../rgb/hdr_left_03677.png", + "transform_matrix": [ + [ + 0.0784512311220169, + -0.014169150963425636, + -0.9968172907829285, + 0.3023653030395508 + ], + [ + 0.9968067407608032, + -0.013815386220812798, + 0.07864676415920258, + -2.5723044872283936 + ], + [ + -0.01488577388226986, + -0.9998041987419128, + 0.013040073215961456, + -0.28479260206222534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3677, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_538469314", + "mask_path": "../../mask/hdr_left_03677.png" + }, + { + "file_path": "../../rgb/hdr_left_03678.png", + "transform_matrix": [ + [ + 0.08905816078186035, + -0.0144402626901865, + -0.9959217309951782, + 0.29676389694213867 + ], + [ + 0.9957555532455444, + -0.02202417515218258, + 0.08936263620853424, + -2.4934535026550293 + ], + [ + -0.02322477288544178, + -0.9996532201766968, + 0.012417543679475784, + -0.27722305059432983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3678, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_638467788", + "mask_path": "../../mask/hdr_left_03678.png" + }, + { + "file_path": "../../rgb/hdr_left_03679.png", + "transform_matrix": [ + [ + 0.10039186477661133, + -0.020795589312911034, + -0.9947306513786316, + 0.28925302624702454 + ], + [ + 0.9947319626808167, + -0.018733667209744453, + 0.10078362375497818, + -2.4223575592041016 + ], + [ + -0.02073080651462078, + -0.9996082782745361, + 0.018805330619215965, + -0.27015626430511475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3679, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_738469123", + "mask_path": "../../mask/hdr_left_03679.png" + }, + { + "file_path": "../../rgb/hdr_left_03680.png", + "transform_matrix": [ + [ + 0.10923627763986588, + -0.025201939046382904, + -0.9936962723731995, + 0.279363214969635 + ], + [ + 0.9938384294509888, + -0.016115348786115646, + 0.10966061800718307, + -2.340116262435913 + ], + [ + -0.018777422606945038, + -0.9995525479316711, + 0.023286277428269386, + -0.2699086666107178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3680, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_838469028", + "mask_path": "../../mask/hdr_left_03680.png" + }, + { + "file_path": "../../rgb/hdr_left_03681.png", + "transform_matrix": [ + [ + 0.10799240320920944, + -0.02146565169095993, + -0.9939199090003967, + 0.2617737650871277 + ], + [ + 0.9938763380050659, + -0.021199071779847145, + 0.10844550281763077, + -2.2489852905273438 + ], + [ + -0.023398034274578094, + -0.9995448589324951, + 0.019044866785407066, + -0.27958884835243225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3681, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_938467502", + "mask_path": "../../mask/hdr_left_03681.png" + }, + { + "file_path": "../../rgb/hdr_left_03682.png", + "transform_matrix": [ + [ + 0.10214513540267944, + -0.01727908104658127, + -0.9946193695068359, + 0.24580137431621552 + ], + [ + 0.9944826364517212, + -0.022237036377191544, + 0.10251741111278534, + -2.1706180572509766 + ], + [ + -0.02388879284262657, + -0.9996034502983093, + 0.014912343584001064, + -0.2900504767894745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3682, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_38468599", + "mask_path": "../../mask/hdr_left_03682.png" + }, + { + "file_path": "../../rgb/hdr_left_03683.png", + "transform_matrix": [ + [ + 0.10112423449754715, + -0.018908588215708733, + -0.994694173336029, + 0.23623126745224 + ], + [ + 0.9945374727249146, + -0.02407257817685604, + 0.1015658974647522, + -2.089855670928955 + ], + [ + -0.02586531639099121, + -0.9995313882827759, + 0.016370980069041252, + -0.2926884889602661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3683, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_138468742", + "mask_path": "../../mask/hdr_left_03683.png" + }, + { + "file_path": "../../rgb/hdr_left_03684.png", + "transform_matrix": [ + [ + 0.10890812426805496, + -0.020873479545116425, + -0.9938326478004456, + 0.2348879873752594 + ], + [ + 0.9934765100479126, + -0.03172256052494049, + 0.10953538119792938, + -2.007187604904175 + ], + [ + -0.033813297748565674, + -0.9992787837982178, + 0.01728246919810772, + -0.2893882989883423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3684, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_238468885", + "mask_path": "../../mask/hdr_left_03684.png" + }, + { + "file_path": "../../rgb/hdr_left_03685.png", + "transform_matrix": [ + [ + 0.12290427833795547, + -0.023862721398472786, + -0.9921315908432007, + 0.23402316868305206 + ], + [ + 0.9919416904449463, + -0.028030630201101303, + 0.12355495244264603, + -1.9327465295791626 + ], + [ + -0.030758431181311607, + -0.999322235584259, + 0.020225349813699722, + -0.2806527614593506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3685, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_338468790", + "mask_path": "../../mask/hdr_left_03685.png" + }, + { + "file_path": "../../rgb/hdr_left_03686.png", + "transform_matrix": [ + [ + 0.1340406835079193, + -0.026608694344758987, + -0.9906184673309326, + 0.2295735776424408 + ], + [ + 0.9905981421470642, + -0.02399907261133194, + 0.1346825659275055, + -1.8534133434295654 + ], + [ + -0.02735765092074871, + -0.9993578195571899, + 0.023141667246818542, + -0.2782120704650879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3686, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_438468456", + "mask_path": "../../mask/hdr_left_03686.png" + }, + { + "file_path": "../../rgb/hdr_left_03687.png", + "transform_matrix": [ + [ + 0.13704515993595123, + -0.022358352318406105, + -0.990312397480011, + 0.22069433331489563 + ], + [ + 0.9901755452156067, + -0.02493034116923809, + 0.13758906722068787, + -1.76121187210083 + ], + [ + -0.027765091508626938, + -0.9994392395019531, + 0.018722115084528923, + -0.28546950221061707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3687, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_538468122", + "mask_path": "../../mask/hdr_left_03687.png" + }, + { + "file_path": "../../rgb/hdr_left_03688.png", + "transform_matrix": [ + [ + 0.13148045539855957, + -0.019616784527897835, + -0.9911246299743652, + 0.20968201756477356 + ], + [ + 0.9909332990646362, + -0.02527836337685585, + 0.13195538520812988, + -1.6756163835525513 + ], + [ + -0.027642549946904182, + -0.9994879961013794, + 0.01611531525850296, + -0.2982063293457031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3688, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_638468980", + "mask_path": "../../mask/hdr_left_03688.png" + }, + { + "file_path": "../../rgb/hdr_left_03689.png", + "transform_matrix": [ + [ + 0.12882937490940094, + -0.019086109474301338, + -0.9914830327033997, + 0.2031334489583969 + ], + [ + 0.991298258304596, + -0.024773476645350456, + 0.12928225100040436, + -1.594465970993042 + ], + [ + -0.02702997997403145, + -0.9995109438896179, + 0.015728479251265526, + -0.30086904764175415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3689, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_738469362", + "mask_path": "../../mask/hdr_left_03689.png" + }, + { + "file_path": "../../rgb/hdr_left_03690.png", + "transform_matrix": [ + [ + 0.13438063859939575, + -0.02046388015151024, + -0.9907185435295105, + 0.20358183979988098 + ], + [ + 0.9903947710990906, + -0.03007436916232109, + 0.1349579244852066, + -1.5069633722305298 + ], + [ + -0.03255699574947357, + -0.9993382096290588, + 0.0162259079515934, + -0.2990371286869049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3690, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_838468551", + "mask_path": "../../mask/hdr_left_03690.png" + }, + { + "file_path": "../../rgb/hdr_left_03691.png", + "transform_matrix": [ + [ + 0.14817345142364502, + -0.021634157747030258, + -0.9887247681617737, + 0.20505324006080627 + ], + [ + 0.9884464740753174, + -0.029014376923441887, + 0.14876660704612732, + -1.433487057685852 + ], + [ + -0.03190566971898079, + -0.9993448257446289, + 0.01708504743874073, + -0.2920624911785126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3691, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_938467502", + "mask_path": "../../mask/hdr_left_03691.png" + }, + { + "file_path": "../../rgb/hdr_left_03692.png", + "transform_matrix": [ + [ + 0.15918099880218506, + -0.0266096293926239, + -0.9868907332420349, + 0.2020931839942932 + ], + [ + 0.9868304133415222, + -0.024830985814332962, + 0.15984079241752625, + -1.3571281433105469 + ], + [ + -0.02875877544283867, + -0.9993374943733215, + 0.022306572645902634, + -0.29070284962654114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3692, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_38468599", + "mask_path": "../../mask/hdr_left_03692.png" + }, + { + "file_path": "../../rgb/hdr_left_03693.png", + "transform_matrix": [ + [ + 0.16151024401187897, + -0.026030689477920532, + -0.986527681350708, + 0.1922980546951294 + ], + [ + 0.9864333868026733, + -0.025508912280201912, + 0.16216790676116943, + -1.2578465938568115 + ], + [ + -0.02938658744096756, + -0.9993357062339783, + 0.02155759371817112, + -0.2956669330596924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3693, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_138468742", + "mask_path": "../../mask/hdr_left_03693.png" + }, + { + "file_path": "../../rgb/hdr_left_03694.png", + "transform_matrix": [ + [ + 0.1553899496793747, + -0.02410929650068283, + -0.987558901309967, + 0.18254022300243378 + ], + [ + 0.9873801469802856, + -0.02714083157479763, + 0.15602442622184753, + -1.1806501150131226 + ], + [ + -0.03056480921804905, + -0.9993408918380737, + 0.01958763599395752, + -0.3079427480697632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3694, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_238468170", + "mask_path": "../../mask/hdr_left_03694.png" + }, + { + "file_path": "../../rgb/hdr_left_03695.png", + "transform_matrix": [ + [ + 0.1538863182067871, + -0.023391148075461388, + -0.9878116846084595, + 0.1772872358560562 + ], + [ + 0.9875929951667786, + -0.028015369549393654, + 0.15451565384864807, + -1.1045122146606445 + ], + [ + -0.03128820285201073, + -0.9993338584899902, + 0.018789753317832947, + -0.3116401731967926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3695, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_338469028", + "mask_path": "../../mask/hdr_left_03695.png" + }, + { + "file_path": "../../rgb/hdr_left_03696.png", + "transform_matrix": [ + [ + 0.1598477065563202, + -0.024150647222995758, + -0.9868462085723877, + 0.17953988909721375 + ], + [ + 0.986449122428894, + -0.033533189445734024, + 0.16060400009155273, + -1.0218474864959717 + ], + [ + -0.03697079047560692, + -0.9991458654403687, + 0.01846318319439888, + -0.3102938234806061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3696, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_438470363", + "mask_path": "../../mask/hdr_left_03696.png" + }, + { + "file_path": "../../rgb/hdr_left_03697.png", + "transform_matrix": [ + [ + 0.17270323634147644, + -0.024383341893553734, + -0.9846720695495605, + 0.1815081387758255 + ], + [ + 0.9843519330024719, + -0.031249087303876877, + 0.17342090606689453, + -0.947597086429596 + ], + [ + -0.034998685121536255, + -0.9992141723632812, + 0.01860497146844864, + -0.3032718896865845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3697, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_538469076", + "mask_path": "../../mask/hdr_left_03697.png" + }, + { + "file_path": "../../rgb/hdr_left_03698.png", + "transform_matrix": [ + [ + 0.18368744850158691, + -0.029989060014486313, + -0.9825270771980286, + 0.17859619855880737 + ], + [ + 0.9825019240379333, + -0.025720471516251564, + 0.18446780741214752, + -0.869324266910553 + ], + [ + -0.030803078785538673, + -0.9992192983627319, + 0.024739785119891167, + -0.2998362183570862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3698, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_638468980", + "mask_path": "../../mask/hdr_left_03698.png" + }, + { + "file_path": "../../rgb/hdr_left_03699.png", + "transform_matrix": [ + [ + 0.18631519377231598, + -0.02774171158671379, + -0.9820982217788696, + 0.17318443953990936 + ], + [ + 0.9820193648338318, + -0.025677748024463654, + 0.18702556192874908, + -0.7809220552444458 + ], + [ + -0.03040648065507412, + -0.9992852807044983, + 0.022458745166659355, + -0.3039461672306061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3699, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_738467931", + "mask_path": "../../mask/hdr_left_03699.png" + }, + { + "file_path": "../../rgb/hdr_left_03700.png", + "transform_matrix": [ + [ + 0.18140238523483276, + -0.0237522441893816, + -0.9831220507621765, + 0.16485485434532166 + ], + [ + 0.9829238653182983, + -0.027015455067157745, + 0.18201851844787598, + -0.703924834728241 + ], + [ + -0.030882835388183594, + -0.9993528723716736, + 0.01844598352909088, + -0.31651467084884644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3700, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_838468074", + "mask_path": "../../mask/hdr_left_03700.png" + }, + { + "file_path": "../../rgb/hdr_left_03701.png", + "transform_matrix": [ + [ + 0.18078678846359253, + -0.024050312116742134, + -0.9832282066345215, + 0.16342772543430328 + ], + [ + 0.9829853177070618, + -0.02861124463379383, + 0.18144197762012482, + -0.6256395578384399 + ], + [ + -0.03249511122703552, + -0.9993013143539429, + 0.018468571826815605, + -0.3197663724422455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3701, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_938467979", + "mask_path": "../../mask/hdr_left_03701.png" + }, + { + "file_path": "../../rgb/hdr_left_03702.png", + "transform_matrix": [ + [ + 0.18731658160686493, + -0.02655293047428131, + -0.9819406867027283, + 0.16671717166900635 + ], + [ + 0.9814800024032593, + -0.0357673242688179, + 0.1881958693265915, + -0.547688901424408 + ], + [ + -0.040118537843227386, + -0.9990073442459106, + 0.019361358135938644, + -0.32060590386390686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3702, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_38468360", + "mask_path": "../../mask/hdr_left_03702.png" + }, + { + "file_path": "../../rgb/hdr_left_03703.png", + "transform_matrix": [ + [ + 0.1997218281030655, + -0.025769665837287903, + -0.9795138239860535, + 0.1723366379737854 + ], + [ + 0.9791075587272644, + -0.033725496381521225, + 0.20052628219127655, + -0.4791160821914673 + ], + [ + -0.03820208087563515, + -0.9990988969802856, + 0.01849556155502796, + -0.3155753016471863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3703, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_138468503", + "mask_path": "../../mask/hdr_left_03703.png" + }, + { + "file_path": "../../rgb/hdr_left_03704.png", + "transform_matrix": [ + [ + 0.20932452380657196, + -0.03172549232840538, + -0.9773314595222473, + 0.17272624373435974 + ], + [ + 0.9772060513496399, + -0.029372725635766983, + 0.21025113761425018, + -0.4055956304073334 + ], + [ + -0.03537720441818237, + -0.9990649819374084, + 0.024853911250829697, + -0.3138476014137268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3704, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_238468408", + "mask_path": "../../mask/hdr_left_03704.png" + }, + { + "file_path": "../../rgb/hdr_left_03705.png", + "transform_matrix": [ + [ + 0.21092303097248077, + -0.030194006860256195, + -0.97703617811203, + 0.16692791879177094 + ], + [ + 0.9768475294113159, + -0.030076775699853897, + 0.21181176602840424, + -0.3187503516674042 + ], + [ + -0.03578154742717743, + -0.9990915060043335, + 0.023151060566306114, + -0.3185885548591614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3705, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_338469743", + "mask_path": "../../mask/hdr_left_03705.png" + }, + { + "file_path": "../../rgb/hdr_left_03706.png", + "transform_matrix": [ + [ + 0.20426800847053528, + -0.028732074424624443, + -0.978493332862854, + 0.16137252748012543 + ], + [ + 0.9782606363296509, + -0.030548619106411934, + 0.20511645078659058, + -0.24037468433380127 + ], + [ + -0.03578503802418709, + -0.9991202354431152, + 0.021867353469133377, + -0.33091193437576294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3706, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_438466310", + "mask_path": "../../mask/hdr_left_03706.png" + }, + { + "file_path": "../../rgb/hdr_left_03707.png", + "transform_matrix": [ + [ + 0.20265212655067444, + -0.027705324813723564, + -0.9788588285446167, + 0.16005375981330872 + ], + [ + 0.9785370230674744, + -0.032428108155727386, + 0.20350335538387299, + -0.17599132657051086 + ], + [ + -0.03738066181540489, + -0.9990900158882141, + 0.020539062097668648, + -0.33391380310058594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3707, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_538470029", + "mask_path": "../../mask/hdr_left_03707.png" + }, + { + "file_path": "../../rgb/hdr_left_03708.png", + "transform_matrix": [ + [ + 0.2095678746700287, + -0.026229817420244217, + -0.9774422645568848, + 0.16703200340270996 + ], + [ + 0.9768674969673157, + -0.03789207339286804, + 0.21046146750450134, + -0.10626685619354248 + ], + [ + -0.042557671666145325, + -0.9989375472068787, + 0.017682095989584923, + -0.33106929063796997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3708, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_638469696", + "mask_path": "../../mask/hdr_left_03708.png" + }, + { + "file_path": "../../rgb/hdr_left_03709.png", + "transform_matrix": [ + [ + 0.2229323536157608, + -0.026487207040190697, + -0.9744740128517151, + 0.17562362551689148 + ], + [ + 0.9740689992904663, + -0.03353926166892052, + 0.22375133633613586, + -0.03963196277618408 + ], + [ + -0.03860968351364136, + -0.9990863800048828, + 0.01832338236272335, + -0.3240828514099121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3709, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_738470315", + "mask_path": "../../mask/hdr_left_03709.png" + }, + { + "file_path": "../../rgb/hdr_left_03710.png", + "transform_matrix": [ + [ + 0.23315739631652832, + -0.03223946690559387, + -0.9719043970108032, + 0.1794385313987732 + ], + [ + 0.971810519695282, + -0.028201907873153687, + 0.23407039046287537, + 0.03146502375602722 + ], + [ + -0.034955862909555435, + -0.9990822672843933, + 0.024755168706178665, + -0.3208472728729248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3710, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_838469266", + "mask_path": "../../mask/hdr_left_03710.png" + }, + { + "file_path": "../../rgb/hdr_left_03711.png", + "transform_matrix": [ + [ + 0.23312246799468994, + -0.030490310862660408, + -0.9719692468643188, + 0.17439866065979004 + ], + [ + 0.9717282652854919, + -0.031125716865062714, + 0.23404106497764587, + 0.10972388088703156 + ], + [ + -0.03738922253251076, + -0.9990503191947937, + 0.02237219549715519, + -0.32891547679901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3711, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_938471078", + "mask_path": "../../mask/hdr_left_03711.png" + }, + { + "file_path": "../../rgb/hdr_left_03712.png", + "transform_matrix": [ + [ + 0.22767575085163116, + -0.026937872171401978, + -0.9733642935752869, + 0.16878563165664673 + ], + [ + 0.972999632358551, + -0.03260129690170288, + 0.22849266231060028, + 0.17801956832408905 + ], + [ + -0.037888042628765106, + -0.9991053938865662, + 0.018788015469908714, + -0.3407735228538513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3712, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_38471460", + "mask_path": "../../mask/hdr_left_03712.png" + }, + { + "file_path": "../../rgb/hdr_left_03713.png", + "transform_matrix": [ + [ + 0.2284894734621048, + -0.027228426188230515, + -0.9731655120849609, + 0.17379868030548096 + ], + [ + 0.9726735353469849, + -0.03593411296606064, + 0.229379341006279, + 0.24160125851631165 + ], + [ + -0.04121547192335129, + -0.9989832043647766, + 0.01827380433678627, + -0.3438448905944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3713, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_138469696", + "mask_path": "../../mask/hdr_left_03713.png" + }, + { + "file_path": "../../rgb/hdr_left_03714.png", + "transform_matrix": [ + [ + 0.2379976511001587, + -0.029488814994692802, + -0.970818042755127, + 0.1804399937391281 + ], + [ + 0.9700523018836975, + -0.04272875562310219, + 0.23910784721374512, + 0.3039831817150116 + ], + [ + -0.04853284731507301, + -0.9986514449119568, + 0.018436353653669357, + -0.34183764457702637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3714, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_238470315", + "mask_path": "../../mask/hdr_left_03714.png" + }, + { + "file_path": "../../rgb/hdr_left_03715.png", + "transform_matrix": [ + [ + 0.25066328048706055, + -0.036952607333660126, + -0.9673688411712646, + 0.18269997835159302 + ], + [ + 0.967100977897644, + -0.035239286720752716, + 0.25193995237350464, + 0.3528952896595001 + ], + [ + -0.043399229645729065, + -0.9986955523490906, + 0.026903711259365082, + -0.3324161171913147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3715, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_338470220", + "mask_path": "../../mask/hdr_left_03715.png" + }, + { + "file_path": "../../rgb/hdr_left_03782.png", + "transform_matrix": [ + [ + 0.374947726726532, + -0.10166065394878387, + -0.9214550256729126, + 0.19214725494384766 + ], + [ + 0.9265647530555725, + 0.009071909822523594, + 0.3760260343551636, + 0.578140377998352 + ], + [ + -0.02986769750714302, + -0.9947777986526489, + 0.0975966677069664, + -0.28482547402381897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3782, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_38471460", + "mask_path": "../../mask/hdr_left_03782.png" + }, + { + "file_path": "../../rgb/hdr_left_03783.png", + "transform_matrix": [ + [ + 0.3910670578479767, + -0.12570485472679138, + -0.911737322807312, + 0.17535065114498138 + ], + [ + 0.9187047481536865, + -0.006106746848672628, + 0.39489760994911194, + 0.5697460174560547 + ], + [ + -0.05520829185843468, + -0.9920489192008972, + 0.11309751868247986, + -0.23142680525779724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3783, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_138468265", + "mask_path": "../../mask/hdr_left_03783.png" + }, + { + "file_path": "../../rgb/hdr_left_03786.png", + "transform_matrix": [ + [ + 0.3250918984413147, + -0.11589419841766357, + -0.938554048538208, + 0.06626498699188232 + ], + [ + 0.9419342279434204, + -0.04859155789017677, + 0.33226287364959717, + 0.587285041809082 + ], + [ + -0.08411313593387604, + -0.9920722842216492, + 0.09336800128221512, + -0.11744958162307739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3786, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_438468694", + "mask_path": "../../mask/hdr_left_03786.png" + }, + { + "file_path": "../../rgb/hdr_left_03787.png", + "transform_matrix": [ + [ + 0.2670140266418457, + -0.09911613166332245, + -0.9585821032524109, + 0.010455235838890076 + ], + [ + 0.962469756603241, + -0.022665314376354218, + 0.2704405188560486, + 0.5901138186454773 + ], + [ + -0.048531584441661835, + -0.9948177933692932, + 0.089344322681427, + -0.07126688212156296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3787, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_538469076", + "mask_path": "../../mask/hdr_left_03787.png" + }, + { + "file_path": "../../rgb/hdr_right_00439.png", + "transform_matrix": [ + [ + 0.17980504035949707, + -0.10832712799310684, + 0.9777194857597351, + -0.17378659546375275 + ], + [ + -0.9828712940216064, + 0.02106068842113018, + 0.18308590352535248, + 0.005100667476654053 + ], + [ + -0.040424615144729614, + -0.9938921928405762, + -0.10268481075763702, + -0.24831148982048035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594211_38467645", + "mask_path": "../../mask/hdr_right_00439.png" + }, + { + "file_path": "../../rgb/hdr_right_00477.png", + "transform_matrix": [ + [ + 0.185402974486351, + -0.045935530215501785, + 0.9815883636474609, + -0.16761140525341034 + ], + [ + -0.9826285243034363, + -0.0003589338739402592, + 0.18558263778686523, + 0.014334410429000854 + ], + [ + -0.008172512985765934, + -0.9989443421363831, + -0.04520412161946297, + -0.30842533707618713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594214_838469982", + "mask_path": "../../mask/hdr_right_00477.png" + }, + { + "file_path": "../../rgb/hdr_right_00493.png", + "transform_matrix": [ + [ + -0.08760333806276321, + -0.005066141486167908, + 0.996142566204071, + -0.057844631373882294 + ], + [ + -0.9956658482551575, + -0.030902527272701263, + -0.08771859854459763, + 0.03109702467918396 + ], + [ + 0.0312277153134346, + -0.9995095729827881, + -0.002337021753191948, + -0.31728047132492065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 493, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594216_438469648", + "mask_path": "../../mask/hdr_right_00493.png" + }, + { + "file_path": "../../rgb/hdr_right_00498.png", + "transform_matrix": [ + [ + -0.35784947872161865, + -0.002636856399476528, + 0.9337756037712097, + 0.0246475487947464 + ], + [ + -0.9323276281356812, + -0.054728779941797256, + -0.35744911432266235, + 0.024056851863861084 + ], + [ + 0.052046943455934525, + -0.9984977841377258, + 0.017126252874732018, + -0.33447444438934326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 498, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594216_938470363", + "mask_path": "../../mask/hdr_right_00498.png" + }, + { + "file_path": "../../rgb/hdr_right_00502.png", + "transform_matrix": [ + [ + -0.5970145463943481, + -0.039395056664943695, + 0.8012625575065613, + 0.07763257622718811 + ], + [ + -0.7984872460365295, + -0.06719201803207397, + -0.5982503294944763, + -0.026237383484840393 + ], + [ + 0.07740655541419983, + -0.9969620108604431, + 0.008658155798912048, + -0.3302021920681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 502, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594217_338469505", + "mask_path": "../../mask/hdr_right_00502.png" + }, + { + "file_path": "../../rgb/hdr_right_00506.png", + "transform_matrix": [ + [ + -0.804425835609436, + -0.06076524406671524, + 0.590937077999115, + 0.16236744821071625 + ], + [ + -0.5870033502578735, + -0.07148846238851547, + -0.8064220547676086, + -0.10477723181247711 + ], + [ + 0.09124762564897537, + -0.9955887198448181, + 0.021837769076228142, + -0.3393043875694275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 506, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594217_738469123", + "mask_path": "../../mask/hdr_right_00506.png" + }, + { + "file_path": "../../rgb/hdr_right_00509.png", + "transform_matrix": [ + [ + -0.9192867279052734, + -0.08990886062383652, + 0.38318198919296265, + 0.20894448459148407 + ], + [ + -0.3797701597213745, + -0.05308302864432335, + -0.9235566854476929, + -0.1904456466436386 + ], + [ + 0.10337638854980469, + -0.994534432888031, + 0.014653824269771576, + -0.33614689111709595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_38470029", + "mask_path": "../../mask/hdr_right_00509.png" + }, + { + "file_path": "../../rgb/hdr_right_00512.png", + "transform_matrix": [ + [ + -0.9844148755073547, + -0.10841884464025497, + 0.13846607506275177, + 0.22275188565254211 + ], + [ + -0.1320727914571762, + -0.06411541253328323, + -0.9891643524169922, + -0.2926845848560333 + ], + [ + 0.11612185835838318, + -0.9920355677604675, + 0.04879698529839516, + -0.3222353458404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 512, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_338469266", + "mask_path": "../../mask/hdr_right_00512.png" + }, + { + "file_path": "../../rgb/hdr_right_00515.png", + "transform_matrix": [ + [ + -0.9898682832717896, + -0.11051919311285019, + -0.08914166688919067, + 0.23603886365890503 + ], + [ + 0.09468580782413483, + -0.04596465080976486, + -0.9944455623626709, + -0.4121958017349243 + ], + [ + 0.10580793768167496, + -0.9928104877471924, + 0.05596354976296425, + -0.3285401165485382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 515, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594218_638469219", + "mask_path": "../../mask/hdr_right_00515.png" + }, + { + "file_path": "../../rgb/hdr_right_00532.png", + "transform_matrix": [ + [ + -0.8573930263519287, + -0.061942752450704575, + -0.5109211802482605, + 0.5372426509857178 + ], + [ + 0.5117434859275818, + 0.002968876389786601, + -0.8591331839561462, + -0.8612897992134094 + ], + [ + 0.05473393201828003, + -0.9980753660202026, + 0.029153302311897278, + -0.32502394914627075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 532, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_338469266", + "mask_path": "../../mask/hdr_right_00532.png" + }, + { + "file_path": "../../rgb/hdr_right_00533.png", + "transform_matrix": [ + [ + -0.8409371972084045, + -0.05438710004091263, + -0.5383927822113037, + 0.5765143632888794 + ], + [ + 0.539247453212738, + -0.0012429842026904225, + -0.8421464562416077, + -0.8994566798210144 + ], + [ + 0.04513268917798996, + -0.9985191822052002, + 0.030373381450772285, + -0.3282763957977295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 533, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_438469171", + "mask_path": "../../mask/hdr_right_00533.png" + }, + { + "file_path": "../../rgb/hdr_right_00535.png", + "transform_matrix": [ + [ + -0.7825998663902283, + -0.059841591864824295, + -0.6196421384811401, + 0.6070387363433838 + ], + [ + 0.6209108233451843, + -0.0034021753817796707, + -0.7838738560676575, + -0.9861114025115967 + ], + [ + 0.044800128787755966, + -0.9982020854949951, + 0.03981883451342583, + -0.3351127505302429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 535, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_638469219", + "mask_path": "../../mask/hdr_right_00535.png" + }, + { + "file_path": "../../rgb/hdr_right_00537.png", + "transform_matrix": [ + [ + -0.7043843865394592, + -0.056427355855703354, + -0.707572340965271, + 0.6385117769241333 + ], + [ + 0.7089744806289673, + -0.007324493024498224, + -0.7051960825920105, + -1.0799133777618408 + ], + [ + 0.03460973873734474, + -0.9983798265457153, + 0.045164816081523895, + -0.331608384847641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 537, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594220_838466405", + "mask_path": "../../mask/hdr_right_00537.png" + }, + { + "file_path": "../../rgb/hdr_right_00539.png", + "transform_matrix": [ + [ + -0.6410902738571167, + -0.05158024653792381, + -0.7657303214073181, + 0.6683835983276367 + ], + [ + 0.7670964598655701, + -0.012125643901526928, + -0.6414172053337097, + -1.1750431060791016 + ], + [ + 0.023799482733011246, + -0.9985952377319336, + 0.047340650111436844, + -0.32542169094085693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 539, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_38468599", + "mask_path": "../../mask/hdr_right_00539.png" + }, + { + "file_path": "../../rgb/hdr_right_00541.png", + "transform_matrix": [ + [ + -0.5940674543380737, + -0.05601008981466293, + -0.8024629354476929, + 0.6867608428001404 + ], + [ + 0.8041549324989319, + -0.015973428264260292, + -0.5942050814628601, + -1.2624536752700806 + ], + [ + 0.02046339586377144, + -0.9983024597167969, + 0.05453008413314819, + -0.33153772354125977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 541, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_238469600", + "mask_path": "../../mask/hdr_right_00541.png" + }, + { + "file_path": "../../rgb/hdr_right_00543.png", + "transform_matrix": [ + [ + -0.5659377574920654, + -0.046345047652721405, + -0.8231443762779236, + 0.709151566028595 + ], + [ + 0.8243792653083801, + -0.018919024616479874, + -0.5657215714454651, + -1.3483076095581055 + ], + [ + 0.01064530573785305, + -0.9987462759017944, + 0.048912882804870605, + -0.3252357542514801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 543, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_438469171", + "mask_path": "../../mask/hdr_right_00543.png" + }, + { + "file_path": "../../rgb/hdr_right_00545.png", + "transform_matrix": [ + [ + -0.5686115622520447, + -0.047182582318782806, + -0.8212519884109497, + 0.7394346594810486 + ], + [ + 0.822521984577179, + -0.018328439444303513, + -0.568437933921814, + -1.4286997318267822 + ], + [ + 0.011768107302486897, + -0.9987180829048157, + 0.04923047870397568, + -0.3259744346141815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 545, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_638470172", + "mask_path": "../../mask/hdr_right_00545.png" + }, + { + "file_path": "../../rgb/hdr_right_00547.png", + "transform_matrix": [ + [ + -0.5723723769187927, + -0.04777933657169342, + -0.8186007142066956, + 0.7702117562294006 + ], + [ + 0.8199059367179871, + -0.01872755028307438, + -0.5721919536590576, + -1.5053188800811768 + ], + [ + 0.01200856827199459, + -0.9986822605133057, + 0.04989369213581085, + -0.32930484414100647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 547, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594221_838470220", + "mask_path": "../../mask/hdr_right_00547.png" + }, + { + "file_path": "../../rgb/hdr_right_00549.png", + "transform_matrix": [ + [ + -0.5586035847663879, + -0.03789606690406799, + -0.8285685777664185, + 0.8079025745391846 + ], + [ + 0.8293964862823486, + -0.015922071412205696, + -0.5584335327148438, + -1.5857759714126587 + ], + [ + 0.007969903759658337, + -0.9991548657417297, + 0.04032498970627785, + -0.3202473521232605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 549, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_38469076", + "mask_path": "../../mask/hdr_right_00549.png" + }, + { + "file_path": "../../rgb/hdr_right_00550.png", + "transform_matrix": [ + [ + -0.558943510055542, + -0.03818361833691597, + -0.8283262848854065, + 0.8316712379455566 + ], + [ + 0.8291534781455994, + -0.014514904469251633, + -0.558832585811615, + -1.6305183172225952 + ], + [ + 0.00931517593562603, + -0.9991653561592102, + 0.039773087948560715, + -0.31899088621139526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 550, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_138468980", + "mask_path": "../../mask/hdr_right_00550.png" + }, + { + "file_path": "../../rgb/hdr_right_00552.png", + "transform_matrix": [ + [ + -0.5639883279800415, + -0.040967635810375214, + -0.8247660398483276, + 0.8669486045837402 + ], + [ + 0.8257347345352173, + -0.017212023958563805, + -0.563795804977417, + -1.7128369808197021 + ], + [ + 0.008901492692530155, + -0.9990121722221375, + 0.04353578761219978, + -0.3258139193058014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 552, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_338469505", + "mask_path": "../../mask/hdr_right_00552.png" + }, + { + "file_path": "../../rgb/hdr_right_00554.png", + "transform_matrix": [ + [ + -0.5489858388900757, + -0.03776051476597786, + -0.8349782824516296, + 0.8966488838195801 + ], + [ + 0.8358198404312134, + -0.019485246390104294, + -0.5486578941345215, + -1.7979406118392944 + ], + [ + 0.004447850864380598, + -0.9990968704223633, + 0.042258121073246, + -0.31703147292137146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 554, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_538470506", + "mask_path": "../../mask/hdr_right_00554.png" + }, + { + "file_path": "../../rgb/hdr_right_00555.png", + "transform_matrix": [ + [ + -0.5472761988639832, + -0.03227018192410469, + -0.8363298773765564, + 0.9207980632781982 + ], + [ + 0.8369516134262085, + -0.020032761618494987, + -0.5469101071357727, + -1.846685767173767 + ], + [ + 0.0008948977920226753, + -0.9992784261703491, + 0.03797203674912453, + -0.3152804374694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 555, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_638470172", + "mask_path": "../../mask/hdr_right_00555.png" + }, + { + "file_path": "../../rgb/hdr_right_00556.png", + "transform_matrix": [ + [ + -0.5527023673057556, + -0.02857605181634426, + -0.832888662815094, + 0.9462863802909851 + ], + [ + 0.833370566368103, + -0.023373665288090706, + -0.5522201657295227, + -1.8944478034973145 + ], + [ + -0.003687390359118581, + -0.9993183612823486, + 0.03673311695456505, + -0.3176676034927368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 556, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_738469600", + "mask_path": "../../mask/hdr_right_00556.png" + }, + { + "file_path": "../../rgb/hdr_right_00558.png", + "transform_matrix": [ + [ + -0.5471793413162231, + -0.04154644533991814, + -0.8359836935997009, + 0.9697695970535278 + ], + [ + 0.8370143175125122, + -0.025532513856887817, + -0.5465850234031677, + -1.9849592447280884 + ], + [ + 0.0013639022363349795, + -0.9988102912902832, + 0.048745837062597275, + -0.3167304992675781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 558, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594222_938469409", + "mask_path": "../../mask/hdr_right_00558.png" + }, + { + "file_path": "../../rgb/hdr_right_00560.png", + "transform_matrix": [ + [ + -0.539928138256073, + -0.037239920347929, + -0.8408869504928589, + 1.0084245204925537 + ], + [ + 0.8417090773582458, + -0.021693464368581772, + -0.5394953489303589, + -2.0907633304595947 + ], + [ + 0.0018490190850570798, + -0.9990708231925964, + 0.04305809363722801, + -0.31316637992858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 560, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_138472080", + "mask_path": "../../mask/hdr_right_00560.png" + }, + { + "file_path": "../../rgb/hdr_right_00561.png", + "transform_matrix": [ + [ + -0.5450322031974792, + -0.0384710319340229, + -0.8375319838523865, + 1.0336195230484009 + ], + [ + 0.8384120464324951, + -0.027707600966095924, + -0.5443321466445923, + -2.1431102752685547 + ], + [ + -0.0022649834863841534, + -0.9988754987716675, + 0.04735611006617546, + -0.3187928795814514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 561, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_238469600", + "mask_path": "../../mask/hdr_right_00561.png" + }, + { + "file_path": "../../rgb/hdr_right_00562.png", + "transform_matrix": [ + [ + -0.5442184209823608, + -0.04380868002772331, + -0.8377989530563354, + 1.0485039949417114 + ], + [ + 0.8389407396316528, + -0.031063105911016464, + -0.5433356761932373, + -2.2039875984191895 + ], + [ + -0.002221820643171668, + -0.998556911945343, + 0.05365799367427826, + -0.31804347038269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 562, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_338470935", + "mask_path": "../../mask/hdr_right_00562.png" + }, + { + "file_path": "../../rgb/hdr_right_00563.png", + "transform_matrix": [ + [ + -0.5371999144554138, + -0.045595258474349976, + -0.8422216773033142, + 1.0645973682403564 + ], + [ + 0.8434547185897827, + -0.029774384573101997, + -0.5363745093345642, + -2.2652971744537354 + ], + [ + -0.000620496750343591, + -0.9985162019729614, + 0.054452333599328995, + -0.3121769428253174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 563, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_438470363", + "mask_path": "../../mask/hdr_right_00563.png" + }, + { + "file_path": "../../rgb/hdr_right_00564.png", + "transform_matrix": [ + [ + -0.5329269170761108, + -0.041039906442165375, + -0.8451654314994812, + 1.0817948579788208 + ], + [ + 0.8461595773696899, + -0.027851661667227745, + -0.53220134973526, + -2.317067861557007 + ], + [ + -0.0016977681079879403, + -0.998769223690033, + 0.049569204449653625, + -0.3086327016353607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 564, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_538470506", + "mask_path": "../../mask/hdr_right_00564.png" + }, + { + "file_path": "../../rgb/hdr_right_00565.png", + "transform_matrix": [ + [ + -0.5371109843254089, + -0.03822740912437439, + -0.8426449298858643, + 1.1039189100265503 + ], + [ + 0.8435114622116089, + -0.023775197565555573, + -0.5365847945213318, + -2.371983528137207 + ], + [ + 0.0004781980242114514, + -0.9989861845970154, + 0.045015182346105576, + -0.3113016188144684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 565, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_638470411", + "mask_path": "../../mask/hdr_right_00565.png" + }, + { + "file_path": "../../rgb/hdr_right_00566.png", + "transform_matrix": [ + [ + -0.5430987477302551, + -0.03860478475689888, + -0.8387809991836548, + 1.1281147003173828 + ], + [ + 0.8396669626235962, + -0.027112707495689392, + -0.5424246191978455, + -2.428802967071533 + ], + [ + -0.0018014366505667567, + -0.9988866448402405, + 0.04714003950357437, + -0.3164042830467224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 566, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_738469362", + "mask_path": "../../mask/hdr_right_00566.png" + }, + { + "file_path": "../../rgb/hdr_right_00567.png", + "transform_matrix": [ + [ + -0.5416427254676819, + -0.04173529893159866, + -0.8395721912384033, + 1.1443712711334229 + ], + [ + 0.8406086564064026, + -0.02751840092241764, + -0.5409435033798218, + -2.49008846282959 + ], + [ + -0.0005272420239634812, + -0.9987496733665466, + 0.04998820275068283, + -0.31331387162208557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 567, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_838471651", + "mask_path": "../../mask/hdr_right_00567.png" + }, + { + "file_path": "../../rgb/hdr_right_00568.png", + "transform_matrix": [ + [ + -0.5322728753089905, + -0.04370112344622612, + -0.8454442620277405, + 1.1624640226364136 + ], + [ + 0.8465710878372192, + -0.025397367775440216, + -0.5316694974899292, + -2.5494089126586914 + ], + [ + 0.0017624970059841871, + -0.9987218379974365, + 0.05051443353295326, + -0.3080379366874695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 568, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594223_938471078", + "mask_path": "../../mask/hdr_right_00568.png" + }, + { + "file_path": "../../rgb/hdr_right_00569.png", + "transform_matrix": [ + [ + -0.526635468006134, + -0.0381324328482151, + -0.8492355942726135, + 1.1825469732284546 + ], + [ + 0.8500908017158508, + -0.024525705724954605, + -0.5260646343231201, + -2.6075258255004883 + ], + [ + -0.0007679759291931987, + -0.9989716410636902, + 0.04533213749527931, + -0.30276212096214294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 569, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_38469791", + "mask_path": "../../mask/hdr_right_00569.png" + }, + { + "file_path": "../../rgb/hdr_right_00570.png", + "transform_matrix": [ + [ + -0.5293832421302795, + -0.0374608039855957, + -0.8475554585456848, + 1.2087503671646118 + ], + [ + 0.8483827710151672, + -0.023228688165545464, + -0.5288733839988708, + -2.665151834487915 + ], + [ + 0.00012442133447621018, + -0.9990280866622925, + 0.044077981263399124, + -0.3068862557411194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 570, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_138470888", + "mask_path": "../../mask/hdr_right_00570.png" + }, + { + "file_path": "../../rgb/hdr_right_00571.png", + "transform_matrix": [ + [ + -0.5336567163467407, + -0.03968996927142143, + -0.8447694182395935, + 1.2334716320037842 + ], + [ + 0.845700740814209, + -0.026006868109107018, + -0.5330232977867126, + -2.7174489498138428 + ], + [ + -0.0008141249418258667, + -0.9988735318183899, + 0.04744458198547363, + -0.31390655040740967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 571, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_238470315", + "mask_path": "../../mask/hdr_right_00571.png" + }, + { + "file_path": "../../rgb/hdr_right_00572.png", + "transform_matrix": [ + [ + -0.5303004384040833, + -0.04249725863337517, + -0.8467440009117126, + 1.2517359256744385 + ], + [ + 0.8478098511695862, + -0.02670714259147644, + -0.5296275615692139, + -2.771003007888794 + ], + [ + -0.00010639557876856998, + -0.9987395405769348, + 0.050192397087812424, + -0.3123500943183899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 572, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_338469982", + "mask_path": "../../mask/hdr_right_00572.png" + }, + { + "file_path": "../../rgb/hdr_right_00573.png", + "transform_matrix": [ + [ + -0.5222505331039429, + -0.04466172680258751, + -0.8516218066215515, + 1.2704062461853027 + ], + [ + 0.8527919054031372, + -0.028063060715794563, + -0.5214963555335999, + -2.830078125 + ], + [ + -0.0006081887986510992, + -0.998607873916626, + 0.05274311080574989, + -0.30687063932418823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 573, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_438470125", + "mask_path": "../../mask/hdr_right_00573.png" + }, + { + "file_path": "../../rgb/hdr_right_00574.png", + "transform_matrix": [ + [ + -0.5184326171875, + -0.03984810411930084, + -0.8541895747184753, + 1.2895158529281616 + ], + [ + 0.8551163673400879, + -0.026436682790517807, + -0.5177618265151978, + -2.8867194652557373 + ], + [ + -0.0019501110073179007, + -0.9988559484481812, + 0.04778040200471878, + -0.3005617558956146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 574, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_538469552", + "mask_path": "../../mask/hdr_right_00574.png" + }, + { + "file_path": "../../rgb/hdr_right_00575.png", + "transform_matrix": [ + [ + -0.5221155881881714, + -0.04033341258764267, + -0.851920485496521, + 1.3153654336929321 + ], + [ + 0.8528721928596497, + -0.022255942225456238, + -0.521645188331604, + -2.942573070526123 + ], + [ + 0.0020794381853193045, + -0.9989383816719055, + 0.04601942375302315, + -0.3062523305416107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 575, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_638469457", + "mask_path": "../../mask/hdr_right_00575.png" + }, + { + "file_path": "../../rgb/hdr_right_00576.png", + "transform_matrix": [ + [ + -0.5279701948165894, + -0.04064326733350754, + -0.8482898473739624, + 1.339155912399292 + ], + [ + 0.8492628931999207, + -0.024854332208633423, + -0.5273849964141846, + -2.995388984680176 + ], + [ + 0.00035097269574180245, + -0.9988645315170288, + 0.047639165073633194, + -0.3125894367694855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 576, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_738469123", + "mask_path": "../../mask/hdr_right_00576.png" + }, + { + "file_path": "../../rgb/hdr_right_00577.png", + "transform_matrix": [ + [ + -0.5262863636016846, + -0.04303226247429848, + -0.8492178916931152, + 1.3549551963806152 + ], + [ + 0.8503074645996094, + -0.026532895863056183, + -0.5256170630455017, + -3.0607314109802246 + ], + [ + 8.628481737105176e-05, + -0.9987213015556335, + 0.0505545474588871, + -0.3081182539463043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 577, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_838469266", + "mask_path": "../../mask/hdr_right_00577.png" + }, + { + "file_path": "../../rgb/hdr_right_00578.png", + "transform_matrix": [ + [ + -0.5180075764656067, + -0.04496107995510101, + -0.8541936278343201, + 1.3745577335357666 + ], + [ + 0.8553755283355713, + -0.02614300325512886, + -0.5173482298851013, + -3.120967388153076 + ], + [ + 0.0009293485782109201, + -0.99864661693573, + 0.05200088024139404, + -0.30328047275543213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 578, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594224_938468694", + "mask_path": "../../mask/hdr_right_00578.png" + }, + { + "file_path": "../../rgb/hdr_right_00579.png", + "transform_matrix": [ + [ + -0.5140060782432556, + -0.03787709027528763, + -0.8569498658180237, + 1.3965243101119995 + ], + [ + 0.8577858209609985, + -0.02398558333516121, + -0.5134474039077759, + -3.177673101425171 + ], + [ + -0.0011065510334447026, + -0.9989944696426392, + 0.044819172471761703, + -0.29753559827804565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 579, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_38469791", + "mask_path": "../../mask/hdr_right_00579.png" + }, + { + "file_path": "../../rgb/hdr_right_00580.png", + "transform_matrix": [ + [ + -0.5177385210990906, + -0.037624292075634, + -0.8547112345695496, + 1.424129843711853 + ], + [ + 0.8555365204811096, + -0.02039208821952343, + -0.5173406600952148, + -3.239504337310791 + ], + [ + 0.0020352303981781006, + -0.9990838170051575, + 0.04274672269821167, + -0.3027954697608948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 580, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_138469696", + "mask_path": "../../mask/hdr_right_00580.png" + }, + { + "file_path": "../../rgb/hdr_right_00581.png", + "transform_matrix": [ + [ + -0.5232257843017578, + -0.03770270198583603, + -0.8513596653938293, + 1.4513232707977295 + ], + [ + 0.8521937727928162, + -0.024084528908133507, + -0.5226718187332153, + -3.296530246734619 + ], + [ + -0.000798457651399076, + -0.9989987015724182, + 0.04473165050148964, + -0.3109036684036255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 581, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_238470554", + "mask_path": "../../mask/hdr_right_00581.png" + }, + { + "file_path": "../../rgb/hdr_right_00582.png", + "transform_matrix": [ + [ + -0.5212985873222351, + -0.03953996300697327, + -0.8524578809738159, + 1.4718753099441528 + ], + [ + 0.8533728718757629, + -0.026042623445391655, + -0.5206502079963684, + -3.365859031677246 + ], + [ + -0.0016137496568262577, + -0.9988785982131958, + 0.047318316996097565, + -0.305680513381958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 582, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_338470697", + "mask_path": "../../mask/hdr_right_00582.png" + }, + { + "file_path": "../../rgb/hdr_right_00583.png", + "transform_matrix": [ + [ + -0.5128028392791748, + -0.0400540791451931, + -0.857571542263031, + 1.4915685653686523 + ], + [ + 0.85850590467453, + -0.02507413551211357, + -0.5121904015541077, + -3.4351983070373535 + ], + [ + -0.0009875469841063023, + -0.9988828897476196, + 0.04724475368857384, + -0.2960148751735687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 583, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_438470125", + "mask_path": "../../mask/hdr_right_00583.png" + }, + { + "file_path": "../../rgb/hdr_right_00584.png", + "transform_matrix": [ + [ + -0.5067273378372192, + -0.03146757185459137, + -0.8615319132804871, + 1.519518494606018 + ], + [ + 0.8620852828025818, + -0.0254965852946043, + -0.5061215758323669, + -3.5005438327789307 + ], + [ + -0.00603970792144537, + -0.9991795420646667, + 0.0400475449860096, + -0.29034698009490967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 584, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_538469314", + "mask_path": "../../mask/hdr_right_00584.png" + }, + { + "file_path": "../../rgb/hdr_right_00585.png", + "transform_matrix": [ + [ + -0.508126437664032, + -0.023662343621253967, + -0.8609574437141418, + 1.5562214851379395 + ], + [ + 0.861219048500061, + -0.026092231273651123, + -0.5075637102127075, + -3.5793538093566895 + ], + [ + -0.010454152710735798, + -0.9993793964385986, + 0.033636610954999924, + -0.29236075282096863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 585, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_638469219", + "mask_path": "../../mask/hdr_right_00585.png" + }, + { + "file_path": "../../rgb/hdr_right_00586.png", + "transform_matrix": [ + [ + -0.5136683583259583, + -0.02511565387248993, + -0.8576212525367737, + 1.5851939916610718 + ], + [ + 0.857902467250824, + -0.029215944930911064, + -0.5129811763763428, + -3.6461315155029297 + ], + [ + -0.012172357179224491, + -0.9992575645446777, + 0.036554086953401566, + -0.29511773586273193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 586, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_738469123", + "mask_path": "../../mask/hdr_right_00586.png" + }, + { + "file_path": "../../rgb/hdr_right_00587.png", + "transform_matrix": [ + [ + -0.5122280716896057, + -0.02883852832019329, + -0.8583651781082153, + 1.6088327169418335 + ], + [ + 0.8587562441825867, + -0.03191830590367317, + -0.5113891363143921, + -3.7177340984344482 + ], + [ + -0.01264985278248787, + -0.9990743398666382, + 0.041114721447229385, + -0.293407678604126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 587, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_838469505", + "mask_path": "../../mask/hdr_right_00587.png" + }, + { + "file_path": "../../rgb/hdr_right_00588.png", + "transform_matrix": [ + [ + -0.5033455491065979, + -0.0320139043033123, + -0.863491952419281, + 1.627746820449829 + ], + [ + 0.8640132546424866, + -0.031542904675006866, + -0.5024800896644592, + -3.7958970069885254 + ], + [ + -0.011150696314871311, + -0.9989895224571228, + 0.04353741928935051, + -0.2803211808204651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 588, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594225_938470363", + "mask_path": "../../mask/hdr_right_00588.png" + }, + { + "file_path": "../../rgb/hdr_right_00589.png", + "transform_matrix": [ + [ + -0.4962958097457886, + -0.025236397981643677, + -0.8677866458892822, + 1.6529443264007568 + ], + [ + 0.8680379390716553, + -0.030735932290554047, + -0.4955456554889679, + -3.865431547164917 + ], + [ + -0.014166442677378654, + -0.999208927154541, + 0.03716026619076729, + -0.2746065557003021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 589, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_38469791", + "mask_path": "../../mask/hdr_right_00589.png" + }, + { + "file_path": "../../rgb/hdr_right_00590.png", + "transform_matrix": [ + [ + -0.4983137845993042, + -0.023542216047644615, + -0.8666771650314331, + 1.6871029138565063 + ], + [ + 0.8668918013572693, + -0.02908538468182087, + -0.49764713644981384, + -3.9446988105773926 + ], + [ + -0.013491918332874775, + -0.9992996454238892, + 0.03490220010280609, + -0.2795102894306183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 590, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_138470172", + "mask_path": "../../mask/hdr_right_00590.png" + }, + { + "file_path": "../../rgb/hdr_right_00591.png", + "transform_matrix": [ + [ + -0.5046851634979248, + -0.025060132145881653, + -0.8629397749900818, + 1.7190853357315063 + ], + [ + 0.863169252872467, + -0.032275084406137466, + -0.5038821697235107, + -4.0205078125 + ], + [ + -0.015224100090563297, + -0.9991648197174072, + 0.03791989013552666, + -0.2866607904434204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 591, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_238469362", + "mask_path": "../../mask/hdr_right_00591.png" + }, + { + "file_path": "../../rgb/hdr_right_00592.png", + "transform_matrix": [ + [ + -0.5031006336212158, + -0.028783727437257767, + -0.8637484312057495, + 1.744532823562622 + ], + [ + 0.8640777468681335, + -0.035380978137254715, + -0.502113401889801, + -4.092959880828857 + ], + [ + -0.01610756851732731, + -0.9989593625068665, + 0.0426715686917305, + -0.2830372452735901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 592, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_338468551", + "mask_path": "../../mask/hdr_right_00592.png" + }, + { + "file_path": "../../rgb/hdr_right_00593.png", + "transform_matrix": [ + [ + -0.49363476037979126, + -0.031048953533172607, + -0.8691148161888123, + 1.7590091228485107 + ], + [ + 0.8695681095123291, + -0.03286711499094963, + -0.492717981338501, + -4.163357257843018 + ], + [ + -0.013266920112073421, + -0.9989773631095886, + 0.04322353005409241, + -0.26979154348373413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 593, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_438469648", + "mask_path": "../../mask/hdr_right_00593.png" + }, + { + "file_path": "../../rgb/hdr_right_00594.png", + "transform_matrix": [ + [ + -0.48688632249832153, + -0.022076359018683434, + -0.8731862902641296, + 1.7835586071014404 + ], + [ + 0.8732994198799133, + -0.03178722783923149, + -0.4861457645893097, + -4.230348110198975 + ], + [ + -0.0170238446444273, + -0.9992508292198181, + 0.03475603833794594, + -0.2637576460838318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 594, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_538469076", + "mask_path": "../../mask/hdr_right_00594.png" + }, + { + "file_path": "../../rgb/hdr_right_00595.png", + "transform_matrix": [ + [ + -0.489820659160614, + -0.01633060909807682, + -0.8716703057289124, + 1.818026065826416 + ], + [ + 0.8716182112693787, + -0.03085332177579403, + -0.48921334743499756, + -4.303961753845215 + ], + [ + -0.01890477165579796, + -0.9993904829025269, + 0.02934664860367775, + -0.2660343647003174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 595, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_638470649", + "mask_path": "../../mask/hdr_right_00595.png" + }, + { + "file_path": "../../rgb/hdr_right_00596.png", + "transform_matrix": [ + [ + -0.49629679322242737, + -0.01872231438755989, + -0.8679510354995728, + 1.8528189659118652 + ], + [ + 0.8679232597351074, + -0.0336948037147522, + -0.4955540895462036, + -4.37005615234375 + ], + [ + -0.019967520609498024, + -0.9992567896842957, + 0.03297215327620506, + -0.2696278691291809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 596, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_738470315", + "mask_path": "../../mask/hdr_right_00596.png" + }, + { + "file_path": "../../rgb/hdr_right_00597.png", + "transform_matrix": [ + [ + -0.49275124073028564, + -0.02350017987191677, + -0.8698528409004211, + 1.870987892150879 + ], + [ + 0.8699646592140198, + -0.035032402724027634, + -0.49186816811561584, + -4.439792156219482 + ], + [ + -0.018914049491286278, + -0.9991098642349243, + 0.03770658001303673, + -0.2647404372692108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 597, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_838469743", + "mask_path": "../../mask/hdr_right_00597.png" + }, + { + "file_path": "../../rgb/hdr_right_00598.png", + "transform_matrix": [ + [ + -0.4834272563457489, + -0.02545046992599964, + -0.8750144243240356, + 1.8865128755569458 + ], + [ + 0.8751963376998901, + -0.034778326749801636, + -0.48251622915267944, + -4.515007972717285 + ], + [ + -0.01815127767622471, + -0.999070942401886, + 0.039086949080228806, + -0.2534574270248413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 598, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594226_938471555", + "mask_path": "../../mask/hdr_right_00598.png" + }, + { + "file_path": "../../rgb/hdr_right_00599.png", + "transform_matrix": [ + [ + -0.4802051782608032, + -0.017884699627757072, + -0.8769738078117371, + 1.9134142398834229 + ], + [ + 0.8769391775131226, + -0.032024137675762177, + -0.4795331060886383, + -4.582030296325684 + ], + [ + -0.01950802467763424, + -0.9993270635604858, + 0.031061949208378792, + -0.24710595607757568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 599, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_38470268", + "mask_path": "../../mask/hdr_right_00599.png" + }, + { + "file_path": "../../rgb/hdr_right_00600.png", + "transform_matrix": [ + [ + -0.4844244420528412, + -0.015639282763004303, + -0.8746933341026306, + 1.9442800283432007 + ], + [ + 0.874640166759491, + -0.029658207669854164, + -0.4838646948337555, + -4.654461860656738 + ], + [ + -0.01837453991174698, + -0.9994377493858337, + 0.028045907616615295, + -0.2512865662574768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 600, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_138470649", + "mask_path": "../../mask/hdr_right_00600.png" + }, + { + "file_path": "../../rgb/hdr_right_00601.png", + "transform_matrix": [ + [ + -0.4867660105228424, + -0.017187373712658882, + -0.8733632564544678, + 1.963602900505066 + ], + [ + 0.8733031749725342, + -0.03247781842947006, + -0.4860934019088745, + -4.7171101570129395 + ], + [ + -0.020010270178318024, + -0.99932461977005, + 0.03081888146698475, + -0.25444138050079346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 601, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_238471984", + "mask_path": "../../mask/hdr_right_00601.png" + }, + { + "file_path": "../../rgb/hdr_right_00602.png", + "transform_matrix": [ + [ + -0.4809108376502991, + -0.020191460847854614, + -0.8765370845794678, + 1.9764089584350586 + ], + [ + 0.8765583634376526, + -0.03301237151026726, + -0.480162113904953, + -4.786399841308594 + ], + [ + -0.019241390749812126, + -0.9992509484291077, + 0.03357499837875366, + -0.24254561960697174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 602, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_338471174", + "mask_path": "../../mask/hdr_right_00602.png" + }, + { + "file_path": "../../rgb/hdr_right_00603.png", + "transform_matrix": [ + [ + -0.4745733439922333, + -0.01882159896194935, + -0.8800148367881775, + 1.997769832611084 + ], + [ + 0.879984438419342, + -0.03307051956653595, + -0.47384968400001526, + -4.852443218231201 + ], + [ + -0.02018393576145172, + -0.9992757439613342, + 0.03225710242986679, + -0.2302558422088623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 603, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_438469648", + "mask_path": "../../mask/hdr_right_00603.png" + }, + { + "file_path": "../../rgb/hdr_right_00604.png", + "transform_matrix": [ + [ + -0.47633102536201477, + -0.014926645904779434, + -0.8791393637657166, + 2.034655809402466 + ], + [ + 0.8790309429168701, + -0.031202619895339012, + -0.47574251890182495, + -4.929233074188232 + ], + [ + -0.020330213010311127, + -0.9994016885757446, + 0.027983756735920906, + -0.23083674907684326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 604, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_538472175", + "mask_path": "../../mask/hdr_right_00604.png" + }, + { + "file_path": "../../rgb/hdr_right_00605.png", + "transform_matrix": [ + [ + -0.4823180139064789, + -0.013258625753223896, + -0.8758959174156189, + 2.0641226768493652 + ], + [ + 0.8756269812583923, + -0.036323431879282, + -0.4816201329231262, + -5.011417388916016 + ], + [ + -0.025429926812648773, + -0.9992521405220032, + 0.02912905253469944, + -0.2397529035806656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 605, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_638470649", + "mask_path": "../../mask/hdr_right_00605.png" + }, + { + "file_path": "../../rgb/hdr_right_00606.png", + "transform_matrix": [ + [ + -0.48115578293800354, + -0.017593709751963615, + -0.8764586448669434, + 2.0781614780426025 + ], + [ + 0.8762011528015137, + -0.04110651835799217, + -0.48018932342529297, + -5.073060035705566 + ], + [ + -0.02757984958589077, + -0.998999834060669, + 0.035194266587495804, + -0.23474295437335968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 606, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_738470315", + "mask_path": "../../mask/hdr_right_00606.png" + }, + { + "file_path": "../../rgb/hdr_right_00607.png", + "transform_matrix": [ + [ + -0.4723292589187622, + -0.01836325041949749, + -0.8812309503555298, + 2.0900652408599854 + ], + [ + 0.8810432553291321, + -0.03914552554488182, + -0.4714130461215973, + -5.135427474975586 + ], + [ + -0.02583956904709339, + -0.9990648031234741, + 0.03466839715838432, + -0.21877533197402954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 607, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_838470458", + "mask_path": "../../mask/hdr_right_00607.png" + }, + { + "file_path": "../../rgb/hdr_right_00608.png", + "transform_matrix": [ + [ + -0.4696134030818939, + -0.011575483717024326, + -0.8827962875366211, + 2.110440492630005 + ], + [ + 0.8824222087860107, + -0.03807235509157181, + -0.4689152240753174, + -5.188323497772217 + ], + [ + -0.02818221226334572, + -0.9992079138755798, + 0.028093749657273293, + -0.20899397134780884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 608, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594227_938471555", + "mask_path": "../../mask/hdr_right_00608.png" + }, + { + "file_path": "../../rgb/hdr_right_03637.png", + "transform_matrix": [ + [ + 0.5190640687942505, + 0.016093220561742783, + 0.8545839190483093, + 0.7033895254135132 + ], + [ + -0.8546158671379089, + -0.006946514826267958, + 0.5192142724990845, + -4.716098308563232 + ], + [ + 0.014292207546532154, + -0.9998463988304138, + 0.01014783326536417, + -0.2666964530944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3637, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_838468313", + "mask_path": "../../mask/hdr_right_03637.png" + }, + { + "file_path": "../../rgb/hdr_right_03638.png", + "transform_matrix": [ + [ + 0.5195440649986267, + 0.015971925109624863, + 0.85429447889328, + 0.6733154058456421 + ], + [ + -0.8543124794960022, + -0.007810893934220076, + 0.5197010636329651, + -4.653818607330322 + ], + [ + 0.014973429962992668, + -0.9998419284820557, + 0.009586911648511887, + -0.27523237466812134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3638, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_938467502", + "mask_path": "../../mask/hdr_right_03638.png" + }, + { + "file_path": "../../rgb/hdr_right_03639.png", + "transform_matrix": [ + [ + 0.5173169374465942, + 0.013821696862578392, + 0.855682373046875, + 0.6450642347335815 + ], + [ + -0.8556404113769531, + -0.010580219328403473, + 0.5174625515937805, + -4.584888935089111 + ], + [ + 0.016205517575144768, + -0.999848484992981, + 0.006353076547384262, + -0.28047215938568115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3639, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_38468360", + "mask_path": "../../mask/hdr_right_03639.png" + }, + { + "file_path": "../../rgb/hdr_right_03640.png", + "transform_matrix": [ + [ + 0.5083643198013306, + 0.015324377454817295, + 0.8610058426856995, + 0.6190316081047058 + ], + [ + -0.8609068393707275, + -0.014327219687402248, + 0.508560836315155, + -4.508002281188965 + ], + [ + 0.020129196345806122, + -0.9997799396514893, + 0.00590941496193409, + -0.2729755640029907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3640, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_138468265", + "mask_path": "../../mask/hdr_right_03640.png" + }, + { + "file_path": "../../rgb/hdr_right_03641.png", + "transform_matrix": [ + [ + 0.4972441792488098, + 0.008209084160625935, + 0.8675718903541565, + 0.600425124168396 + ], + [ + -0.8674840927124023, + -0.012373545207083225, + 0.49731096625328064, + -4.43980598449707 + ], + [ + 0.014817409217357635, + -0.9998897314071655, + 0.0009685773984529078, + -0.2622898817062378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3641, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_238469123", + "mask_path": "../../mask/hdr_right_03641.png" + }, + { + "file_path": "../../rgb/hdr_right_03642.png", + "transform_matrix": [ + [ + 0.4873989522457123, + 0.0019580472726374865, + 0.8731772899627686, + 0.578134298324585 + ], + [ + -0.8731327652931213, + -0.009239252656698227, + 0.4873948395252228, + -4.365897178649902 + ], + [ + 0.009021846577525139, + -0.999955415725708, + -0.0027935674879699945, + -0.2620280385017395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3642, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_338468313", + "mask_path": "../../mask/hdr_right_03642.png" + }, + { + "file_path": "../../rgb/hdr_right_03643.png", + "transform_matrix": [ + [ + 0.48364880681037903, + 0.0042345477268099785, + 0.8752519488334656, + 0.5413810014724731 + ], + [ + -0.8752238750457764, + -0.007017164491117001, + 0.483667254447937, + -4.283284664154053 + ], + [ + 0.008189897984266281, + -0.9999664425849915, + 0.0003123327041976154, + -0.26611703634262085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3643, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_438468217", + "mask_path": "../../mask/hdr_right_03643.png" + }, + { + "file_path": "../../rgb/hdr_right_03644.png", + "transform_matrix": [ + [ + 0.4882432818412781, + 0.009113441221415997, + 0.8726599812507629, + 0.5072025060653687 + ], + [ + -0.8726319074630737, + -0.0080711729824543, + 0.4883117973804474, + -4.208256244659424 + ], + [ + 0.011493592523038387, + -0.9999258518218994, + 0.004011983051896095, + -0.2723243236541748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3644, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_538468122", + "mask_path": "../../mask/hdr_right_03644.png" + }, + { + "file_path": "../../rgb/hdr_right_03645.png", + "transform_matrix": [ + [ + 0.49022406339645386, + 0.0073203700594604015, + 0.8715656995773315, + 0.485310822725296 + ], + [ + -0.8715096116065979, + -0.010001812130212784, + 0.4902764856815338, + -4.1427459716796875 + ], + [ + 0.012306243181228638, + -0.9999231696128845, + 0.001476644421927631, + -0.27864977717399597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3645, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_638467550", + "mask_path": "../../mask/hdr_right_03645.png" + }, + { + "file_path": "../../rgb/hdr_right_03646.png", + "transform_matrix": [ + [ + 0.4870411455631256, + 0.005085043143481016, + 0.8733643293380737, + 0.46338170766830444 + ], + [ + -0.873250424861908, + -0.014324366115033627, + 0.48706111311912537, + -4.071497917175293 + ], + [ + 0.014987115748226643, + -0.9998844861984253, + -0.0025360407307744026, + -0.28193026781082153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3646, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_738468647", + "mask_path": "../../mask/hdr_right_03646.png" + }, + { + "file_path": "../../rgb/hdr_right_03647.png", + "transform_matrix": [ + [ + 0.4763621985912323, + 0.00657722819596529, + 0.8792246580123901, + 0.4414723813533783 + ], + [ + -0.879120945930481, + -0.013508708216249943, + 0.47640711069107056, + -4.00069522857666 + ], + [ + 0.015010627917945385, + -0.9998871088027954, + -0.0006528568919748068, + -0.27016252279281616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3647, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_838468313", + "mask_path": "../../mask/hdr_right_03647.png" + }, + { + "file_path": "../../rgb/hdr_right_03648.png", + "transform_matrix": [ + [ + 0.46473246812820435, + 0.0006971625844016671, + 0.8854509592056274, + 0.42095309495925903 + ], + [ + -0.8854041695594788, + -0.009937165305018425, + 0.46471571922302246, + -3.9290671348571777 + ], + [ + 0.009122855961322784, + -0.9999503493309021, + -0.004000853281468153, + -0.26491254568099976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3648, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594531_938468694", + "mask_path": "../../mask/hdr_right_03648.png" + }, + { + "file_path": "../../rgb/hdr_right_03649.png", + "transform_matrix": [ + [ + 0.45739027857780457, + -0.0008628175128251314, + 0.8892657160758972, + 0.39028990268707275 + ], + [ + -0.8892443776130676, + -0.007426565047353506, + 0.45737215876579285, + -3.8438069820404053 + ], + [ + 0.006209558807313442, + -0.9999719858169556, + -0.0041640945710241795, + -0.26908254623413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3649, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_38468599", + "mask_path": "../../mask/hdr_right_03649.png" + }, + { + "file_path": "../../rgb/hdr_right_03650.png", + "transform_matrix": [ + [ + 0.46009689569473267, + 0.0021500529255717993, + 0.8878660798072815, + 0.35838377475738525 + ], + [ + -0.8878386616706848, + -0.007119068875908852, + 0.4600999057292938, + -3.7582154273986816 + ], + [ + 0.007310019806027412, + -0.9999723434448242, + -0.0013665627921000123, + -0.2771259546279907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3650, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_138468027", + "mask_path": "../../mask/hdr_right_03650.png" + }, + { + "file_path": "../../rgb/hdr_right_03651.png", + "transform_matrix": [ + [ + 0.46116650104522705, + 0.002175023313611746, + 0.8873109817504883, + 0.3291316032409668 + ], + [ + -0.8872917890548706, + -0.005888099316507578, + 0.46117091178894043, + -3.6781718730926514 + ], + [ + 0.006227632984519005, + -0.9999802708625793, + -0.0007855123840272427, + -0.2814810276031494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3651, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_238468885", + "mask_path": "../../mask/hdr_right_03651.png" + }, + { + "file_path": "../../rgb/hdr_right_03652.png", + "transform_matrix": [ + [ + 0.4537302255630493, + -0.0006873782840557396, + 0.8911388516426086, + 0.3021587133407593 + ], + [ + -0.891101062297821, + -0.00959037709981203, + 0.4537035822868347, + -3.589599132537842 + ], + [ + 0.00823449157178402, + -0.9999537467956543, + -0.004963967949151993, + -0.2831878662109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3652, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_338468551", + "mask_path": "../../mask/hdr_right_03652.png" + }, + { + "file_path": "../../rgb/hdr_right_03653.png", + "transform_matrix": [ + [ + 0.4356062114238739, + -0.002254568273201585, + 0.9001345634460449, + 0.2815658748149872 + ], + [ + -0.9000712037086487, + -0.013213965110480785, + 0.43554237484931946, + -3.5064618587493896 + ], + [ + 0.010912387631833553, + -0.9999101758003235, + -0.007785358466207981, + -0.2733558416366577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3653, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_438468694", + "mask_path": "../../mask/hdr_right_03653.png" + }, + { + "file_path": "../../rgb/hdr_right_03654.png", + "transform_matrix": [ + [ + 0.41490158438682556, + -0.006539202760905027, + 0.9098429083824158, + 0.2614862620830536 + ], + [ + -0.9098474979400635, + -0.00941520743072033, + 0.4148360788822174, + -3.4263110160827637 + ], + [ + 0.005853660870343447, + -0.9999343156814575, + -0.009856062941253185, + -0.26535266637802124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3654, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_538468360", + "mask_path": "../../mask/hdr_right_03654.png" + }, + { + "file_path": "../../rgb/hdr_right_03655.png", + "transform_matrix": [ + [ + 0.39854174852371216, + -0.005102877039462328, + 0.917136013507843, + 0.23234882950782776 + ], + [ + -0.9171445369720459, + -0.005713456775993109, + 0.39851367473602295, + -3.3321259021759033 + ], + [ + 0.0032064493279904127, + -0.9999706149101257, + -0.006957128643989563, + -0.26822978258132935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3655, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_638469219", + "mask_path": "../../mask/hdr_right_03655.png" + }, + { + "file_path": "../../rgb/hdr_right_03656.png", + "transform_matrix": [ + [ + 0.3921423852443695, + -0.004365482367575169, + 0.9198941588401794, + 0.20169195532798767 + ], + [ + -0.9198952317237854, + -0.006358708720654249, + 0.3921126425266266, + -3.246408462524414 + ], + [ + 0.00413757748901844, + -0.9999702572822571, + -0.006509306840598583, + -0.27987736463546753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3656, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_738468647", + "mask_path": "../../mask/hdr_right_03656.png" + }, + { + "file_path": "../../rgb/hdr_right_03657.png", + "transform_matrix": [ + [ + 0.38362833857536316, + -0.004675490316003561, + 0.9234758615493774, + 0.18262317776679993 + ], + [ + -0.9234849214553833, + -0.004341886844485998, + 0.3836101293563843, + -3.17142915725708 + ], + [ + 0.0022160618100315332, + -0.9999796748161316, + -0.005983415991067886, + -0.2853446900844574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3657, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_838469028", + "mask_path": "../../mask/hdr_right_03657.png" + }, + { + "file_path": "../../rgb/hdr_right_03658.png", + "transform_matrix": [ + [ + 0.36919844150543213, + -0.005062691867351532, + 0.9293367266654968, + 0.1683758795261383 + ], + [ + -0.9293357133865356, + -0.007656616624444723, + 0.3691563010215759, + -3.088881492614746 + ], + [ + 0.00524665042757988, + -0.9999578595161438, + -0.007531753741204739, + -0.28714054822921753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3658, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594532_938468456", + "mask_path": "../../mask/hdr_right_03658.png" + }, + { + "file_path": "../../rgb/hdr_right_03659.png", + "transform_matrix": [ + [ + 0.34505152702331543, + -0.004976277705281973, + 0.9385706186294556, + 0.15999487042427063 + ], + [ + -0.9385272860527039, + -0.012797804549336433, + 0.3449677526950836, + -3.0067853927612305 + ], + [ + 0.010294987820088863, + -0.9999057054519653, + -0.009086274541914463, + -0.27367958426475525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3659, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_38468599", + "mask_path": "../../mask/hdr_right_03659.png" + }, + { + "file_path": "../../rgb/hdr_right_03660.png", + "transform_matrix": [ + [ + 0.3182777464389801, + -0.010736437514424324, + 0.9479367733001709, + 0.15010780096054077 + ], + [ + -0.9479882717132568, + -0.008023363538086414, + 0.3182041347026825, + -2.929145097732544 + ], + [ + 0.0041892630979418755, + -0.9999101758003235, + -0.012731675058603287, + -0.2678714394569397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3660, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_138468265", + "mask_path": "../../mask/hdr_right_03660.png" + }, + { + "file_path": "../../rgb/hdr_right_03661.png", + "transform_matrix": [ + [ + 0.29572975635528564, + -0.009963028132915497, + 0.9552196860313416, + 0.13655172288417816 + ], + [ + -0.9552713632583618, + -0.003937245346605778, + 0.2957046627998352, + -2.842151641845703 + ], + [ + 0.000814820290543139, + -0.9999425411224365, + -0.0106817577034235, + -0.2653689980506897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3661, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_238469123", + "mask_path": "../../mask/hdr_right_03661.png" + }, + { + "file_path": "../../rgb/hdr_right_03662.png", + "transform_matrix": [ + [ + 0.2851717472076416, + -0.006307884585112333, + 0.9584556818008423, + 0.11731401085853577 + ], + [ + -0.9584648609161377, + -0.006794310174882412, + 0.28512975573539734, + -2.7480926513671875 + ], + [ + 0.004713478963822126, + -0.9999570250511169, + -0.007983433082699776, + -0.2746056318283081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3662, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_338469028", + "mask_path": "../../mask/hdr_right_03662.png" + }, + { + "file_path": "../../rgb/hdr_right_03663.png", + "transform_matrix": [ + [ + 0.27577662467956543, + -0.003656537737697363, + 0.9612148404121399, + 0.10498221963644028 + ], + [ + -0.961210310459137, + -0.005938590504229069, + 0.2757527232170105, + -2.673767566680908 + ], + [ + 0.004699960816651583, + -0.9999757409095764, + -0.005152426194399595, + -0.28281036019325256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3663, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_438468933", + "mask_path": "../../mask/hdr_right_03663.png" + }, + { + "file_path": "../../rgb/hdr_right_03664.png", + "transform_matrix": [ + [ + 0.26630699634552, + -0.005104274954646826, + 0.963874876499176, + 0.09610236436128616 + ], + [ + -0.9638668298721313, + -0.008078321814537048, + 0.266262024641037, + -2.591123580932617 + ], + [ + 0.0064274161122739315, + -0.999954342842102, + -0.007071156054735184, + -0.28264737129211426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3664, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_538469314", + "mask_path": "../../mask/hdr_right_03664.png" + }, + { + "file_path": "../../rgb/hdr_right_03665.png", + "transform_matrix": [ + [ + 0.2560301721096039, + -0.005314836278557777, + 0.9666542410850525, + 0.09031253308057785 + ], + [ + -0.966560423374176, + -0.016385411843657494, + 0.25591522455215454, + -2.510056495666504 + ], + [ + 0.014478879049420357, + -0.999851644039154, + -0.009332272224128246, + -0.27491310238838196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3665, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_638467788", + "mask_path": "../../mask/hdr_right_03665.png" + }, + { + "file_path": "../../rgb/hdr_right_03666.png", + "transform_matrix": [ + [ + 0.24495038390159607, + -0.011607124470174313, + 0.9694662094116211, + 0.08264187723398209 + ], + [ + -0.9694845676422119, + -0.013199749402701855, + 0.2447969913482666, + -2.4365899562835693 + ], + [ + 0.009955320507287979, + -0.9998455047607422, + -0.014486211352050304, + -0.2666293978691101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3666, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_738469123", + "mask_path": "../../mask/hdr_right_03666.png" + }, + { + "file_path": "../../rgb/hdr_right_03667.png", + "transform_matrix": [ + [ + 0.23627005517482758, + -0.015965212136507034, + 0.9715563058853149, + 0.07264936715364456 + ], + [ + -0.9716651439666748, + -0.010663553141057491, + 0.2361212819814682, + -2.3525023460388184 + ], + [ + 0.006590515375137329, + -0.9998157024383545, + -0.018032321706414223, + -0.26553523540496826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3667, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_838469028", + "mask_path": "../../mask/hdr_right_03667.png" + }, + { + "file_path": "../../rgb/hdr_right_03668.png", + "transform_matrix": [ + [ + 0.2375272512435913, + -0.012235220521688461, + 0.9713038206100464, + 0.05506163835525513 + ], + [ + -0.9713020324707031, + -0.015736306086182594, + 0.23732855916023254, + -2.2616260051727295 + ], + [ + 0.012380965054035187, + -0.9998013377189636, + -0.01562189869582653, + -0.27591973543167114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3668, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594533_938467502", + "mask_path": "../../mask/hdr_right_03668.png" + }, + { + "file_path": "../../rgb/hdr_right_03669.png", + "transform_matrix": [ + [ + 0.24327534437179565, + -0.00808049738407135, + 0.9699236154556274, + 0.0391552671790123 + ], + [ + -0.9698525667190552, + -0.016719408333301544, + 0.24311821162700653, + -2.1844913959503174 + ], + [ + 0.014252033084630966, + -0.9998276233673096, + -0.011904312297701836, + -0.2872079312801361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3669, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_38468599", + "mask_path": "../../mask/hdr_right_03669.png" + }, + { + "file_path": "../../rgb/hdr_right_03670.png", + "transform_matrix": [ + [ + 0.24425539374351501, + -0.009715833701193333, + 0.9696623086929321, + 0.029603920876979828 + ], + [ + -0.9695852398872375, + -0.018546318635344505, + 0.24405013024806976, + -2.1039271354675293 + ], + [ + 0.015612514689564705, + -0.9997807741165161, + -0.013950368389487267, + -0.28947895765304565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3670, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_138468742", + "mask_path": "../../mask/hdr_right_03670.png" + }, + { + "file_path": "../../rgb/hdr_right_03671.png", + "transform_matrix": [ + [ + 0.23663853108882904, + -0.011637942865490913, + 0.9715280532836914, + 0.028162270784378052 + ], + [ + -0.9713308811187744, + -0.026271117851138115, + 0.2362757921218872, + -2.0196030139923096 + ], + [ + 0.022773364558815956, + -0.9995871186256409, + -0.017521053552627563, + -0.28571444749832153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3671, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_238468885", + "mask_path": "../../mask/hdr_right_03671.png" + }, + { + "file_path": "../../rgb/hdr_right_03672.png", + "transform_matrix": [ + [ + 0.22289258241653442, + -0.014551595784723759, + 0.9747344851493835, + 0.02715214341878891 + ], + [ + -0.9746598601341248, + -0.02270965464413166, + 0.22253648936748505, + -1.94224214553833 + ], + [ + 0.01889761909842491, + -0.9996362328529358, + -0.019244670867919922, + -0.27648496627807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3672, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_338468790", + "mask_path": "../../mask/hdr_right_03672.png" + }, + { + "file_path": "../../rgb/hdr_right_03673.png", + "transform_matrix": [ + [ + 0.21189963817596436, + -0.017238769680261612, + 0.9771393537521362, + 0.022619128227233887 + ], + [ + -0.9771808385848999, + -0.018782522529363632, + 0.21157725155353546, + -1.8605860471725464 + ], + [ + 0.014705810695886612, + -0.999674916267395, + -0.020825402811169624, + -0.27356791496276855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3673, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_438468456", + "mask_path": "../../mask/hdr_right_03673.png" + }, + { + "file_path": "../../rgb/hdr_right_03674.png", + "transform_matrix": [ + [ + 0.20898428559303284, + -0.012971975840628147, + 0.9778329730033875, + 0.013701699674129486 + ], + [ + -0.9777781367301941, + -0.019741414114832878, + 0.2087106555700302, + -1.7677772045135498 + ], + [ + 0.016596416011452675, + -0.9997209906578064, + -0.016809362918138504, + -0.28171342611312866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3674, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_538468122", + "mask_path": "../../mask/hdr_right_03674.png" + }, + { + "file_path": "../../rgb/hdr_right_03675.png", + "transform_matrix": [ + [ + 0.21450071036815643, + -0.010259385220706463, + 0.97666996717453, + 0.0027210265398025513 + ], + [ + -0.9765693545341492, + -0.02003616653382778, + 0.21426814794540405, + -1.683358907699585 + ], + [ + 0.01737046428024769, + -0.9997466206550598, + -0.014316773973405361, + -0.2949867844581604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3675, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_638468980", + "mask_path": "../../mask/hdr_right_03675.png" + }, + { + "file_path": "../../rgb/hdr_right_03676.png", + "transform_matrix": [ + [ + 0.21711663901805878, + -0.009742716327309608, + 0.976097047328949, + -0.003807440400123596 + ], + [ + -0.9759988188743591, + -0.019506007432937622, + 0.21690011024475098, + -1.6027663946151733 + ], + [ + 0.016926562413573265, + -0.9997622966766357, + -0.013743960298597813, + -0.29774990677833557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3676, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_738469362", + "mask_path": "../../mask/hdr_right_03676.png" + }, + { + "file_path": "../../rgb/hdr_right_03677.png", + "transform_matrix": [ + [ + 0.2116333693265915, + -0.011091264896094799, + 0.9772862792015076, + -0.0033985525369644165 + ], + [ + -0.977102518081665, + -0.024861140176653862, + 0.21131141483783722, + -1.514078974723816 + ], + [ + 0.021952738985419273, + -0.9996293783187866, + -0.01609875075519085, + -0.29562297463417053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3677, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_838468551", + "mask_path": "../../mask/hdr_right_03677.png" + }, + { + "file_path": "../../rgb/hdr_right_03678.png", + "transform_matrix": [ + [ + 0.19798435270786285, + -0.012189876288175583, + 0.9801294207572937, + -0.002003677189350128 + ], + [ + -0.9799791574478149, + -0.023932315409183502, + 0.19765633344650269, + -1.4377143383026123 + ], + [ + 0.021047357469797134, + -0.9996392130851746, + -0.016684049740433693, + -0.2884957194328308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3678, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594534_938467502", + "mask_path": "../../mask/hdr_right_03678.png" + }, + { + "file_path": "../../rgb/hdr_right_03679.png", + "transform_matrix": [ + [ + 0.18699607253074646, + -0.017110008746385574, + 0.982211709022522, + -0.004979442805051804 + ], + [ + -0.9822252988815308, + -0.019854651764035225, + 0.1866527944803238, + -1.3590338230133057 + ], + [ + 0.016307838261127472, + -0.9996564388275146, + -0.020518627017736435, + -0.28618013858795166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3679, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_38468599", + "mask_path": "../../mask/hdr_right_03679.png" + }, + { + "file_path": "../../rgb/hdr_right_03680.png", + "transform_matrix": [ + [ + 0.18468454480171204, + -0.01651923917233944, + 0.9826590418815613, + -0.014781322330236435 + ], + [ + -0.9826481938362122, + -0.020555073395371437, + 0.18433694541454315, + -1.2592639923095703 + ], + [ + 0.01715352199971676, + -0.9996522665023804, + -0.02002880536019802, + -0.29127517342567444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3680, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_138468742", + "mask_path": "../../mask/hdr_right_03680.png" + }, + { + "file_path": "../../rgb/hdr_right_03681.png", + "transform_matrix": [ + [ + 0.1907954066991806, + -0.014628468081355095, + 0.9815207719802856, + -0.02453364059329033 + ], + [ + -0.9814472198486328, + -0.02212805673480034, + 0.19045130908489227, + -1.183356523513794 + ], + [ + 0.018933134153485298, + -0.9996480941772461, + -0.01857900619506836, + -0.303911954164505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3681, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_238468170", + "mask_path": "../../mask/hdr_right_03681.png" + }, + { + "file_path": "../../rgb/hdr_right_03682.png", + "transform_matrix": [ + [ + 0.1922972947359085, + -0.013917861506342888, + 0.981238067150116, + -0.029784906655550003 + ], + [ + -0.9811352491378784, + -0.022988218814134598, + 0.19195105135440826, + -1.1075348854064941 + ], + [ + 0.019885368645191193, + -0.9996388554573059, + -0.01807587593793869, + -0.3077469766139984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3682, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_338469028", + "mask_path": "../../mask/hdr_right_03682.png" + }, + { + "file_path": "../../rgb/hdr_right_03683.png", + "transform_matrix": [ + [ + 0.1863618791103363, + -0.014647262170910835, + 0.9823720455169678, + -0.027544427663087845 + ], + [ + -0.982154369354248, + -0.028565360233187675, + 0.1858946681022644, + -1.0235930681228638 + ], + [ + 0.02533895894885063, + -0.999484658241272, + -0.01970936730504036, + -0.3062683641910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3683, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_438470363", + "mask_path": "../../mask/hdr_right_03683.png" + }, + { + "file_path": "../../rgb/hdr_right_03684.png", + "transform_matrix": [ + [ + 0.17353525757789612, + -0.014815924689173698, + 0.9847162961959839, + -0.025582149624824524 + ], + [ + -0.984548807144165, + -0.026404934003949165, + 0.17310844361782074, + -0.9466502666473389 + ], + [ + 0.02343660406768322, + -0.9995414614677429, + -0.019169189035892487, + -0.29928651452064514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3684, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_538469076", + "mask_path": "../../mask/hdr_right_03684.png" + }, + { + "file_path": "../../rgb/hdr_right_03685.png", + "transform_matrix": [ + [ + 0.16246087849140167, + -0.020369086414575577, + 0.9865047335624695, + -0.028446141630411148 + ], + [ + -0.9865615963935852, + -0.020983394235372543, + 0.1620369702577591, + -0.8660516738891602 + ], + [ + 0.01739967241883278, + -0.9995723366737366, + -0.023504341021180153, + -0.29474514722824097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3685, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_638468980", + "mask_path": "../../mask/hdr_right_03685.png" + }, + { + "file_path": "../../rgb/hdr_right_03686.png", + "transform_matrix": [ + [ + 0.15985152125358582, + -0.01810864917933941, + 0.9869749546051025, + -0.03385991230607033 + ], + [ + -0.9869804382324219, + -0.020965738222002983, + 0.15946772694587708, + -0.7771103978157043 + ], + [ + 0.017804915085434914, + -0.9996161460876465, + -0.021224290132522583, + -0.29933470487594604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3686, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_738467931", + "mask_path": "../../mask/hdr_right_03686.png" + }, + { + "file_path": "../../rgb/hdr_right_03687.png", + "transform_matrix": [ + [ + 0.1648312658071518, + -0.014142217114567757, + 0.9862204194068909, + -0.042222555726766586 + ], + [ + -0.9861266016960144, + -0.02225455641746521, + 0.16449643671512604, + -0.701168417930603 + ], + [ + 0.019621552899479866, + -0.9996523261070251, + -0.017614265903830528, + -0.3127058744430542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3687, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_838468074", + "mask_path": "../../mask/hdr_right_03687.png" + }, + { + "file_path": "../../rgb/hdr_right_03688.png", + "transform_matrix": [ + [ + 0.16544519364833832, + -0.014443318359553814, + 0.9861132502555847, + -0.04365014657378197 + ], + [ + -0.9859926700592041, + -0.02384490706026554, + 0.16507568955421448, + -0.6230046153068542 + ], + [ + 0.021129535511136055, + -0.9996113777160645, + -0.01818603090941906, + -0.31589651107788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3688, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594535_938467979", + "mask_path": "../../mask/hdr_right_03688.png" + }, + { + "file_path": "../../rgb/hdr_right_03689.png", + "transform_matrix": [ + [ + 0.15886017680168152, + -0.016914846375584602, + 0.987156331539154, + -0.04032881185412407 + ], + [ + -0.9869042634963989, + -0.03106825426220894, + 0.15828724205493927, + -0.5436299443244934 + ], + [ + 0.02799181267619133, + -0.9993740916252136, + -0.021628841757774353, + -0.3162868618965149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3689, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_38468360", + "mask_path": "../../mask/hdr_right_03689.png" + }, + { + "file_path": "../../rgb/hdr_right_03690.png", + "transform_matrix": [ + [ + 0.14637377858161926, + -0.016072675585746765, + 0.9890989661216736, + -0.03464692085981369 + ], + [ + -0.9888747930526733, + -0.02914767898619175, + 0.14586691558361053, + -0.472454696893692 + ], + [ + 0.026485463604331017, + -0.999445915222168, + -0.020160319283604622, + -0.3115001320838928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3690, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_138468503", + "mask_path": "../../mask/hdr_right_03690.png" + }, + { + "file_path": "../../rgb/hdr_right_03691.png", + "transform_matrix": [ + [ + 0.13658417761325836, + -0.02198512852191925, + 0.9903846383094788, + -0.03415378928184509 + ], + [ + -0.9903916716575623, + -0.024890897795557976, + 0.1360325813293457, + -0.39687782526016235 + ], + [ + 0.021660858765244484, + -0.9994484186172485, + -0.02517358958721161, + -0.3085730969905853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3691, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_238468408", + "mask_path": "../../mask/hdr_right_03691.png" + }, + { + "file_path": "../../rgb/hdr_right_03692.png", + "transform_matrix": [ + [ + 0.13498562574386597, + -0.020445989444851875, + 0.9906366467475891, + -0.03994614630937576 + ], + [ + -0.9905893206596375, + -0.025610612705349922, + 0.13445058465003967, + -0.30970215797424316 + ], + [ + 0.02262183651328087, + -0.999462902545929, + -0.023710645735263824, + -0.3136475682258606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3692, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_338469743", + "mask_path": "../../mask/hdr_right_03692.png" + }, + { + "file_path": "../../rgb/hdr_right_03693.png", + "transform_matrix": [ + [ + 0.1417429894208908, + -0.019014433026313782, + 0.9897209405899048, + -0.045564740896224976 + ], + [ + -0.9896348118782043, + -0.02601584792137146, + 0.14123082160949707, + -0.2327432930469513 + ], + [ + 0.02306300587952137, + -0.999480664730072, + -0.022504908964037895, + -0.3262329399585724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3693, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_438466310", + "mask_path": "../../mask/hdr_right_03693.png" + }, + { + "file_path": "../../rgb/hdr_right_03694.png", + "transform_matrix": [ + [ + 0.14338980615139008, + -0.017994998022913933, + 0.9895027875900269, + -0.04690055176615715 + ], + [ + -0.9893500208854675, + -0.02787960134446621, + 0.14286065101623535, + -0.1687009036540985 + ], + [ + 0.025016162544488907, + -0.9994493126869202, + -0.02180100418627262, + -0.3294501304626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3694, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_538470029", + "mask_path": "../../mask/hdr_right_03694.png" + }, + { + "file_path": "../../rgb/hdr_right_03695.png", + "transform_matrix": [ + [ + 0.13641035556793213, + -0.016487255692481995, + 0.9905152916908264, + -0.03987345099449158 + ], + [ + -0.9901716709136963, + -0.033413734287023544, + 0.1358068436384201, + -0.09750312566757202 + ], + [ + 0.03085772879421711, + -0.9993056058883667, + -0.020883193239569664, + -0.3270076811313629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3695, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_638469696", + "mask_path": "../../mask/hdr_right_03695.png" + }, + { + "file_path": "../../rgb/hdr_right_03696.png", + "transform_matrix": [ + [ + 0.12283431738615036, + -0.0166841559112072, + 0.9922869801521301, + -0.03114350140094757 + ], + [ + -0.9920618534088135, + -0.029193291440606117, + 0.12231559306383133, + -0.02805265784263611 + ], + [ + 0.026927391067147255, + -0.9994345307350159, + -0.02013765461742878, + -0.32002854347229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3696, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_738470315", + "mask_path": "../../mask/hdr_right_03696.png" + }, + { + "file_path": "../../rgb/hdr_right_03697.png", + "transform_matrix": [ + [ + 0.11232822388410568, + -0.022392379119992256, + 0.99341881275177, + -0.02716757357120514 + ], + [ + -0.9934428930282593, + -0.023959381505846977, + 0.11179087311029434, + 0.04523554444313049 + ], + [ + 0.02129843831062317, + -0.9994621276855469, + -0.024936866015195847, + -0.3156076669692993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3697, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_838469266", + "mask_path": "../../mask/hdr_right_03697.png" + }, + { + "file_path": "../../rgb/hdr_right_03698.png", + "transform_matrix": [ + [ + 0.11238864809274673, + -0.020642993971705437, + 0.9934499263763428, + -0.03221762925386429 + ], + [ + -0.9933647513389587, + -0.02688330039381981, + 0.11182037740945816, + 0.12348823249340057 + ], + [ + 0.02439890243113041, + -0.9994254112243652, + -0.023527398705482483, + -0.3240772485733032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3698, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594536_938471078", + "mask_path": "../../mask/hdr_right_03698.png" + }, + { + "file_path": "../../rgb/hdr_right_03699.png", + "transform_matrix": [ + [ + 0.11799556016921997, + -0.017113814130425453, + 0.9928666949272156, + -0.03792129084467888 + ], + [ + -0.9926713109016418, + -0.028302974998950958, + 0.11748448014259338, + 0.19060523808002472 + ], + [ + 0.02609047293663025, + -0.9994528293609619, + -0.020328018814325333, + -0.336649626493454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3699, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_38471460", + "mask_path": "../../mask/hdr_right_03699.png" + }, + { + "file_path": "../../rgb/hdr_right_03700.png", + "transform_matrix": [ + [ + 0.11716194450855255, + -0.017400823533535004, + 0.9929603934288025, + -0.03289644420146942 + ], + [ + -0.992677628993988, + -0.031645309180021286, + 0.1165740117430687, + 0.2543758451938629 + ], + [ + 0.029394052922725677, + -0.9993476867675781, + -0.020981036126613617, + -0.33970946073532104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3700, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_138469696", + "mask_path": "../../mask/hdr_right_03700.png" + }, + { + "file_path": "../../rgb/hdr_right_03701.png", + "transform_matrix": [ + [ + 0.10741633176803589, + -0.019620083272457123, + 0.9940206408500671, + -0.026110734790563583 + ], + [ + -0.9935541749000549, + -0.038539957255125046, + 0.10660521686077118, + 0.3188285231590271 + ], + [ + 0.03621790558099747, + -0.9990643858909607, + -0.0236334390938282, + -0.3374127745628357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3701, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_238470315", + "mask_path": "../../mask/hdr_right_03701.png" + }, + { + "file_path": "../../rgb/hdr_right_03702.png", + "transform_matrix": [ + [ + 0.0943107083439827, + -0.02703159675002098, + 0.995175838470459, + -0.02359728515148163 + ], + [ + -0.9951346516609192, + -0.031180087476968765, + 0.0934598445892334, + 0.370471328496933 + ], + [ + 0.028503302484750748, + -0.9991481900215149, + -0.02984069660305977, + -0.3264421820640564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3702, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594537_338470220", + "mask_path": "../../mask/hdr_right_03702.png" + }, + { + "file_path": "../../rgb/hdr_right_03769.png", + "transform_matrix": [ + [ + -0.03838234767317772, + -0.09133075177669525, + 0.9950807094573975, + -0.009190177544951439 + ], + [ + -0.9992285370826721, + 0.011802321299910545, + -0.0374591089785099, + 0.6225127577781677 + ], + [ + -0.008323092013597488, + -0.9957506656646729, + -0.0917133018374443, + -0.2648884356021881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3769, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_38471460", + "mask_path": "../../mask/hdr_right_03769.png" + }, + { + "file_path": "../../rgb/hdr_right_03770.png", + "transform_matrix": [ + [ + -0.056924838572740555, + -0.11535333842039108, + 0.9916921257972717, + -0.02459157630801201 + ], + [ + -0.9983262419700623, + -0.003588064108043909, + -0.05772306025028229, + 0.6182302832603455 + ], + [ + 0.010216798633337021, + -0.9933180809020996, + -0.11495601385831833, + -0.20743615925312042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3770, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_138468265", + "mask_path": "../../mask/hdr_right_03770.png" + }, + { + "file_path": "../../rgb/hdr_right_03773.png", + "transform_matrix": [ + [ + 0.014271263964474201, + -0.10573732852935791, + 0.9942916631698608, + -0.13683448731899261 + ], + [ + -0.9989243149757385, + -0.04538318142294884, + 0.009511500597000122, + 0.6221256256103516 + ], + [ + 0.044118400663137436, + -0.9933578968048096, + -0.10627128183841705, + -0.09647594392299652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3773, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_438468694", + "mask_path": "../../mask/hdr_right_03773.png" + }, + { + "file_path": "../../rgb/hdr_right_03774.png", + "transform_matrix": [ + [ + 0.0757494792342186, + -0.08916182070970535, + 0.9931325912475586, + -0.19468450546264648 + ], + [ + -0.9970542192459106, + -0.018795492127537727, + 0.07436114549636841, + 0.6116418242454529 + ], + [ + 0.012036237865686417, + -0.9958398342132568, + -0.09032291918992996, + -0.052361927926540375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3774, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594544_538469076", + "mask_path": "../../mask/hdr_right_03774.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/b7a68bb8/mesh.ply b/2024-11-14-15-22-43/splats/b7a68bb8/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..d3dde24432574a97d861f97f8d387b0ddad18ca0 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b7a68bb8/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab54d979e6d5c5fdf0578f65a7eadf6967f38d18d0faf951d0903c25a933c59d +size 67330842 diff --git a/2024-11-14-15-22-43/splats/b7a68bb8/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/b7a68bb8/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..d4c0dac04353fcdde7807ec2295a5f2a550c20b0 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b7a68bb8/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fa619aefcdebcea496176aabb1bf3cfa8fc10fd7e8fd0a6ad0650376804c085 +size 1546686 diff --git a/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/config.yml b/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..bf68c0d535898574c0e04fbbd7cfdc4908aa709e --- /dev/null +++ b/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_b7a68bb8 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_b7a68bb8 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a97d7a157d293a0e722a18a86154c47c68af1595 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.779647707939148, + -0.6254052519798279, + 0.031899530440568924, + -1.6199311017990112 + ], + [ + -0.6254052519798279, + 0.780219554901123, + 0.01121015939861536, + 6.65283203125 + ], + [ + -0.031899530440568924, + -0.01121015939861536, + -0.9994281530380249, + -0.16349099576473236 + ] + ], + "scale": 0.4033643185204661 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..3de8d1b40653c1261840332c3d0fe4ee17d90d74 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b7a68bb8/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3550ba86438cb1b0c96f1eeb48b08c5a53ce80fbcb920b3bcfb26759edf0cb07 +size 304271058 diff --git a/2024-11-14-15-22-43/splats/b7a68bb8/transforms.json b/2024-11-14-15-22-43/splats/b7a68bb8/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..abfc6c02f0ddd81a2b68d85b939ad52e8c6bd3b2 --- /dev/null +++ b/2024-11-14-15-22-43/splats/b7a68bb8/transforms.json @@ -0,0 +1,15756 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00596.png", + "transform_matrix": [ + [ + 0.9445769786834717, + -0.01246725395321846, + -0.3280530273914337, + 2.0669896602630615 + ], + [ + 0.32743388414382935, + -0.0363353006541729, + 0.9441752433776855, + -5.3471150398254395 + ], + [ + -0.023691177368164062, + -0.9992619156837463, + -0.030239287763834, + -0.20817983150482178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 596, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_38470029", + "mask_path": "../../mask/hdr_front_00596.png" + }, + { + "file_path": "../../rgb/hdr_front_00597.png", + "transform_matrix": [ + [ + 0.9395636320114136, + -0.010788514278829098, + -0.3422042429447174, + 2.0926461219787598 + ], + [ + 0.34157103300094604, + -0.03888840228319168, + 0.9390511512756348, + -5.398660659790039 + ], + [ + -0.023438742384314537, + -0.9991853833198547, + -0.032853081822395325, + -0.2112087607383728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 597, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_138470649", + "mask_path": "../../mask/hdr_front_00597.png" + }, + { + "file_path": "../../rgb/hdr_front_00598.png", + "transform_matrix": [ + [ + 0.9377278685569763, + -0.010216032154858112, + -0.3472205102443695, + 2.107614517211914 + ], + [ + 0.3466784954071045, + -0.03554932400584221, + 0.9373101592063904, + -5.446473121643066 + ], + [ + -0.021919041872024536, + -0.9993157982826233, + -0.029793908819556236, + -0.20446562767028809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 598, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_238469362", + "mask_path": "../../mask/hdr_front_00598.png" + }, + { + "file_path": "../../rgb/hdr_front_00600.png", + "transform_matrix": [ + [ + 0.9281230568885803, + -0.003045077668502927, + -0.3722611963748932, + 2.158979892730713 + ], + [ + 0.3719041347503662, + -0.03695991635322571, + 0.9275350570678711, + -5.545572757720947 + ], + [ + -0.01658315770328045, + -0.9993121027946472, + -0.033170875161886215, + -0.18865200877189636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 600, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_438469886", + "mask_path": "../../mask/hdr_front_00600.png" + }, + { + "file_path": "../../rgb/hdr_front_00601.png", + "transform_matrix": [ + [ + 0.9147956371307373, + 0.003884922945871949, + -0.4038982689380646, + 2.20644211769104 + ], + [ + 0.4037419855594635, + -0.038220636546611786, + 0.914074182510376, + -5.60091495513916 + ], + [ + -0.01188613846898079, + -0.9992617964744568, + -0.036532577127218246, + -0.1897173374891281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 601, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_538470029", + "mask_path": "../../mask/hdr_front_00601.png" + }, + { + "file_path": "../../rgb/hdr_front_00602.png", + "transform_matrix": [ + [ + 0.89873206615448, + 0.005190914496779442, + -0.4384675621986389, + 2.246382713317871 + ], + [ + 0.4382975101470947, + -0.040887847542762756, + 0.8978995680809021, + -5.651476860046387 + ], + [ + -0.013267074711620808, + -0.999150276184082, + -0.039022382348775864, + -0.192454993724823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 602, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_638470172", + "mask_path": "../../mask/hdr_front_00602.png" + }, + { + "file_path": "../../rgb/hdr_front_00603.png", + "transform_matrix": [ + [ + 0.8851094841957092, + 0.007482687942683697, + -0.4653225839138031, + 2.2784152030944824 + ], + [ + 0.4652346968650818, + -0.03944312036037445, + 0.8843082189559937, + -5.704371452331543 + ], + [ + -0.011736773885786533, + -0.9991937875747681, + -0.03839268907904625, + -0.1856074035167694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 603, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_738470315", + "mask_path": "../../mask/hdr_front_00603.png" + }, + { + "file_path": "../../rgb/hdr_front_00604.png", + "transform_matrix": [ + [ + 0.8747400045394897, + 0.008372938260436058, + -0.48452022671699524, + 2.3115103244781494 + ], + [ + 0.48442232608795166, + -0.04161250591278076, + 0.8738440275192261, + -5.754400730133057 + ], + [ + -0.012845456600189209, + -0.9990987777709961, + -0.04045616090297699, + -0.17594897747039795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 604, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_838470220", + "mask_path": "../../mask/hdr_front_00604.png" + }, + { + "file_path": "../../rgb/hdr_front_00605.png", + "transform_matrix": [ + [ + 0.8604828119277954, + 0.02078855223953724, + -0.5090550780296326, + 2.3558237552642822 + ], + [ + 0.509469211101532, + -0.04141274839639664, + 0.8594918251037598, + -5.807216644287109 + ], + [ + -0.003213779302313924, + -0.9989258646965027, + -0.04622608795762062, + -0.16801084578037262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 605, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_938469886", + "mask_path": "../../mask/hdr_front_00605.png" + }, + { + "file_path": "../../rgb/hdr_front_00606.png", + "transform_matrix": [ + [ + 0.8402195572853088, + 0.03210792317986488, + -0.5412949919700623, + 2.410423755645752 + ], + [ + 0.5422376990318298, + -0.04410085827112198, + 0.8390669822692871, + -5.8605523109436035 + ], + [ + 0.0030691255815327168, + -0.998511016368866, + -0.05446453019976616, + -0.16044601798057556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 606, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_38470029", + "mask_path": "../../mask/hdr_front_00606.png" + }, + { + "file_path": "../../rgb/hdr_front_00607.png", + "transform_matrix": [ + [ + 0.816300630569458, + 0.030488787218928337, + -0.5768221020698547, + 2.459019660949707 + ], + [ + 0.5776093602180481, + -0.05096384510397911, + 0.8147209286689758, + -5.909773826599121 + ], + [ + -0.0045572188682854176, + -0.9982350468635559, + -0.059212423861026764, + -0.15708625316619873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 607, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_138470888", + "mask_path": "../../mask/hdr_front_00607.png" + }, + { + "file_path": "../../rgb/hdr_front_00608.png", + "transform_matrix": [ + [ + 0.7950415015220642, + 0.03364286199212074, + -0.6056212782859802, + 2.4998278617858887 + ], + [ + 0.6065403819084167, + -0.051042743027210236, + 0.7934125065803528, + -5.956259727478027 + ], + [ + -0.004219908732920885, + -0.9981297850608826, + -0.060986850410699844, + -0.14695359766483307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 608, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_238470315", + "mask_path": "../../mask/hdr_front_00608.png" + }, + { + "file_path": "../../rgb/hdr_front_00609.png", + "transform_matrix": [ + [ + 0.7793319225311279, + 0.03834010660648346, + -0.6254372596740723, + 2.5383379459381104 + ], + [ + 0.6266043782234192, + -0.05237763002514839, + 0.7775754928588867, + -5.999045372009277 + ], + [ + -0.0029465979896485806, + -0.9978911280632019, + -0.06484363973140717, + -0.1339898556470871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 609, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_338469982", + "mask_path": "../../mask/hdr_front_00609.png" + }, + { + "file_path": "../../rgb/hdr_front_00610.png", + "transform_matrix": [ + [ + 0.7604479789733887, + 0.050719745457172394, + -0.6474151611328125, + 2.5864033699035645 + ], + [ + 0.6493752598762512, + -0.050896499305963516, + 0.7587629556655884, + -6.039955139160156 + ], + [ + 0.005533099640160799, + -0.9974152445793152, + -0.07164028286933899, + -0.123581662774086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 610, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_438470602", + "mask_path": "../../mask/hdr_front_00610.png" + }, + { + "file_path": "../../rgb/hdr_front_00611.png", + "transform_matrix": [ + [ + 0.7348260283470154, + 0.06307005137205124, + -0.6753168702125549, + 2.6500840187072754 + ], + [ + 0.6781505346298218, + -0.05078955739736557, + 0.733165979385376, + -6.080918312072754 + ], + [ + 0.011941762641072273, + -0.9967160224914551, + -0.08009247481822968, + -0.11287231743335724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 611, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_538469791", + "mask_path": "../../mask/hdr_front_00611.png" + }, + { + "file_path": "../../rgb/hdr_front_00612.png", + "transform_matrix": [ + [ + 0.707094132900238, + 0.06685194373130798, + -0.7039521932601929, + 2.704080104827881 + ], + [ + 0.707078754901886, + -0.05617019534111023, + 0.704900324344635, + -6.111949920654297 + ], + [ + 0.0075828335247933865, + -0.996180534362793, + -0.0869872123003006, + -0.10803207755088806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 612, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_638470411", + "mask_path": "../../mask/hdr_front_00612.png" + }, + { + "file_path": "../../rgb/hdr_front_00613.png", + "transform_matrix": [ + [ + 0.6811614036560059, + 0.07242817431688309, + -0.7285418510437012, + 2.7493951320648193 + ], + [ + 0.7320489287376404, + -0.05227397009730339, + 0.6792436242103577, + -6.14056396484375 + ], + [ + 0.01111259963363409, + -0.9960027933120728, + -0.08862797915935516, + -0.09737786650657654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 613, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_738470792", + "mask_path": "../../mask/hdr_front_00613.png" + }, + { + "file_path": "../../rgb/hdr_front_00614.png", + "transform_matrix": [ + [ + 0.6602900624275208, + 0.07688461989164352, + -0.7470647692680359, + 2.7963998317718506 + ], + [ + 0.7508476972579956, + -0.04686334356665611, + 0.6588107347488403, + -6.172102928161621 + ], + [ + 0.01564246043562889, + -0.9959380626678467, + -0.08867204189300537, + -0.08429072797298431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 614, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_838470458", + "mask_path": "../../mask/hdr_front_00614.png" + }, + { + "file_path": "../../rgb/hdr_front_00615.png", + "transform_matrix": [ + [ + 0.6346478462219238, + 0.09153541177511215, + -0.7673613429069519, + 2.852844715118408 + ], + [ + 0.7723800539970398, + -0.042345330119132996, + 0.6337475180625916, + -6.198343753814697 + ], + [ + 0.02551615983247757, + -0.9949010610580444, + -0.09757450968027115, + -0.07071051001548767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 615, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_938470602", + "mask_path": "../../mask/hdr_front_00615.png" + }, + { + "file_path": "../../rgb/hdr_front_00616.png", + "transform_matrix": [ + [ + 0.6042883396148682, + 0.10371179133653641, + -0.7899870276451111, + 2.9174022674560547 + ], + [ + 0.7962350845336914, + -0.04242561385035515, + 0.6034979224205017, + -6.220411777496338 + ], + [ + 0.029074162244796753, + -0.9937021136283875, + -0.10821627080440521, + -0.05830158293247223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 616, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_38471221", + "mask_path": "../../mask/hdr_front_00616.png" + }, + { + "file_path": "../../rgb/hdr_front_00617.png", + "transform_matrix": [ + [ + 0.5720431208610535, + 0.10726743936538696, + -0.8131793141365051, + 2.9680490493774414 + ], + [ + 0.8198292851448059, + -0.0440388023853302, + 0.5709119439125061, + -6.237966537475586 + ], + [ + 0.02542882226407528, + -0.9932543635368347, + -0.11313308030366898, + -0.05547386407852173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 617, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_138469457", + "mask_path": "../../mask/hdr_front_00617.png" + }, + { + "file_path": "../../rgb/hdr_front_00618.png", + "transform_matrix": [ + [ + 0.5444920659065247, + 0.10941026359796524, + -0.8315994739532471, + 3.016920328140259 + ], + [ + 0.8384624123573303, + -0.04433084651827812, + 0.5431532859802246, + -6.259792327880859 + ], + [ + 0.02256103605031967, + -0.9930076599121094, + -0.11587420105934143, + -0.040647462010383606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 618, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_238469123", + "mask_path": "../../mask/hdr_front_00618.png" + }, + { + "file_path": "../../rgb/hdr_front_00619.png", + "transform_matrix": [ + [ + 0.5232216715812683, + 0.11518692225217819, + -0.8443762063980103, + 3.065422773361206 + ], + [ + 0.8517752885818481, + -0.03953322768211365, + 0.5224135518074036, + -6.288284778594971 + ], + [ + 0.026794295758008957, + -0.9925568699836731, + -0.11879800260066986, + -0.018644556403160095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 619, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_338469743", + "mask_path": "../../mask/hdr_front_00619.png" + }, + { + "file_path": "../../rgb/hdr_front_00620.png", + "transform_matrix": [ + [ + 0.4949875473976135, + 0.11867181956768036, + -0.8607580661773682, + 3.124666929244995 + ], + [ + 0.868340015411377, + -0.03199802339076996, + 0.49493613839149475, + -6.300447463989258 + ], + [ + 0.031192412599921227, + -0.9924178719520569, + -0.11888611316680908, + -0.010485231876373291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 620, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_438468694", + "mask_path": "../../mask/hdr_front_00620.png" + }, + { + "file_path": "../../rgb/hdr_front_00621.png", + "transform_matrix": [ + [ + 0.4618496894836426, + 0.11633148044347763, + -0.8792962431907654, + 3.1893091201782227 + ], + [ + 0.8865268230438232, + -0.029630977660417557, + 0.46172741055488586, + -6.31151008605957 + ], + [ + 0.02765902690589428, + -0.9927683472633362, + -0.11681603640317917, + -0.015808090567588806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 621, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_538469552", + "mask_path": "../../mask/hdr_front_00621.png" + }, + { + "file_path": "../../rgb/hdr_front_00622.png", + "transform_matrix": [ + [ + 0.42853277921676636, + 0.11321109533309937, + -0.8964055776596069, + 3.243466854095459 + ], + [ + 0.9031333923339844, + -0.024418625980615616, + 0.4286651015281677, + -6.319211959838867 + ], + [ + 0.02664065919816494, + -0.993270993232727, + -0.11270890384912491, + -0.019575417041778564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 622, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_638469696", + "mask_path": "../../mask/hdr_front_00622.png" + }, + { + "file_path": "../../rgb/hdr_front_00623.png", + "transform_matrix": [ + [ + 0.39966729283332825, + 0.10697077959775925, + -0.9103973507881165, + 3.2962989807128906 + ], + [ + 0.9160981178283691, + -0.011833073571324348, + 0.4007795453071594, + -6.328945159912109 + ], + [ + 0.03209890425205231, + -0.9941917657852173, + -0.10272502899169922, + -0.015595003962516785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 623, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_738469123", + "mask_path": "../../mask/hdr_front_00623.png" + }, + { + "file_path": "../../rgb/hdr_front_00624.png", + "transform_matrix": [ + [ + 0.3783557415008545, + 0.10447487235069275, + -0.919745683670044, + 3.347505807876587 + ], + [ + 0.9250633120536804, + -0.0069997902028262615, + 0.3797481954097748, + -6.344615936279297 + ], + [ + 0.03323611617088318, + -0.9945029020309448, + -0.09929429739713669, + -0.003185838460922241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 624, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_838469505", + "mask_path": "../../mask/hdr_front_00624.png" + }, + { + "file_path": "../../rgb/hdr_front_00625.png", + "transform_matrix": [ + [ + 0.35584762692451477, + 0.0978473573923111, + -0.92940753698349, + 3.405550479888916 + ], + [ + 0.9340092539787292, + -0.0035969072487205267, + 0.3572308421134949, + -6.357825756072998 + ], + [ + 0.03161109983921051, + -0.9951949119567871, + -0.09267028421163559, + 0.004078686237335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 625, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_938468933", + "mask_path": "../../mask/hdr_front_00625.png" + }, + { + "file_path": "../../rgb/hdr_front_00626.png", + "transform_matrix": [ + [ + 0.3280455470085144, + 0.07422097027301788, + -0.9417417049407959, + 3.466585874557495 + ], + [ + 0.9445042014122009, + -0.0075519694946706295, + 0.32841265201568604, + -6.367177963256836 + ], + [ + 0.017263099551200867, + -0.9972133040428162, + -0.07257940620183945, + -0.020439282059669495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 626, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_38467645", + "mask_path": "../../mask/hdr_front_00626.png" + }, + { + "file_path": "../../rgb/hdr_front_00627.png", + "transform_matrix": [ + [ + 0.2958185076713562, + 0.061251766979694366, + -0.9532783627510071, + 3.520327568054199 + ], + [ + 0.9551997780799866, + -0.00933403242379427, + 0.29581496119499207, + -6.375755310058594 + ], + [ + 0.009221253916621208, + -0.9980787038803101, + -0.061268843710422516, + -0.0399143323302269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 627, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_138467788", + "mask_path": "../../mask/hdr_front_00627.png" + }, + { + "file_path": "../../rgb/hdr_front_00628.png", + "transform_matrix": [ + [ + 0.2636328637599945, + 0.04675910621881485, + -0.9634891152381897, + 3.576507806777954 + ], + [ + 0.9645174741744995, + 0.002002384513616562, + 0.2640114426612854, + -6.383810043334961 + ], + [ + 0.014274215325713158, + -0.9989042282104492, + -0.044572073966264725, + -0.04484224319458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 628, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_238468170", + "mask_path": "../../mask/hdr_front_00628.png" + }, + { + "file_path": "../../rgb/hdr_front_00629.png", + "transform_matrix": [ + [ + 0.23793865740299225, + 0.02255837246775627, + -0.9710181355476379, + 3.6357650756835938 + ], + [ + 0.9708071351051331, + 0.025675347074866295, + 0.23848341405391693, + -6.394789695739746 + ], + [ + 0.030311021953821182, + -0.9994158148765564, + -0.015790671110153198, + -0.05835086107254028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 629, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_338469028", + "mask_path": "../../mask/hdr_front_00629.png" + }, + { + "file_path": "../../rgb/hdr_front_00630.png", + "transform_matrix": [ + [ + 0.2233831137418747, + -0.003510216251015663, + -0.9747244715690613, + 3.6838481426239014 + ], + [ + 0.9741549491882324, + 0.03516805171966553, + 0.22312597930431366, + -6.392848968505859 + ], + [ + 0.033495936542749405, + -0.9993753433227539, + 0.011275442317128181, + -0.069692462682724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 630, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_438470125", + "mask_path": "../../mask/hdr_front_00630.png" + }, + { + "file_path": "../../rgb/hdr_front_00631.png", + "transform_matrix": [ + [ + 0.20767098665237427, + -0.015591884031891823, + -0.9780744910240173, + 3.744755744934082 + ], + [ + 0.977387547492981, + 0.04402061924338341, + 0.20682334899902344, + -6.396309852600098 + ], + [ + 0.039830684661865234, + -0.9989089965820312, + 0.024381117895245552, + -0.0817268043756485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 631, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_538469314", + "mask_path": "../../mask/hdr_front_00631.png" + }, + { + "file_path": "../../rgb/hdr_front_00632.png", + "transform_matrix": [ + [ + 0.19432584941387177, + -0.03933987393975258, + -0.9801478981971741, + 3.8270907402038574 + ], + [ + 0.9804701805114746, + 0.038614895194768906, + 0.1928398460149765, + -6.403143882751465 + ], + [ + 0.03026200644671917, + -0.9984794855117798, + 0.046075448393821716, + -0.1079782024025917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 632, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_638470411", + "mask_path": "../../mask/hdr_front_00632.png" + }, + { + "file_path": "../../rgb/hdr_front_00633.png", + "transform_matrix": [ + [ + 0.18211936950683594, + -0.07460123300552368, + -0.9804424047470093, + 3.8953857421875 + ], + [ + 0.9832261800765991, + 0.023901822045445442, + 0.18081779778003693, + -6.413464069366455 + ], + [ + 0.009945129975676537, + -0.9969269633293152, + 0.07770286500453949, + -0.15002697706222534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 633, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_738469362", + "mask_path": "../../mask/hdr_front_00633.png" + }, + { + "file_path": "../../rgb/hdr_front_00634.png", + "transform_matrix": [ + [ + 0.17719420790672302, + -0.0923142060637474, + -0.9798368811607361, + 3.9499452114105225 + ], + [ + 0.9841759204864502, + 0.01637585088610649, + 0.17643602192401886, + -6.425378799438477 + ], + [ + -0.00024188755196519196, + -0.9955952763557434, + 0.09375511854887009, + -0.16342508792877197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 634, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_838469982", + "mask_path": "../../mask/hdr_front_00634.png" + }, + { + "file_path": "../../rgb/hdr_front_00635.png", + "transform_matrix": [ + [ + 0.17388947308063507, + -0.10766611993312836, + -0.9788618087768555, + 4.016358375549316 + ], + [ + 0.9847542643547058, + 0.014348279684782028, + 0.17335808277130127, + -6.439708232879639 + ], + [ + -0.0046198079362511635, + -0.99408358335495, + 0.10851969569921494, + -0.17693831026554108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 635, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_938469171", + "mask_path": "../../mask/hdr_front_00635.png" + }, + { + "file_path": "../../rgb/hdr_front_00636.png", + "transform_matrix": [ + [ + 0.17662261426448822, + -0.1320171058177948, + -0.9753850102424622, + 4.090557098388672 + ], + [ + 0.9842776656150818, + 0.025070736184716225, + 0.17483963072299957, + -6.460979461669922 + ], + [ + 0.0013718005502596498, + -0.9909303784370422, + 0.13436956703662872, + -0.20617838203907013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 636, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_38470268", + "mask_path": "../../mask/hdr_front_00636.png" + }, + { + "file_path": "../../rgb/hdr_front_00637.png", + "transform_matrix": [ + [ + 0.18277595937252045, + -0.1555878072977066, + -0.9707654714584351, + 4.146060466766357 + ], + [ + 0.9831531643867493, + 0.027281533926725388, + 0.18073587119579315, + -6.470795631408691 + ], + [ + -0.0016363237518817186, + -0.9874452948570251, + 0.15795305371284485, + -0.23504750430583954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 637, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_138470649", + "mask_path": "../../mask/hdr_front_00637.png" + }, + { + "file_path": "../../rgb/hdr_front_00639.png", + "transform_matrix": [ + [ + 0.19818606972694397, + -0.16542337834835052, + -0.96610426902771, + 4.289669990539551 + ], + [ + 0.9800589084625244, + 0.01898248679935932, + 0.19779841601848602, + -6.498206615447998 + ], + [ + -0.014381421729922295, + -0.986039936542511, + 0.1658867448568344, + -0.2680855691432953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 639, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_338470458", + "mask_path": "../../mask/hdr_front_00639.png" + }, + { + "file_path": "../../rgb/hdr_front_00640.png", + "transform_matrix": [ + [ + 0.19576606154441833, + -0.18357907235622406, + -0.9633143544197083, + 4.375656604766846 + ], + [ + 0.9802398681640625, + 0.008204462006688118, + 0.19764217734336853, + -6.521749019622803 + ], + [ + -0.028379496186971664, + -0.9829707741737366, + 0.18155768513679504, + -0.3008134961128235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 640, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_438471555", + "mask_path": "../../mask/hdr_front_00640.png" + }, + { + "file_path": "../../rgb/hdr_front_00641.png", + "transform_matrix": [ + [ + 0.19259680807590485, + -0.19132621586322784, + -0.9624451398849487, + 4.433411598205566 + ], + [ + 0.9806677103042603, + 0.002942361170426011, + 0.19565847516059875, + -6.531919956207275 + ], + [ + -0.03460273519158363, + -0.9815220832824707, + 0.1881941556930542, + -0.32333290576934814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 641, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_538470029", + "mask_path": "../../mask/hdr_front_00641.png" + }, + { + "file_path": "../../rgb/hdr_front_00642.png", + "transform_matrix": [ + [ + 0.18914876878261566, + -0.19535483419895172, + -0.9623196721076965, + 4.5032477378845215 + ], + [ + 0.9813708066940308, + 0.004000788554549217, + 0.19208118319511414, + -6.538280487060547 + ], + [ + -0.03367394581437111, + -0.9807244539260864, + 0.19247230887413025, + -0.3481638431549072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 642, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_638470411", + "mask_path": "../../mask/hdr_front_00642.png" + }, + { + "file_path": "../../rgb/hdr_front_00643.png", + "transform_matrix": [ + [ + 0.18962658941745758, + -0.20705769956111908, + -0.9597753882408142, + 4.58317756652832 + ], + [ + 0.9813559055328369, + 0.008765765465795994, + 0.19199925661087036, + -6.550093173980713 + ], + [ + -0.031341761350631714, + -0.9782894253730774, + 0.20485952496528625, + -0.3765124976634979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 643, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_738470077", + "mask_path": "../../mask/hdr_front_00643.png" + }, + { + "file_path": "../../rgb/hdr_front_00644.png", + "transform_matrix": [ + [ + 0.19515331089496613, + -0.21952348947525024, + -0.9558894634246826, + 4.6435441970825195 + ], + [ + 0.9800745248794556, + 0.006882054731249809, + 0.19851046800613403, + -6.569515705108643 + ], + [ + -0.03699922189116478, + -0.9755829572677612, + 0.2164924591779709, + -0.39182621240615845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 644, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_838469505", + "mask_path": "../../mask/hdr_front_00644.png" + }, + { + "file_path": "../../rgb/hdr_front_00645.png", + "transform_matrix": [ + [ + 0.2029859870672226, + -0.2214720994234085, + -0.9538065195083618, + 4.703002452850342 + ], + [ + 0.9779829978942871, + -0.0023267837241292, + 0.2086714506149292, + -6.589289665222168 + ], + [ + -0.04843420162796974, + -0.975163996219635, + 0.21612364053726196, + -0.4150586426258087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 645, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_938468694", + "mask_path": "../../mask/hdr_front_00645.png" + }, + { + "file_path": "../../rgb/hdr_front_00646.png", + "transform_matrix": [ + [ + 0.21021948754787445, + -0.21742676198482513, + -0.9531701803207397, + 4.796360969543457 + ], + [ + 0.9759286046028137, + -0.011230899021029472, + 0.21780066192150116, + -6.611876487731934 + ], + [ + -0.058060649782419205, + -0.9760120511054993, + 0.2098320573568344, + -0.4450026750564575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 646, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_38467884", + "mask_path": "../../mask/hdr_front_00646.png" + }, + { + "file_path": "../../rgb/hdr_front_00647.png", + "transform_matrix": [ + [ + 0.20896846055984497, + -0.20965319871902466, + -0.9551846981048584, + 4.90209436416626 + ], + [ + 0.9762513041496277, + -0.012353750877082348, + 0.21628877520561218, + -6.626528263092041 + ], + [ + -0.05714574083685875, + -0.9776977300643921, + 0.20209263265132904, + -0.45485666394233704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 647, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_138468980", + "mask_path": "../../mask/hdr_front_00647.png" + }, + { + "file_path": "../../rgb/hdr_front_00648.png", + "transform_matrix": [ + [ + 0.20213595032691956, + -0.20534226298332214, + -0.9575884342193604, + 4.973604679107666 + ], + [ + 0.9777599573135376, + -0.013511602766811848, + 0.20929133892059326, + -6.628609657287598 + ], + [ + -0.05591490492224693, + -0.9785969257354736, + 0.19804425537586212, + -0.4601522982120514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 648, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_238467931", + "mask_path": "../../mask/hdr_front_00648.png" + }, + { + "file_path": "../../rgb/hdr_front_00649.png", + "transform_matrix": [ + [ + 0.19805145263671875, + -0.19422651827335358, + -0.9607558250427246, + 5.055513858795166 + ], + [ + 0.9790387749671936, + -0.00832897424697876, + 0.20350410044193268, + -6.6400980949401855 + ], + [ + -0.047527991235256195, + -0.9809213876724243, + 0.18850569427013397, + -0.4762747883796692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 649, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_338466882", + "mask_path": "../../mask/hdr_front_00649.png" + }, + { + "file_path": "../../rgb/hdr_front_00650.png", + "transform_matrix": [ + [ + 0.19746948778629303, + -0.1851692497730255, + -0.9626619815826416, + 5.15390157699585 + ], + [ + 0.9793238043785095, + -0.006752185523509979, + 0.20218610763549805, + -6.658821105957031 + ], + [ + -0.04393872246146202, + -0.9826834797859192, + 0.18000730872154236, + -0.49256622791290283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 650, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_438469171", + "mask_path": "../../mask/hdr_front_00650.png" + }, + { + "file_path": "../../rgb/hdr_front_00651.png", + "transform_matrix": [ + [ + 0.20397265255451202, + -0.18201331794261932, + -0.9619077444076538, + 5.23253870010376 + ], + [ + 0.9779398441314697, + -0.007323729805648327, + 0.20875810086727142, + -6.678407669067383 + ], + [ + -0.045041508972644806, + -0.9832688570022583, + 0.1765042394399643, + -0.49602049589157104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 651, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_538469076", + "mask_path": "../../mask/hdr_front_00651.png" + }, + { + "file_path": "../../rgb/hdr_front_03546.png", + "transform_matrix": [ + [ + -0.03363142907619476, + -0.08801892399787903, + 0.9955509901046753, + 4.593433856964111 + ], + [ + -0.9994274377822876, + 0.006644957233220339, + -0.03317488729953766, + -6.778305530548096 + ], + [ + -0.003695374121889472, + -0.9960967302322388, + -0.08819200843572617, + -0.42913955450057983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3546, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_38469076", + "mask_path": "../../mask/hdr_front_03546.png" + }, + { + "file_path": "../../rgb/hdr_front_03547.png", + "transform_matrix": [ + [ + -0.031831044703722, + -0.08692444860935211, + 0.99570631980896, + 4.528081893920898 + ], + [ + -0.9994688034057617, + 0.009745127521455288, + -0.03110058791935444, + -6.7728071212768555 + ], + [ + -0.006999881472438574, + -0.9961672425270081, + -0.08718845993280411, + -0.4265661835670471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3547, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_138470649", + "mask_path": "../../mask/hdr_front_03547.png" + }, + { + "file_path": "../../rgb/hdr_front_03548.png", + "transform_matrix": [ + [ + -0.03733621537685394, + -0.08935345709323883, + 0.9952999353408813, + 4.4572649002075195 + ], + [ + -0.9992505311965942, + 0.013524415902793407, + -0.03627025708556175, + -6.763236045837402 + ], + [ + -0.010219975374639034, + -0.9959081411361694, + -0.0897914320230484, + -0.4044436514377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3548, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_238470315", + "mask_path": "../../mask/hdr_front_03548.png" + }, + { + "file_path": "../../rgb/hdr_front_03549.png", + "transform_matrix": [ + [ + -0.04978535324335098, + -0.09628156572580338, + 0.994108259677887, + 4.394733905792236 + ], + [ + -0.9987525343894958, + 0.0086260000243783, + -0.04918249696493149, + -6.755529403686523 + ], + [ + -0.0038398101460188627, + -0.995316743850708, + -0.09659090638160706, + -0.38592591881752014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3549, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_338470697", + "mask_path": "../../mask/hdr_front_03549.png" + }, + { + "file_path": "../../rgb/hdr_front_03550.png", + "transform_matrix": [ + [ + -0.056753531098365784, + -0.10746113210916519, + 0.9925881028175354, + 4.331539154052734 + ], + [ + -0.9983612298965454, + -0.001209392910823226, + -0.05721456557512283, + -6.751515865325928 + ], + [ + 0.0073487707413733006, + -0.994208574295044, + -0.10721638798713684, + -0.36659345030784607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3550, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_438469886", + "mask_path": "../../mask/hdr_front_03550.png" + }, + { + "file_path": "../../rgb/hdr_front_03551.png", + "transform_matrix": [ + [ + -0.055969588458538055, + -0.11975975334644318, + 0.9912240505218506, + 4.2569193840026855 + ], + [ + -0.9983036518096924, + -0.009236980229616165, + -0.05748535320162773, + -6.750245094299316 + ], + [ + 0.016040347516536713, + -0.9927599430084229, + -0.11903960257768631, + -0.34161752462387085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3551, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_538469791", + "mask_path": "../../mask/hdr_front_03551.png" + }, + { + "file_path": "../../rgb/hdr_front_03552.png", + "transform_matrix": [ + [ + -0.05048668757081032, + -0.1232675090432167, + 0.9910884499549866, + 4.19181489944458 + ], + [ + -0.9986955523490906, + -0.0013585533015429974, + -0.05104317143559456, + -6.749100208282471 + ], + [ + 0.0076384106650948524, + -0.9923725724220276, + -0.12303812056779861, + -0.3202575743198395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3552, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_638469219", + "mask_path": "../../mask/hdr_front_03552.png" + }, + { + "file_path": "../../rgb/hdr_front_03553.png", + "transform_matrix": [ + [ + -0.05071685463190079, + -0.12463680654764175, + 0.9909054040908813, + 4.135571002960205 + ], + [ + -0.9987130761146545, + 0.006132734008133411, + -0.05034509301185608, + -6.742998123168945 + ], + [ + 0.00019789260113611817, + -0.9921835064888, + -0.12478743493556976, + -0.3110988438129425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3553, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_738470315", + "mask_path": "../../mask/hdr_front_03553.png" + }, + { + "file_path": "../../rgb/hdr_front_03554.png", + "transform_matrix": [ + [ + -0.05855977535247803, + -0.1304510086774826, + 0.9897239208221436, + 4.079151153564453 + ], + [ + -0.9982593059539795, + 0.014617427252233028, + -0.05713814124464989, + -6.7309651374816895 + ], + [ + -0.007013489026576281, + -0.991347074508667, + -0.13107994198799133, + -0.2884000539779663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3554, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_838471412", + "mask_path": "../../mask/hdr_front_03554.png" + }, + { + "file_path": "../../rgb/hdr_front_03555.png", + "transform_matrix": [ + [ + -0.06767280399799347, + -0.14334361255168915, + 0.9873566627502441, + 4.022890567779541 + ], + [ + -0.9977068305015564, + 0.008572423830628395, + -0.06713767349720001, + -6.720050811767578 + ], + [ + 0.0011597187258303165, + -0.9896358847618103, + -0.14359505474567413, + -0.26575976610183716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3555, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_938469409", + "mask_path": "../../mask/hdr_front_03555.png" + }, + { + "file_path": "../../rgb/hdr_front_03556.png", + "transform_matrix": [ + [ + -0.07057327777147293, + -0.154729425907135, + 0.985433042049408, + 3.961289405822754 + ], + [ + -0.9974918961524963, + 0.005583717953413725, + -0.07056015729904175, + -6.710689067840576 + ], + [ + 0.005415353924036026, + -0.9879412055015564, + -0.15473540127277374, + -0.24113041162490845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3556, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_38469076", + "mask_path": "../../mask/hdr_front_03556.png" + }, + { + "file_path": "../../rgb/hdr_front_03557.png", + "transform_matrix": [ + [ + -0.07051129639148712, + -0.16235417127609253, + 0.9842100143432617, + 3.8971714973449707 + ], + [ + -0.9975070357322693, + 0.008687062188982964, + -0.07003092020750046, + -6.703620433807373 + ], + [ + 0.002819919493049383, + -0.9866943359375, + -0.16256195306777954, + -0.22240829467773438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3557, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_138469219", + "mask_path": "../../mask/hdr_front_03557.png" + }, + { + "file_path": "../../rgb/hdr_front_03558.png", + "transform_matrix": [ + [ + -0.06938077509403229, + -0.16703371703624725, + 0.9835070967674255, + 3.8426270484924316 + ], + [ + -0.9975858926773071, + 0.014526089653372765, + -0.06790691614151001, + -6.699188232421875 + ], + [ + -0.002943765139207244, + -0.9858441948890686, + -0.16763830184936523, + -0.2140641063451767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3558, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_238470792", + "mask_path": "../../mask/hdr_front_03558.png" + }, + { + "file_path": "../../rgb/hdr_front_03559.png", + "transform_matrix": [ + [ + -0.07067260146141052, + -0.17642375826835632, + 0.9817739129066467, + 3.7849135398864746 + ], + [ + -0.9974727034568787, + 0.01973230019211769, + -0.06825678795576096, + -6.694042682647705 + ], + [ + -0.007330539170652628, + -0.9841164946556091, + -0.17737239599227905, + -0.19596301019191742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3559, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_338469982", + "mask_path": "../../mask/hdr_front_03559.png" + }, + { + "file_path": "../../rgb/hdr_front_03560.png", + "transform_matrix": [ + [ + -0.07755130529403687, + -0.18829409778118134, + 0.979046106338501, + 3.7338669300079346 + ], + [ + -0.9969249367713928, + 0.025717824697494507, + -0.07402137666940689, + -6.6801066398620605 + ], + [ + -0.011241147294640541, + -0.9817759990692139, + -0.18970954418182373, + -0.16952931880950928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3560, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_438470125", + "mask_path": "../../mask/hdr_front_03560.png" + }, + { + "file_path": "../../rgb/hdr_front_03562.png", + "transform_matrix": [ + [ + -0.08173535019159317, + -0.2048712968826294, + 0.9753702282905579, + 3.632178783416748 + ], + [ + -0.9965961575508118, + 0.006257026456296444, + -0.0821998119354248, + -6.6695990562438965 + ], + [ + 0.010737469419836998, + -0.9787689447402954, + -0.20468538999557495, + -0.12858933210372925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3562, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_638468980", + "mask_path": "../../mask/hdr_front_03562.png" + }, + { + "file_path": "../../rgb/hdr_front_03563.png", + "transform_matrix": [ + [ + -0.08100179582834244, + -0.20787039399147034, + 0.9747967720031738, + 3.5733938217163086 + ], + [ + -0.9966129064559937, + 0.0029653646051883698, + -0.08218230307102203, + -6.671520709991455 + ], + [ + 0.01419263519346714, + -0.9781518578529358, + -0.20740649104118347, + -0.11013062298297882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3563, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_738470792", + "mask_path": "../../mask/hdr_front_03563.png" + }, + { + "file_path": "../../rgb/hdr_front_03564.png", + "transform_matrix": [ + [ + -0.0794653594493866, + -0.20769764482975006, + 0.9749599695205688, + 3.5224690437316895 + ], + [ + -0.9966681003570557, + -0.0014852802269160748, + -0.08155111223459244, + -6.673692226409912 + ], + [ + 0.01838606595993042, + -0.9781920313835144, + -0.20688757300376892, + -0.10430595278739929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3564, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_838470697", + "mask_path": "../../mask/hdr_front_03564.png" + }, + { + "file_path": "../../rgb/hdr_front_03565.png", + "transform_matrix": [ + [ + -0.080058753490448, + -0.20710280537605286, + 0.9750379920005798, + 3.4703574180603027 + ], + [ + -0.996587872505188, + -0.0030721176881343126, + -0.08248072117567062, + -6.674123764038086 + ], + [ + 0.0200774185359478, + -0.9783144593238831, + -0.20615018904209137, + -0.09201930463314056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3565, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_938469648", + "mask_path": "../../mask/hdr_front_03565.png" + }, + { + "file_path": "../../rgb/hdr_front_03566.png", + "transform_matrix": [ + [ + -0.08672169595956802, + -0.20562659204006195, + 0.9747804999351501, + 3.4207472801208496 + ], + [ + -0.9960576891899109, + -0.00043500520405359566, + -0.08870639652013779, + -6.667581558227539 + ], + [ + 0.01866443082690239, + -0.9786304831504822, + -0.20477823913097382, + -0.07346944510936737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3566, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_38470268", + "mask_path": "../../mask/hdr_front_03566.png" + }, + { + "file_path": "../../rgb/hdr_front_03567.png", + "transform_matrix": [ + [ + -0.09159239381551743, + -0.2095731645822525, + 0.973493754863739, + 3.367311716079712 + ], + [ + -0.995518684387207, + -0.00382062466815114, + -0.09448715299367905, + -6.6660685539245605 + ], + [ + 0.02352132648229599, + -0.9777855277061462, + -0.20828409492969513, + -0.05004264414310455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3567, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_138470649", + "mask_path": "../../mask/hdr_front_03567.png" + }, + { + "file_path": "../../rgb/hdr_front_03568.png", + "transform_matrix": [ + [ + -0.09314445406198502, + -0.2089405208826065, + 0.9734824299812317, + 3.306914806365967 + ], + [ + -0.9954167604446411, + -0.001734785153530538, + -0.09561552852392197, + -6.664944648742676 + ], + [ + 0.021666739135980606, + -0.9779268503189087, + -0.2078213095664978, + -0.027926862239837646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3568, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_238470077", + "mask_path": "../../mask/hdr_front_03568.png" + }, + { + "file_path": "../../rgb/hdr_front_03569.png", + "transform_matrix": [ + [ + -0.09382958710193634, + -0.20751218497753143, + 0.9737221598625183, + 3.2459943294525146 + ], + [ + -0.9954128265380859, + 0.0011980847921222448, + -0.09566442668437958, + -6.659440994262695 + ], + [ + 0.018684931099414825, + -0.9782317876815796, + -0.20667271316051483, + -0.022200465202331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3569, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_338469982", + "mask_path": "../../mask/hdr_front_03569.png" + }, + { + "file_path": "../../rgb/hdr_front_03570.png", + "transform_matrix": [ + [ + -0.09485675394535065, + -0.2050538808107376, + 0.9741433262825012, + 3.1919660568237305 + ], + [ + -0.9952570199966431, + -0.0016731723444536328, + -0.09726490080356598, + -6.6544108390808105 + ], + [ + 0.02157445438206196, + -0.9787493348121643, + -0.20392261445522308, + -0.019760891795158386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3570, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_438468217", + "mask_path": "../../mask/hdr_front_03570.png" + }, + { + "file_path": "../../rgb/hdr_front_03571.png", + "transform_matrix": [ + [ + -0.0975009873509407, + -0.20060652494430542, + 0.9748079776763916, + 3.1347761154174805 + ], + [ + -0.9949567914009094, + -0.0035267542116343975, + -0.10024205595254898, + -6.649595737457275 + ], + [ + 0.02354711852967739, + -0.9796655774116516, + -0.1992509961128235, + -0.011819809675216675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3571, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_538467884", + "mask_path": "../../mask/hdr_front_03571.png" + }, + { + "file_path": "../../rgb/hdr_front_03572.png", + "transform_matrix": [ + [ + -0.1075710728764534, + -0.19783641397953033, + 0.9743147492408752, + 3.082615613937378 + ], + [ + -0.9939270615577698, + -0.0014498918317258358, + -0.11003082990646362, + -6.641029357910156 + ], + [ + 0.023180756717920303, + -0.9802340269088745, + -0.19647900760173798, + 0.008853763341903687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3572, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_638468027", + "mask_path": "../../mask/hdr_front_03572.png" + }, + { + "file_path": "../../rgb/hdr_front_03573.png", + "transform_matrix": [ + [ + -0.11569470912218094, + -0.1942535936832428, + 0.9741049408912659, + 3.0306904315948486 + ], + [ + -0.9930795431137085, + 0.002685373881831765, + -0.11741282790899277, + -6.632227897644043 + ], + [ + 0.020192023366689682, + -0.9809476733207703, + -0.19321994483470917, + 0.02232407033443451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3573, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_738467693", + "mask_path": "../../mask/hdr_front_03573.png" + }, + { + "file_path": "../../rgb/hdr_front_03574.png", + "transform_matrix": [ + [ + -0.11897223442792892, + -0.17965790629386902, + 0.9765084385871887, + 2.967639446258545 + ], + [ + -0.9928218126296997, + 0.009378018788993359, + -0.11923440545797348, + -6.627633571624756 + ], + [ + 0.012263690121471882, + -0.9836844801902771, + -0.179484024643898, + 0.026318028569221497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3574, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_838467359", + "mask_path": "../../mask/hdr_front_03574.png" + }, + { + "file_path": "../../rgb/hdr_front_03575.png", + "transform_matrix": [ + [ + -0.11501964926719666, + -0.16328659653663635, + 0.9798510074615479, + 2.910257339477539 + ], + [ + -0.9933586716651917, + 0.015922514721751213, + -0.11395186185836792, + -6.622507095336914 + ], + [ + 0.0030051199719309807, + -0.9864501953125, + -0.16403356194496155, + 0.020032569766044617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3575, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_938468217", + "mask_path": "../../mask/hdr_front_03575.png" + }, + { + "file_path": "../../rgb/hdr_front_03577.png", + "transform_matrix": [ + [ + -0.12068837881088257, + -0.12856189906597137, + 0.9843303561210632, + 2.8053197860717773 + ], + [ + -0.9926542639732361, + 0.0071646673604846, + -0.12077320367097855, + -6.609500408172607 + ], + [ + 0.008474432863295078, + -0.991675615310669, + -0.12848220765590668, + 0.015337780117988586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3577, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_138468027", + "mask_path": "../../mask/hdr_front_03577.png" + }, + { + "file_path": "../../rgb/hdr_front_03578.png", + "transform_matrix": [ + [ + -0.1309945434331894, + -0.10681051760911942, + 0.9856125116348267, + 2.7559525966644287 + ], + [ + -0.9912172555923462, + -0.0040707215666770935, + -0.1321806013584137, + -6.599789619445801 + ], + [ + 0.018130430951714516, + -0.9942710995674133, + -0.10533919185400009, + 0.015353769063949585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3578, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_238469362", + "mask_path": "../../mask/hdr_front_03578.png" + }, + { + "file_path": "../../rgb/hdr_front_03580.png", + "transform_matrix": [ + [ + -0.15184304118156433, + -0.07910237461328506, + 0.9852343201637268, + 2.649470806121826 + ], + [ + -0.9882194399833679, + -0.007142077665776014, + -0.15287654101848602, + -6.575446605682373 + ], + [ + 0.019129516556859016, + -0.9968409538269043, + -0.07708602398633957, + 0.00298348069190979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3580, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_438468694", + "mask_path": "../../mask/hdr_front_03580.png" + }, + { + "file_path": "../../rgb/hdr_front_03581.png", + "transform_matrix": [ + [ + -0.15445448458194733, + -0.05315558612346649, + 0.9865689873695374, + 2.5958824157714844 + ], + [ + -0.9879763126373291, + 0.0014188672648742795, + -0.1545983999967575, + -6.56627082824707 + ], + [ + 0.006817957386374474, + -0.9985852837562561, + -0.05273560807108879, + -0.02306356281042099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3581, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_538468599", + "mask_path": "../../mask/hdr_front_03581.png" + }, + { + "file_path": "../../rgb/hdr_front_03583.png", + "transform_matrix": [ + [ + -0.1699562817811966, + -0.015146591700613499, + 0.9853352308273315, + 2.5002083778381348 + ], + [ + -0.9854515790939331, + 0.002495564054697752, + -0.16993799805641174, + -6.530446529388428 + ], + [ + 0.00011501477274578065, + -0.9998822212219238, + -0.015350369736552238, + -0.041633494198322296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3583, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_738468408", + "mask_path": "../../mask/hdr_front_03583.png" + }, + { + "file_path": "../../rgb/hdr_front_03584.png", + "transform_matrix": [ + [ + -0.18221835792064667, + 0.011253654956817627, + 0.9831937551498413, + 2.4438517093658447 + ], + [ + -0.9831653237342834, + -0.015821946784853935, + -0.1820320039987564, + -6.508031845092773 + ], + [ + 0.013507514260709286, + -0.9998115301132202, + 0.013947252184152603, + -0.06029096245765686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3584, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_838469028", + "mask_path": "../../mask/hdr_front_03584.png" + }, + { + "file_path": "../../rgb/hdr_front_03587.png", + "transform_matrix": [ + [ + -0.23977969586849213, + 0.04634989798069, + 0.9697202444076538, + 2.2903056144714355 + ], + [ + -0.9707754850387573, + -0.021770119667053223, + -0.23900006711483002, + -6.471875190734863 + ], + [ + 0.01003329735249281, + -0.9986880421638489, + 0.05021537467837334, + -0.09580972045660019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3587, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_138468980", + "mask_path": "../../mask/hdr_front_03587.png" + }, + { + "file_path": "../../rgb/hdr_front_03588.png", + "transform_matrix": [ + [ + -0.2517883777618408, + 0.05732444301247597, + 0.9660831689834595, + 2.233576536178589 + ], + [ + -0.9677822589874268, + -0.014700740575790405, + -0.2513589560985565, + -6.456558704376221 + ], + [ + -0.0002068741014227271, + -0.9982473850250244, + 0.05917906016111374, + -0.11518297344446182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3588, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_238472223", + "mask_path": "../../mask/hdr_front_03588.png" + }, + { + "file_path": "../../rgb/hdr_front_03590.png", + "transform_matrix": [ + [ + -0.2948492169380188, + 0.07511313259601593, + 0.9525870084762573, + 2.143860340118408 + ], + [ + -0.955344557762146, + -0.0028170861769467592, + -0.2954806983470917, + -6.416364669799805 + ], + [ + -0.01951095275580883, + -0.9971710443496704, + 0.07258953899145126, + -0.13661256432533264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3590, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_438471317", + "mask_path": "../../mask/hdr_front_03590.png" + }, + { + "file_path": "../../rgb/hdr_front_03591.png", + "transform_matrix": [ + [ + -0.3219398856163025, + 0.08869387209415436, + 0.9425964951515198, + 2.092639207839966 + ], + [ + -0.9465683698654175, + -0.01011752337217331, + -0.32234442234039307, + -6.389528274536133 + ], + [ + -0.019053233787417412, + -0.9960075616836548, + 0.08721204847097397, + -0.15364746749401093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3591, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_538469314", + "mask_path": "../../mask/hdr_front_03591.png" + }, + { + "file_path": "../../rgb/hdr_front_03592.png", + "transform_matrix": [ + [ + -0.3523368835449219, + 0.10300387442111969, + 0.9301875233650208, + 2.045919895172119 + ], + [ + -0.9356119632720947, + -0.015282765030860901, + -0.3526992201805115, + -6.365998268127441 + ], + [ + -0.022113552317023277, + -0.9945635795593262, + 0.10175633430480957, + -0.1625925600528717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3592, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_638470888", + "mask_path": "../../mask/hdr_front_03592.png" + }, + { + "file_path": "../../rgb/hdr_front_03593.png", + "transform_matrix": [ + [ + -0.38762930035591125, + 0.10679709166288376, + 0.9156080484390259, + 2.0027711391448975 + ], + [ + -0.9214511513710022, + -0.016974180936813354, + -0.38812318444252014, + -6.336010932922363 + ], + [ + -0.025908734649419785, + -0.9941359162330627, + 0.10498800128698349, + -0.1698949635028839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3593, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_738469600", + "mask_path": "../../mask/hdr_front_03593.png" + }, + { + "file_path": "../../rgb/hdr_front_03594.png", + "transform_matrix": [ + [ + -0.42158979177474976, + 0.10867998003959656, + 0.9002503752708435, + 1.9504554271697998 + ], + [ + -0.9061492681503296, + -0.013275835663080215, + -0.4227496087551117, + -6.299097537994385 + ], + [ + -0.033992841839790344, + -0.9939881563186646, + 0.10407724231481552, + -0.17885956168174744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3594, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_838470935", + "mask_path": "../../mask/hdr_front_03594.png" + }, + { + "file_path": "../../rgb/hdr_front_03595.png", + "transform_matrix": [ + [ + -0.44391703605651855, + 0.11315453052520752, + 0.8888947367668152, + 1.8829976320266724 + ], + [ + -0.8951075673103333, + -0.010081683285534382, + -0.4457363784313202, + -6.259396076202393 + ], + [ + -0.041475534439086914, + -0.9935262203216553, + 0.10576089471578598, + -0.18931928277015686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3595, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_938469648", + "mask_path": "../../mask/hdr_front_03595.png" + }, + { + "file_path": "../../rgb/hdr_front_03596.png", + "transform_matrix": [ + [ + -0.46298518776893616, + 0.11685068905353546, + 0.8786299228668213, + 1.8369879722595215 + ], + [ + -0.8852417469024658, + -0.011048288084566593, + -0.4649999439716339, + -6.228750228881836 + ], + [ + -0.04462820291519165, + -0.9930880665779114, + 0.10855630040168762, + -0.2013416588306427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3596, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_38467884", + "mask_path": "../../mask/hdr_front_03596.png" + }, + { + "file_path": "../../rgb/hdr_front_03597.png", + "transform_matrix": [ + [ + -0.4819183945655823, + 0.11520461738109589, + 0.868609607219696, + 1.787210464477539 + ], + [ + -0.8752288222312927, + -0.016244832426309586, + -0.4834362864494324, + -6.193057537078857 + ], + [ + -0.04158368334174156, + -0.9932089447975159, + 0.10865908116102219, + -0.213433638215065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3597, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_138467550", + "mask_path": "../../mask/hdr_front_03597.png" + }, + { + "file_path": "../../rgb/hdr_front_03598.png", + "transform_matrix": [ + [ + -0.501930296421051, + 0.11362718790769577, + 0.8574117422103882, + 1.7320221662521362 + ], + [ + -0.8639987707138062, + -0.020426368340849876, + -0.5030794143676758, + -6.145134449005127 + ], + [ + -0.03964969515800476, + -0.9933134317398071, + 0.10842635482549667, + -0.22561824321746826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3598, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_238468647", + "mask_path": "../../mask/hdr_front_03598.png" + }, + { + "file_path": "../../rgb/hdr_front_03599.png", + "transform_matrix": [ + [ + -0.5279032588005066, + 0.11381325870752335, + 0.8416441082954407, + 1.6784144639968872 + ], + [ + -0.8482251167297363, + -0.020707042887806892, + -0.5292308926582336, + -6.090731143951416 + ], + [ + -0.04280553013086319, + -0.9932864308357239, + 0.10747057944536209, + -0.2265961468219757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3599, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_338468074", + "mask_path": "../../mask/hdr_front_03599.png" + }, + { + "file_path": "../../rgb/hdr_front_03600.png", + "transform_matrix": [ + [ + -0.5594940781593323, + 0.10826998203992844, + 0.8217322826385498, + 1.6431705951690674 + ], + [ + -0.8277003169059753, + -0.021141307428479195, + -0.5607720017433167, + -6.0517706871032715 + ], + [ + -0.04334227740764618, + -0.9938967823982239, + 0.10144354403018951, + -0.22665372490882874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3600, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_438467502", + "mask_path": "../../mask/hdr_front_03600.png" + }, + { + "file_path": "../../rgb/hdr_front_03601.png", + "transform_matrix": [ + [ + -0.5924312472343445, + 0.1014409139752388, + 0.79920893907547, + 1.6017019748687744 + ], + [ + -0.8042681217193604, + -0.017004072666168213, + -0.5940231680870056, + -6.003069877624512 + ], + [ + -0.04666844382882118, + -0.9946962594985962, + 0.09165944904088974, + -0.23131504654884338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3601, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_538468360", + "mask_path": "../../mask/hdr_front_03601.png" + }, + { + "file_path": "../../rgb/hdr_front_03602.png", + "transform_matrix": [ + [ + -0.6191164255142212, + 0.0937260091304779, + 0.7796860933303833, + 1.544316053390503 + ], + [ + -0.7838113307952881, + -0.012663011439144611, + -0.6208699345588684, + -5.949860095977783 + ], + [ + -0.04831847921013832, + -0.9955174922943115, + 0.08130338042974472, + -0.2352091372013092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3602, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_638468503", + "mask_path": "../../mask/hdr_front_03602.png" + }, + { + "file_path": "../../rgb/hdr_front_03603.png", + "transform_matrix": [ + [ + -0.6362754702568054, + 0.0937226191163063, + 0.7657477855682373, + 1.4944193363189697 + ], + [ + -0.7698525786399841, + -0.013055759482085705, + -0.6380882263183594, + -5.902947425842285 + ], + [ + -0.04980587586760521, + -0.9955127239227295, + 0.08045965433120728, + -0.23919621109962463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3603, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_738468885", + "mask_path": "../../mask/hdr_front_03603.png" + }, + { + "file_path": "../../rgb/hdr_front_03604.png", + "transform_matrix": [ + [ + -0.6536974310874939, + 0.08583259582519531, + 0.7518726587295532, + 1.452782154083252 + ], + [ + -0.7554280757904053, + -0.015180940739810467, + -0.6550556421279907, + -5.861428260803223 + ], + [ + -0.04481099545955658, + -0.9961939454078674, + 0.07476410269737244, + -0.24609974026679993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3604, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_838468790", + "mask_path": "../../mask/hdr_front_03604.png" + }, + { + "file_path": "../../rgb/hdr_front_03605.png", + "transform_matrix": [ + [ + -0.6717455387115479, + 0.08062059432268143, + 0.7363818287849426, + 1.405432939529419 + ], + [ + -0.7397613525390625, + -0.020841095596551895, + -0.6725466847419739, + -5.8112101554870605 + ], + [ + -0.03887410834431648, + -0.9965269565582275, + 0.0736398994922638, + -0.2550709843635559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3605, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_938469171", + "mask_path": "../../mask/hdr_front_03605.png" + }, + { + "file_path": "../../rgb/hdr_front_03606.png", + "transform_matrix": [ + [ + -0.6930941939353943, + 0.0785585567355156, + 0.7165536284446716, + 1.359985589981079 + ], + [ + -0.7198545336723328, + -0.023282954469323158, + -0.693734347820282, + -5.753623962402344 + ], + [ + -0.037815287709236145, + -0.9966375827789307, + 0.0726880133152008, + -0.2575976848602295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3606, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_38468360", + "mask_path": "../../mask/hdr_front_03606.png" + }, + { + "file_path": "../../rgb/hdr_front_03607.png", + "transform_matrix": [ + [ + -0.718300998210907, + 0.07267215847969055, + 0.6919267177581787, + 1.3280000686645508 + ], + [ + -0.6947574615478516, + -0.022292573004961014, + -0.718898355960846, + -5.700187683105469 + ], + [ + -0.03681906685233116, + -0.9971067905426025, + 0.06650231033563614, + -0.251740425825119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3607, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_138467788", + "mask_path": "../../mask/hdr_front_03607.png" + }, + { + "file_path": "../../rgb/hdr_front_03608.png", + "transform_matrix": [ + [ + -0.7458082437515259, + 0.06492127478122711, + 0.6629897952079773, + 1.290405511856079 + ], + [ + -0.6652474403381348, + -0.020485451444983482, + -0.7463419437408447, + -5.647294998168945 + ], + [ + -0.03487182408571243, + -0.997680127620697, + 0.058466922491788864, + -0.2515794634819031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3608, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_238468170", + "mask_path": "../../mask/hdr_front_03608.png" + }, + { + "file_path": "../../rgb/hdr_front_03609.png", + "transform_matrix": [ + [ + -0.7696337103843689, + 0.06052548810839653, + 0.6356104612350464, + 1.2485474348068237 + ], + [ + -0.6374205350875854, + -0.015357430092990398, + -0.7703630924224854, + -5.588525295257568 + ], + [ + -0.03686526417732239, + -0.9980484843254089, + 0.0503997802734375, + -0.2521495223045349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3609, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_338468074", + "mask_path": "../../mask/hdr_front_03609.png" + }, + { + "file_path": "../../rgb/hdr_front_03610.png", + "transform_matrix": [ + [ + -0.7843142747879028, + 0.05768943950533867, + 0.6176754832267761, + 1.205062747001648 + ], + [ + -0.6192684173583984, + -0.013668177649378777, + -0.7850603461265564, + -5.524207592010498 + ], + [ + -0.03684719651937485, + -0.9982410073280334, + 0.04644538462162018, + -0.25372856855392456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3610, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_438470840", + "mask_path": "../../mask/hdr_front_03610.png" + }, + { + "file_path": "../../rgb/hdr_front_03611.png", + "transform_matrix": [ + [ + -0.79779452085495, + 0.054704342037439346, + 0.60044264793396, + 1.1706478595733643 + ], + [ + -0.6018216013908386, + -0.011907833628356457, + -0.798541784286499, + -5.4763383865356445 + ], + [ + -0.03653373196721077, + -0.9984316229820251, + 0.042422257363796234, + -0.2595958113670349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3611, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_538469314", + "mask_path": "../../mask/hdr_front_03611.png" + }, + { + "file_path": "../../rgb/hdr_front_03612.png", + "transform_matrix": [ + [ + -0.8116636872291565, + 0.04998551681637764, + 0.5819826126098633, + 1.1329576969146729 + ], + [ + -0.5832312703132629, + -0.014253285713493824, + -0.8121810555458069, + -5.425444602966309 + ], + [ + -0.0323021300137043, + -0.9986482858657837, + 0.040721993893384933, + -0.26218026876449585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3612, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_638468265", + "mask_path": "../../mask/hdr_front_03612.png" + }, + { + "file_path": "../../rgb/hdr_front_03613.png", + "transform_matrix": [ + [ + -0.8275370001792908, + 0.04564936086535454, + 0.5595522522926331, + 1.0967072248458862 + ], + [ + -0.560726523399353, + -0.017997458577156067, + -0.8278054594993591, + -5.365471839904785 + ], + [ + -0.02771827206015587, + -0.9987953901290894, + 0.040490373969078064, + -0.2668759226799011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3613, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_738469123", + "mask_path": "../../mask/hdr_front_03613.png" + }, + { + "file_path": "../../rgb/hdr_front_03614.png", + "transform_matrix": [ + [ + -0.8455573320388794, + 0.043235547840595245, + 0.5321311354637146, + 1.0710158348083496 + ], + [ + -0.5331076383590698, + -0.014615476131439209, + -0.8459212779998779, + -5.30458402633667 + ], + [ + -0.028796523809432983, + -0.9989580512046814, + 0.0354074165225029, + -0.2577521800994873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3614, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_838468551", + "mask_path": "../../mask/hdr_front_03614.png" + }, + { + "file_path": "../../rgb/hdr_front_03615.png", + "transform_matrix": [ + [ + -0.8631583452224731, + 0.03623172268271446, + 0.5036317706108093, + 1.0502187013626099 + ], + [ + -0.5043424367904663, + -0.013625023886561394, + -0.8633962273597717, + -5.248765468597412 + ], + [ + -0.02442033775150776, + -0.9992506504058838, + 0.03003375045955181, + -0.2536047101020813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3615, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_938467741", + "mask_path": "../../mask/hdr_front_03615.png" + }, + { + "file_path": "../../rgb/hdr_front_03616.png", + "transform_matrix": [ + [ + -0.8768734931945801, + 0.03349447250366211, + 0.4795528054237366, + 1.0205399990081787 + ], + [ + -0.48010239005088806, + -0.010421433486044407, + -0.8771505951881409, + -5.182014465332031 + ], + [ + -0.02438206598162651, + -0.9993845820426941, + 0.025219054892659187, + -0.25294211506843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3616, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_38468599", + "mask_path": "../../mask/hdr_front_03616.png" + }, + { + "file_path": "../../rgb/hdr_front_03617.png", + "transform_matrix": [ + [ + -0.885860025882721, + 0.032872069627046585, + 0.46278658509254456, + 0.9776942729949951 + ], + [ + -0.4632795751094818, + -0.008970147930085659, + -0.8861668109893799, + -5.106797218322754 + ], + [ + -0.024978872388601303, + -0.9994193911552429, + 0.023175254464149475, + -0.2570280432701111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3617, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_138468265", + "mask_path": "../../mask/hdr_front_03617.png" + }, + { + "file_path": "../../rgb/hdr_front_03618.png", + "transform_matrix": [ + [ + -0.8931538462638855, + 0.03604936972260475, + 0.4483042359352112, + 0.9504108428955078 + ], + [ + -0.44888490438461304, + -0.00961046852171421, + -0.8935379385948181, + -5.046718120574951 + ], + [ + -0.027903065085411072, + -0.9993038177490234, + 0.02476564235985279, + -0.2628765106201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3618, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_238468170", + "mask_path": "../../mask/hdr_front_03618.png" + }, + { + "file_path": "../../rgb/hdr_front_03619.png", + "transform_matrix": [ + [ + -0.9001520872116089, + 0.0345880351960659, + 0.4342004358768463, + 0.9186171293258667 + ], + [ + -0.4347851574420929, + -0.011310811154544353, + -0.9004632234573364, + -4.981075763702393 + ], + [ + -0.02623409405350685, + -0.9993376731872559, + 0.025219812989234924, + -0.26770567893981934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3619, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_338468551", + "mask_path": "../../mask/hdr_front_03619.png" + }, + { + "file_path": "../../rgb/hdr_front_03620.png", + "transform_matrix": [ + [ + -0.906714677810669, + 0.03085552714765072, + 0.4206142723560333, + 0.8877170085906982 + ], + [ + -0.42119547724723816, + -0.015379505231976509, + -0.9068394899368286, + -4.912818431854248 + ], + [ + -0.021512169390916824, + -0.999405562877655, + 0.026941033080220222, + -0.2711617648601532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3620, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_438467264", + "mask_path": "../../mask/hdr_front_03620.png" + }, + { + "file_path": "../../rgb/hdr_front_03621.png", + "transform_matrix": [ + [ + -0.9148136377334595, + 0.02824404090642929, + 0.40288758277893066, + 0.8667699694633484 + ], + [ + -0.4034012258052826, + -0.015525910072028637, + -0.9148914813995361, + -4.843573093414307 + ], + [ + -0.019585035741329193, + -0.9994804859161377, + 0.025596991181373596, + -0.26342540979385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3621, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_538467884", + "mask_path": "../../mask/hdr_front_03621.png" + }, + { + "file_path": "../../rgb/hdr_front_03622.png", + "transform_matrix": [ + [ + -0.9228096604347229, + 0.021094804629683495, + 0.3846781849861145, + 0.8461031913757324 + ], + [ + -0.38498106598854065, + -0.012765479274094105, + -0.922836184501648, + -4.775739669799805 + ], + [ + -0.014556447975337505, + -0.9996959567070007, + 0.019901210442185402, + -0.2596527338027954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3622, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_638468742", + "mask_path": "../../mask/hdr_front_03622.png" + }, + { + "file_path": "../../rgb/hdr_front_03623.png", + "transform_matrix": [ + [ + -0.9283396601676941, + 0.018816927447915077, + 0.3712562918663025, + 0.8142380714416504 + ], + [ + -0.3714497685432434, + -0.007990701124072075, + -0.928418755531311, + -4.6929402351379395 + ], + [ + -0.01450338400900364, + -0.9997909665107727, + 0.014407630078494549, + -0.2614821195602417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3623, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_738468647", + "mask_path": "../../mask/hdr_front_03623.png" + }, + { + "file_path": "../../rgb/hdr_left_00622.png", + "transform_matrix": [ + [ + 0.1515745371580124, + -0.0004505034885369241, + 0.9884456992149353, + 1.9441401958465576 + ], + [ + -0.9879810810089111, + -0.03072902373969555, + 0.15148931741714478, + -5.306135654449463 + ], + [ + 0.03030572459101677, + -0.9995276927947998, + -0.005102827213704586, + -0.20926529169082642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 622, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_38470029", + "mask_path": "../../mask/hdr_left_00622.png" + }, + { + "file_path": "../../rgb/hdr_left_00623.png", + "transform_matrix": [ + [ + 0.16640572249889374, + 0.0011427121935412288, + 0.9860566854476929, + 1.9691945314407349 + ], + [ + -0.9855107069015503, + -0.033102359622716904, + 0.16635191440582275, + -5.35953950881958 + ], + [ + 0.03283089026808739, + -0.9994513988494873, + -0.004382265731692314, + -0.2125265747308731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 623, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_138470649", + "mask_path": "../../mask/hdr_left_00623.png" + }, + { + "file_path": "../../rgb/hdr_left_00624.png", + "transform_matrix": [ + [ + 0.17167353630065918, + 0.001684106420725584, + 0.9851524233818054, + 1.98395574092865 + ], + [ + -0.984710693359375, + -0.029698560014367104, + 0.1716473400592804, + -5.408010005950928 + ], + [ + 0.029546674340963364, + -0.999557614326477, + -0.0034400925505906343, + -0.20569775998592377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 624, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_238469362", + "mask_path": "../../mask/hdr_left_00624.png" + }, + { + "file_path": "../../rgb/hdr_left_00626.png", + "transform_matrix": [ + [ + 0.1980658322572708, + 0.00869368202984333, + 0.9801501631736755, + 2.0343356132507324 + ], + [ + -0.9796693325042725, + -0.030789518728852272, + 0.19824184477329254, + -5.510471820831299 + ], + [ + 0.031901802867650986, + -0.9994880557060242, + 0.002418582560494542, + -0.19069844484329224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 626, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_438469886", + "mask_path": "../../mask/hdr_left_00626.png" + }, + { + "file_path": "../../rgb/hdr_left_00627.png", + "transform_matrix": [ + [ + 0.23161855340003967, + 0.01540424581617117, + 0.9726846814155579, + 2.0806727409362793 + ], + [ + -0.9721997976303101, + -0.03164839372038841, + 0.23200425505638123, + -5.570145606994629 + ], + [ + 0.03435775637626648, + -0.999380350112915, + 0.007645652629435062, + -0.19251129031181335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 627, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_538470029", + "mask_path": "../../mask/hdr_left_00627.png" + }, + { + "file_path": "../../rgb/hdr_left_00628.png", + "transform_matrix": [ + [ + 0.26852938532829285, + 0.016451213508844376, + 0.9631310105323792, + 2.1195311546325684 + ], + [ + -0.9625584483146667, + -0.033881478011608124, + 0.268948495388031, + -5.6255340576171875 + ], + [ + 0.037056826055049896, + -0.9992904663085938, + 0.006737081333994865, + -0.19530388712882996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 628, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_638470172", + "mask_path": "../../mask/hdr_left_00628.png" + }, + { + "file_path": "../../rgb/hdr_left_00629.png", + "transform_matrix": [ + [ + 0.29741528630256653, + 0.01852656528353691, + 0.9545684456825256, + 2.150841474533081 + ], + [ + -0.9540631771087646, + -0.032099977135658264, + 0.2978808283805847, + -5.682264804840088 + ], + [ + 0.03616032749414444, + -0.9993129372596741, + 0.008128492161631584, + -0.18856358528137207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 629, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_738470315", + "mask_path": "../../mask/hdr_left_00629.png" + }, + { + "file_path": "../../rgb/hdr_left_00630.png", + "transform_matrix": [ + [ + 0.31817618012428284, + 0.019253842532634735, + 0.9478361010551453, + 2.1834845542907715 + ], + [ + -0.9472538232803345, + -0.0340302549302578, + 0.3186720907688141, + -5.7350921630859375 + ], + [ + 0.038390759378671646, + -0.9992353916168213, + 0.0074106622487306595, + -0.1789543628692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 630, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_838470220", + "mask_path": "../../mask/hdr_left_00630.png" + }, + { + "file_path": "../../rgb/hdr_left_00631.png", + "transform_matrix": [ + [ + 0.34493276476860046, + 0.031446926295757294, + 0.9381003975868225, + 2.2273356914520264 + ], + [ + -0.9376727938652039, + -0.03351958468556404, + 0.34589922428131104, + -5.791611671447754 + ], + [ + 0.04232219606637955, + -0.9989432096481323, + 0.017924919724464417, + -0.17246019840240479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 631, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_938469886", + "mask_path": "../../mask/hdr_left_00631.png" + }, + { + "file_path": "../../rgb/hdr_left_00632.png", + "transform_matrix": [ + [ + 0.3803505003452301, + 0.042454153299331665, + 0.9238675236701965, + 2.281479835510254 + ], + [ + -0.9235280752182007, + -0.03580291569232941, + 0.3818559944629669, + -5.849926471710205 + ], + [ + 0.04928852245211601, + -0.9984567761421204, + 0.025589950382709503, + -0.16619056463241577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 632, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_38470029", + "mask_path": "../../mask/hdr_left_00632.png" + }, + { + "file_path": "../../rgb/hdr_left_00633.png", + "transform_matrix": [ + [ + 0.4196145236492157, + 0.04047131538391113, + 0.9067996740341187, + 2.3297202587127686 + ], + [ + -0.9060138463973999, + -0.04223174229264259, + 0.421135812997818, + -5.904708385467529 + ], + [ + 0.055339641869068146, + -0.9982878565788269, + 0.018946519121527672, + -0.1624232530593872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 633, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_138470888", + "mask_path": "../../mask/hdr_left_00633.png" + }, + { + "file_path": "../../rgb/hdr_left_00634.png", + "transform_matrix": [ + [ + 0.4517982006072998, + 0.04330550134181976, + 0.8910683989524841, + 2.3704373836517334 + ], + [ + -0.8902958035469055, + -0.04195791855454445, + 0.4534456431865692, + -5.955846786499023 + ], + [ + 0.05702405795454979, + -0.9981805682182312, + 0.019598189741373062, + -0.1524653136730194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 634, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_238470315", + "mask_path": "../../mask/hdr_left_00634.png" + }, + { + "file_path": "../../rgb/hdr_left_00635.png", + "transform_matrix": [ + [ + 0.4741482138633728, + 0.04776814579963684, + 0.8791483044624329, + 2.4089982509613037 + ], + [ + -0.8783579468727112, + -0.043049514293670654, + 0.47606098651885986, + -6.001943588256836 + ], + [ + 0.060587458312511444, + -0.9979303479194641, + 0.021545682102441788, + -0.13993671536445618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 635, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_338469982", + "mask_path": "../../mask/hdr_left_00635.png" + }, + { + "file_path": "../../rgb/hdr_left_00636.png", + "transform_matrix": [ + [ + 0.4992276132106781, + 0.05986769124865532, + 0.8644000887870789, + 2.4572784900665283 + ], + [ + -0.8639734983444214, + -0.0412936694920063, + 0.5018413066864014, + -6.046674728393555 + ], + [ + 0.06573832035064697, + -0.997351884841919, + 0.031109154224395752, + -0.13093510270118713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 636, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_438470602", + "mask_path": "../../mask/hdr_left_00636.png" + }, + { + "file_path": "../../rgb/hdr_left_00637.png", + "transform_matrix": [ + [ + 0.5313527584075928, + 0.07184096425771713, + 0.8440989851951599, + 2.5213966369628906 + ], + [ + -0.84400874376297, + -0.040841907262802124, + 0.5347720980644226, + -6.0926127433776855 + ], + [ + 0.07289315015077591, + -0.9965797066688538, + 0.03893293812870979, + -0.12155041098594666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 637, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_538469791", + "mask_path": "../../mask/hdr_left_00637.png" + }, + { + "file_path": "../../rgb/hdr_left_00638.png", + "transform_matrix": [ + [ + 0.5645493865013123, + 0.07521774619817734, + 0.8219648599624634, + 2.575979471206665 + ], + [ + -0.8214676976203918, + -0.04587884992361069, + 0.5684064030647278, + -6.128852367401123 + ], + [ + 0.08046504110097885, + -0.9961111545562744, + 0.035888075828552246, + -0.11680720746517181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 638, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_638470411", + "mask_path": "../../mask/hdr_left_00638.png" + }, + { + "file_path": "../../rgb/hdr_left_00639.png", + "transform_matrix": [ + [ + 0.593448281288147, + 0.0804179385304451, + 0.8008445501327515, + 2.622018337249756 + ], + [ + -0.8007412552833557, + -0.04168841615319252, + 0.5975579619407654, + -6.162051200866699 + ], + [ + 0.08144031465053558, + -0.9958890676498413, + 0.039654046297073364, + -0.10664461553096771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 639, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_738470792", + "mask_path": "../../mask/hdr_left_00639.png" + }, + { + "file_path": "../../rgb/hdr_left_00640.png", + "transform_matrix": [ + [ + 0.6154601573944092, + 0.08457347005605698, + 0.7836172580718994, + 2.669705390930176 + ], + [ + -0.7840293645858765, + -0.03605802729725838, + 0.6196754574775696, + -6.197127342224121 + ], + [ + 0.08066379278898239, + -0.9957646727561951, + 0.04411580413579941, + -0.0940256342291832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 640, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_838470458", + "mask_path": "../../mask/hdr_left_00640.png" + }, + { + "file_path": "../../rgb/hdr_left_00641.png", + "transform_matrix": [ + [ + 0.6401181221008301, + 0.0988570898771286, + 0.7618897557258606, + 2.727193593978882 + ], + [ + -0.7632619738578796, + -0.031290411949157715, + 0.6453309655189514, + -6.227552890777588 + ], + [ + 0.08763538300991058, + -0.9946095943450928, + 0.055424291640520096, + -0.08216078579425812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 641, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_938470602", + "mask_path": "../../mask/hdr_left_00641.png" + }, + { + "file_path": "../../rgb/hdr_left_00642.png", + "transform_matrix": [ + [ + 0.6679115295410156, + 0.11060111969709396, + 0.7359765768051147, + 2.7930917739868164 + ], + [ + -0.7378315329551697, + -0.031097089871764183, + 0.6742681264877319, + -6.254458904266357 + ], + [ + 0.09746153652667999, + -0.9933782815933228, + 0.060834888368844986, + -0.0709565132856369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 642, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_38471221", + "mask_path": "../../mask/hdr_left_00642.png" + }, + { + "file_path": "../../rgb/hdr_left_00643.png", + "transform_matrix": [ + [ + 0.6965713500976562, + 0.1136995255947113, + 0.7084214091300964, + 2.8452179431915283 + ], + [ + -0.7100619077682495, + -0.032443154603242874, + 0.7033913731575012, + -6.277011871337891 + ], + [ + 0.10295869410037994, + -0.9929853081703186, + 0.05813472718000412, + -0.0681428462266922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 643, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_138469457", + "mask_path": "../../mask/hdr_left_00643.png" + }, + { + "file_path": "../../rgb/hdr_left_00644.png", + "transform_matrix": [ + [ + 0.7196829915046692, + 0.11545365303754807, + 0.6846362352371216, + 2.89546275138855 + ], + [ + -0.6861365437507629, + -0.03252708539366722, + 0.7267451882362366, + -6.302943229675293 + ], + [ + 0.10617461055517197, + -0.9927802085876465, + 0.05580779165029526, + -0.053238555788993835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 644, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_238469123", + "mask_path": "../../mask/hdr_left_00644.png" + }, + { + "file_path": "../../rgb/hdr_left_00645.png", + "transform_matrix": [ + [ + 0.7361207604408264, + 0.12093182653188705, + 0.6659591794013977, + 2.9451441764831543 + ], + [ + -0.6681320071220398, + -0.02758244425058365, + 0.7435312271118164, + -6.334434986114502 + ], + [ + 0.10828536748886108, + -0.9922775626182556, + 0.06049441918730736, + -0.03190051019191742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 645, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_338469743", + "mask_path": "../../mask/hdr_left_00645.png" + }, + { + "file_path": "../../rgb/hdr_left_00646.png", + "transform_matrix": [ + [ + 0.7573564052581787, + 0.12402167171239853, + 0.641116201877594, + 3.0059945583343506 + ], + [ + -0.6440796852111816, + -0.019866714254021645, + 0.7647003531455994, + -6.350459575653076 + ], + [ + 0.10757628083229065, + -0.9920806884765625, + 0.06483364850282669, + -0.024199217557907104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 646, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_438468694", + "mask_path": "../../mask/hdr_left_00646.png" + }, + { + "file_path": "../../rgb/hdr_left_00647.png", + "transform_matrix": [ + [ + 0.7815787196159363, + 0.12121915817260742, + 0.6119154691696167, + 3.072568893432617 + ], + [ + -0.6147037148475647, + -0.017305079847574234, + 0.7885681390762329, + -6.3660101890563965 + ], + [ + 0.10617881268262863, + -0.9924749135971069, + 0.06098858639597893, + -0.028996393084526062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 647, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_538469552", + "mask_path": "../../mask/hdr_left_00647.png" + }, + { + "file_path": "../../rgb/hdr_left_00648.png", + "transform_matrix": [ + [ + 0.8044253587722778, + 0.11763624846935272, + 0.5822898745536804, + 3.128789186477661 + ], + [ + -0.5851751565933228, + -0.01191903930157423, + 0.8108193278312683, + -6.37802267074585 + ], + [ + 0.1023220643401146, + -0.9929853677749634, + 0.05924983322620392, + -0.03233522176742554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 648, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_638469696", + "mask_path": "../../mask/hdr_left_00648.png" + }, + { + "file_path": "../../rgb/hdr_left_00649.png", + "transform_matrix": [ + [ + 0.8233884572982788, + 0.11099665611982346, + 0.5565168857574463, + 3.1834700107574463 + ], + [ + -0.5600508451461792, + 0.0007985447882674634, + 0.8284578919410706, + -6.391275405883789 + ], + [ + 0.09151164442300797, + -0.9938204884529114, + 0.06282128393650055, + -0.02812686562538147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 649, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_738469123", + "mask_path": "../../mask/hdr_left_00649.png" + }, + { + "file_path": "../../rgb/hdr_left_00650.png", + "transform_matrix": [ + [ + 0.8364312648773193, + 0.1082070991396904, + 0.5372839570045471, + 3.2361221313476562 + ], + [ + -0.5409721732139587, + 0.005721090827137232, + 0.8410208821296692, + -6.409522533416748 + ], + [ + 0.0879305824637413, + -0.994111955165863, + 0.06332234293222427, + -0.015563622117042542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 650, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_838469505", + "mask_path": "../../mask/hdr_left_00650.png" + }, + { + "file_path": "../../rgb/hdr_left_00651.png", + "transform_matrix": [ + [ + 0.8499836921691895, + 0.10127009451389313, + 0.5169836282730103, + 3.2957048416137695 + ], + [ + -0.5204340815544128, + 0.00921109039336443, + 0.8538521528244019, + -6.425426006317139 + ], + [ + 0.08170770108699799, + -0.9948163628578186, + 0.06053368002176285, + -0.007609672844409943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 651, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_938468933", + "mask_path": "../../mask/hdr_left_00651.png" + }, + { + "file_path": "../../rgb/hdr_left_00652.png", + "transform_matrix": [ + [ + 0.8670591711997986, + 0.07726223021745682, + 0.4921775758266449, + 3.358591318130493 + ], + [ + -0.49400705099105835, + 0.005355662666261196, + 0.8694415092468262, + -6.438137054443359 + ], + [ + 0.06453903764486313, + -0.9969965219497681, + 0.042811762541532516, + -0.029070168733596802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 652, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_38467645", + "mask_path": "../../mask/hdr_left_00652.png" + }, + { + "file_path": "../../rgb/hdr_left_00653.png", + "transform_matrix": [ + [ + 0.8841913342475891, + 0.06385332345962524, + 0.462740033864975, + 3.414713144302368 + ], + [ + -0.46389123797416687, + 0.0036705515813082457, + 0.8858846426010132, + -6.450389862060547 + ], + [ + 0.05486815795302391, + -0.9979525804519653, + 0.0328664630651474, + -0.046827301383018494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 653, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_138467788", + "mask_path": "../../mask/hdr_left_00653.png" + }, + { + "file_path": "../../rgb/hdr_left_00654.png", + "transform_matrix": [ + [ + 0.9000062942504883, + 0.048923444002866745, + 0.43312251567840576, + 3.473372220993042 + ], + [ + -0.4342581629753113, + 0.015085671097040176, + 0.9006621241569519, + -6.46190071105957 + ], + [ + 0.037529539316892624, + -0.9986886978149414, + 0.034822605550289154, + -0.05095508694648743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 654, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_238468170", + "mask_path": "../../mask/hdr_left_00654.png" + }, + { + "file_path": "../../rgb/hdr_left_00655.png", + "transform_matrix": [ + [ + 0.9119723439216614, + 0.02437562681734562, + 0.409526526927948, + 3.5346436500549316 + ], + [ + -0.41020265221595764, + 0.038804832845926285, + 0.9111685156822205, + -6.475516319274902 + ], + [ + 0.006318694446235895, + -0.9989495277404785, + 0.045387882739305496, + -0.06383514404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 655, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_338469028", + "mask_path": "../../mask/hdr_left_00655.png" + }, + { + "file_path": "../../rgb/hdr_left_00656.png", + "transform_matrix": [ + [ + 0.9181554913520813, + -0.0018877324182540178, + 0.3962157368659973, + 3.583897590637207 + ], + [ + -0.3956698477268219, + 0.048319995403289795, + 0.9171207547187805, + -6.475121974945068 + ], + [ + -0.02087641879916191, + -0.9988301992416382, + 0.043618351221084595, + -0.07336454093456268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 656, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_438470125", + "mask_path": "../../mask/hdr_left_00656.png" + }, + { + "file_path": "../../rgb/hdr_left_00657.png", + "transform_matrix": [ + [ + 0.9242497086524963, + -0.014180176891386509, + 0.38152503967285156, + 3.646138906478882 + ], + [ + -0.3801890015602112, + 0.05719226971268654, + 0.9231389164924622, + -6.480193138122559 + ], + [ + -0.03491055592894554, + -0.9982625246047974, + 0.047468800097703934, + -0.08501260727643967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 657, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_538469314", + "mask_path": "../../mask/hdr_left_00657.png" + }, + { + "file_path": "../../rgb/hdr_left_00658.png", + "transform_matrix": [ + [ + 0.928616464138031, + -0.03810495510697365, + 0.3690793514251709, + 3.729652166366577 + ], + [ + -0.36701488494873047, + 0.0518086813390255, + 0.9287711977958679, + -6.488454818725586 + ], + [ + -0.054512299597263336, + -0.9979298114776611, + 0.03412530571222305, + -0.10856738686561584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 658, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_638470411", + "mask_path": "../../mask/hdr_left_00658.png" + }, + { + "file_path": "../../rgb/hdr_left_00659.png", + "transform_matrix": [ + [ + 0.930984616279602, + -0.07352464646100998, + 0.35757777094841003, + 3.7991366386413574 + ], + [ + -0.3557453453540802, + 0.037116922438144684, + 0.9338456392288208, + -6.500024318695068 + ], + [ + -0.08193285018205643, + -0.996602475643158, + 0.008399233222007751, + -0.14603057503700256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 659, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_738469362", + "mask_path": "../../mask/hdr_left_00659.png" + }, + { + "file_path": "../../rgb/hdr_left_00660.png", + "transform_matrix": [ + [ + 0.9312147498130798, + -0.09130021929740906, + 0.3528502583503723, + 3.85422945022583 + ], + [ + -0.35163599252700806, + 0.029598187655210495, + 0.9356688261032104, + -6.512390613555908 + ], + [ + -0.0958704873919487, + -0.9953835010528564, + -0.004542170092463493, + -0.15711349248886108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 660, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_838469982", + "mask_path": "../../mask/hdr_left_00660.png" + }, + { + "file_path": "../../rgb/hdr_left_00661.png", + "transform_matrix": [ + [ + 0.9307969212532043, + -0.10669305920600891, + 0.3496192991733551, + 3.921041250228882 + ], + [ + -0.3487212359905243, + 0.027574243023991585, + 0.9368207454681396, + -6.527024745941162 + ], + [ + -0.10959275811910629, + -0.9939095973968506, + -0.011540109291672707, + -0.16900905966758728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 661, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_938469171", + "mask_path": "../../mask/hdr_left_00661.png" + }, + { + "file_path": "../../rgb/hdr_left_00662.png", + "transform_matrix": [ + [ + 0.9267920851707458, + -0.13100111484527588, + 0.35198742151260376, + 3.9952070713043213 + ], + [ + -0.35005202889442444, + 0.038291480392217636, + 0.9359472990036011, + -6.5481181144714355 + ], + [ + -0.13608825206756592, + -0.9906424880027771, + -0.010368961840867996, + -0.1968175172805786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 662, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_38470268", + "mask_path": "../../mask/hdr_left_00662.png" + }, + { + "file_path": "../../rgb/hdr_left_00663.png", + "transform_matrix": [ + [ + 0.9210469722747803, + -0.15448229014873505, + 0.3575020432472229, + 4.050417423248291 + ], + [ + -0.3556389808654785, + 0.040495265275239944, + 0.9337456822395325, + -6.557351112365723 + ], + [ + -0.15872429311275482, + -0.9871653914451599, + -0.017641868442296982, + -0.22351038455963135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 663, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_138470649", + "mask_path": "../../mask/hdr_left_00663.png" + }, + { + "file_path": "../../rgb/hdr_left_00665.png", + "transform_matrix": [ + [ + 0.913636326789856, + -0.16410735249519348, + 0.3719373345375061, + 4.192803382873535 + ], + [ + -0.37189018726348877, + 0.032179318368434906, + 0.9277188777923584, + -6.583105087280273 + ], + [ + -0.16421417891979218, + -0.9859174489974976, + -0.03162971884012222, + -0.2546122968196869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 665, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_338470458", + "mask_path": "../../mask/hdr_left_00665.png" + }, + { + "file_path": "../../rgb/hdr_left_00666.png", + "transform_matrix": [ + [ + 0.9112630486488342, + -0.18228960037231445, + 0.36928340792655945, + 4.279238224029541 + ], + [ + -0.3718094229698181, + 0.021404415369033813, + 0.9280622601509094, + -6.606690883636475 + ], + [ + -0.17708037793636322, + -0.9830119609832764, + -0.04827194660902023, + -0.2846621870994568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 666, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_438471555", + "mask_path": "../../mask/hdr_left_00666.png" + }, + { + "file_path": "../../rgb/hdr_left_00667.png", + "transform_matrix": [ + [ + 0.910953164100647, + -0.19007667899131775, + 0.3661080598831177, + 4.337378025054932 + ], + [ + -0.36995556950569153, + 0.016145724803209305, + 0.9289091229438782, + -6.617068290710449 + ], + [ + -0.1824750453233719, + -0.9816364645957947, + -0.055611930787563324, + -0.30601704120635986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 667, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_538470029", + "mask_path": "../../mask/hdr_left_00667.png" + }, + { + "file_path": "../../rgb/hdr_left_00668.png", + "transform_matrix": [ + [ + 0.9114389419555664, + -0.19415026903152466, + 0.36274582147598267, + 4.407573699951172 + ], + [ + -0.36656078696250916, + 0.01720847375690937, + 0.9302349090576172, + -6.623782634735107 + ], + [ + -0.18684765696525574, + -0.980820894241333, + -0.055483393371105194, + -0.3306042551994324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 668, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_638470411", + "mask_path": "../../mask/hdr_left_00668.png" + }, + { + "file_path": "../../rgb/hdr_left_00669.png", + "transform_matrix": [ + [ + 0.9088066816329956, + -0.20584234595298767, + 0.3629039525985718, + 4.487642288208008 + ], + [ + -0.36645975708961487, + 0.021972723305225372, + 0.9301744103431702, + -6.635594367980957 + ], + [ + -0.1994432657957077, + -0.9783384203910828, + -0.05546397343277931, + -0.35821056365966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 669, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_738470077", + "mask_path": "../../mask/hdr_left_00669.png" + }, + { + "file_path": "../../rgb/hdr_left_00670.png", + "transform_matrix": [ + [ + 0.9039378762245178, + -0.21822883188724518, + 0.36779385805130005, + 4.547735214233398 + ], + [ + -0.3726383447647095, + 0.02008112147450447, + 0.9277592301368713, + -6.6543731689453125 + ], + [ + -0.209849551320076, + -0.9756910800933838, + -0.06316834688186646, + -0.37202146649360657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 670, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_838469505", + "mask_path": "../../mask/hdr_left_00670.png" + }, + { + "file_path": "../../rgb/hdr_left_00671.png", + "transform_matrix": [ + [ + 0.9004641175270081, + -0.22007110714912415, + 0.3751440942287445, + 4.6065521240234375 + ], + [ + -0.38228702545166016, + 0.010859311558306217, + 0.9239798188209534, + -6.673139572143555 + ], + [ + -0.20741505920886993, + -0.9754234552383423, + -0.07435189932584763, + -0.3941093981266022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 671, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_938468694", + "mask_path": "../../mask/hdr_left_00671.png" + }, + { + "file_path": "../../rgb/hdr_left_00672.png", + "transform_matrix": [ + [ + 0.8985438346862793, + -0.21592983603477478, + 0.38209068775177, + 4.699223518371582 + ], + [ + -0.3909265398979187, + 0.001941284746862948, + 0.9204197525978088, + -6.694804668426514 + ], + [ + -0.1994878351688385, + -0.976406991481781, + -0.08266837149858475, + -0.4235639274120331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 672, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_38467884", + "mask_path": "../../mask/hdr_left_00672.png" + }, + { + "file_path": "../../rgb/hdr_left_00673.png", + "transform_matrix": [ + [ + 0.900780439376831, + -0.20817619562149048, + 0.3811262845993042, + 4.804934501647949 + ], + [ + -0.38950225710868835, + 0.0008207345381379128, + 0.9210252165794373, + -6.709610462188721 + ], + [ + -0.19204829633235931, + -0.9780910015106201, + -0.08034577965736389, + -0.43412530422210693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 673, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_138468980", + "mask_path": "../../mask/hdr_left_00673.png" + }, + { + "file_path": "../../rgb/hdr_left_00674.png", + "transform_matrix": [ + [ + 0.9043975472450256, + -0.20395904779434204, + 0.37478768825531006, + 4.876960754394531 + ], + [ + -0.3828979432582855, + -0.0003266235289629549, + 0.9237905740737915, + -6.712400913238525 + ], + [ + -0.18829300999641418, + -0.9789793491363525, + -0.07839088141918182, + -0.43986815214157104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 674, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_238467931", + "mask_path": "../../mask/hdr_left_00674.png" + }, + { + "file_path": "../../rgb/hdr_left_00675.png", + "transform_matrix": [ + [ + 0.9082934856414795, + -0.19290247559547424, + 0.37120306491851807, + 4.959051132202148 + ], + [ + -0.37741854786872864, + 0.004864552989602089, + 0.9260300397872925, + -6.724471569061279 + ], + [ + -0.18043918907642365, + -0.981205940246582, + -0.0683865174651146, + -0.45760753750801086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 675, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_338466882", + "mask_path": "../../mask/hdr_left_00675.png" + }, + { + "file_path": "../../rgb/hdr_left_00676.png", + "transform_matrix": [ + [ + 0.9103072285652161, + -0.18385626375675201, + 0.37086066603660583, + 5.057358264923096 + ], + [ + -0.3761681318283081, + 0.006443172227591276, + 0.9265289306640625, + -6.743326663970947 + ], + [ + -0.17273767292499542, + -0.9829320311546326, + -0.06329560279846191, + -0.47494077682495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 676, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_438469171", + "mask_path": "../../mask/hdr_left_00676.png" + }, + { + "file_path": "../../rgb/hdr_left_00677.png", + "transform_matrix": [ + [ + 0.9083997011184692, + -0.18061380088329315, + 0.377079039812088, + 5.1353912353515625 + ], + [ + -0.3823830187320709, + 0.00586235336959362, + 0.9239852428436279, + -6.762252330780029 + ], + [ + -0.16909503936767578, + -0.9835367202758789, + -0.06373828649520874, + -0.4785594046115875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 677, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_538469076", + "mask_path": "../../mask/hdr_left_00677.png" + }, + { + "file_path": "../../rgb/hdr_left_03572.png", + "transform_matrix": [ + [ + -0.973331868648529, + -0.08710171282291412, + -0.21222259104251862, + 4.675458908081055 + ], + [ + 0.21359017491340637, + -0.006585890427231789, + -0.9769010543823242, + -6.678381443023682 + ], + [ + 0.08369207382202148, + -0.9961777925491333, + 0.025014329701662064, + -0.43685269355773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3572, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_38469076", + "mask_path": "../../mask/hdr_left_03572.png" + }, + { + "file_path": "../../rgb/hdr_left_03573.png", + "transform_matrix": [ + [ + -0.9738065004348755, + -0.08598336577415466, + -0.21049417555332184, + 4.609935760498047 + ], + [ + 0.21156920492649078, + -0.003483720123767853, + -0.9773568511009216, + -6.672711372375488 + ], + [ + 0.08330311626195908, + -0.9962905049324036, + 0.021583903580904007, + -0.4338610768318176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3573, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_138470649", + "mask_path": "../../mask/hdr_left_03573.png" + }, + { + "file_path": "../../rgb/hdr_left_03574.png", + "transform_matrix": [ + [ + -0.972419261932373, + -0.08848534524440765, + -0.21580339968204498, + 4.53964900970459 + ], + [ + 0.21662798523902893, + 0.0002910876937676221, + -0.9762542247772217, + -6.663567066192627 + ], + [ + 0.08644700050354004, + -0.9960774779319763, + 0.01888534054160118, + -0.4116135835647583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3574, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_238470315", + "mask_path": "../../mask/hdr_left_03574.png" + }, + { + "file_path": "../../rgb/hdr_left_03575.png", + "transform_matrix": [ + [ + -0.9690191745758057, + -0.09557870030403137, + -0.22774173319339752, + 4.478293418884277 + ], + [ + 0.22921834886074066, + -0.0046178787015378475, + -0.9733640551567078, + -6.656937122344971 + ], + [ + 0.0919811800122261, + -0.9954111576080322, + 0.026383204385638237, + -0.394287109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3575, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_338470697", + "mask_path": "../../mask/hdr_left_03575.png" + }, + { + "file_path": "../../rgb/hdr_left_03576.png", + "transform_matrix": [ + [ + -0.9663043022155762, + -0.10685127973556519, + -0.23417659103870392, + 4.415680408477783 + ], + [ + 0.2370101362466812, + -0.014458159916102886, + -0.9713996052742004, + -6.653609752655029 + ], + [ + 0.10040951520204544, + -0.9941698908805847, + 0.03929581865668297, + -0.3769409656524658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3576, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_438469886", + "mask_path": "../../mask/hdr_left_03576.png" + }, + { + "file_path": "../../rgb/hdr_left_03577.png", + "transform_matrix": [ + [ + -0.9651504755020142, + -0.11914032697677612, + -0.23300212621688843, + 4.340858459472656 + ], + [ + 0.2372361272573471, + -0.02248464897274971, + -0.9711918234825134, + -6.652375221252441 + ], + [ + 0.11046913266181946, + -0.9926228523254395, + 0.04996545985341072, + -0.3537895083427429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3577, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_538469791", + "mask_path": "../../mask/hdr_left_03577.png" + }, + { + "file_path": "../../rgb/hdr_left_03578.png", + "transform_matrix": [ + [ + -0.9660228490829468, + -0.12257562577724457, + -0.22754110395908356, + 4.275177001953125 + ], + [ + 0.23100075125694275, + -0.014603330753743649, + -0.9728440046310425, + -6.65067195892334 + ], + [ + 0.11592409759759903, + -0.992351770401001, + 0.042422208935022354, + -0.3318830728530884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3578, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_638469219", + "mask_path": "../../mask/hdr_left_03578.png" + }, + { + "file_path": "../../rgb/hdr_left_03579.png", + "transform_matrix": [ + [ + -0.9658063650131226, + -0.12394808977842331, + -0.22771689295768738, + 4.2189412117004395 + ], + [ + 0.23034529387950897, + -0.007111984770745039, + -0.9730830192565918, + -6.644504547119141 + ], + [ + 0.11899224668741226, + -0.9922632575035095, + 0.035419657826423645, + -0.322098970413208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3579, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_738470315", + "mask_path": "../../mask/hdr_left_03579.png" + }, + { + "file_path": "../../rgb/hdr_left_03580.png", + "transform_matrix": [ + [ + -0.9632461071014404, + -0.1298668533563614, + -0.2351415604352951, + 4.1632256507873535 + ], + [ + 0.23697547614574432, + 0.0013687179889529943, + -0.9715146422386169, + -6.633045673370361 + ], + [ + 0.12648940086364746, + -0.9915305972099304, + 0.029456852003932, + -0.29915666580200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3580, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_838471412", + "mask_path": "../../mask/hdr_left_03580.png" + }, + { + "file_path": "../../rgb/hdr_left_03581.png", + "transform_matrix": [ + [ + -0.9593161940574646, + -0.14288176596164703, + -0.2435104250907898, + 4.107698440551758 + ], + [ + 0.2466871738433838, + -0.004682057071477175, + -0.969083845615387, + -6.622984886169434 + ], + [ + 0.1373242884874344, + -0.9897287487983704, + 0.03973867744207382, + -0.27834197878837585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3581, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_938469409", + "mask_path": "../../mask/hdr_left_03581.png" + }, + { + "file_path": "../../rgb/hdr_left_03582.png", + "transform_matrix": [ + [ + -0.9569416642189026, + -0.15430745482444763, + -0.2458694726228714, + 4.046230316162109 + ], + [ + 0.25000303983688354, + -0.007672316860407591, + -0.9682146310806274, + -6.613919258117676 + ], + [ + 0.14751635491847992, + -0.9879931807518005, + 0.04591929540038109, + -0.25502774119377136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3582, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_38469076", + "mask_path": "../../mask/hdr_left_03582.png" + }, + { + "file_path": "../../rgb/hdr_left_03583.png", + "transform_matrix": [ + [ + -0.9557785391807556, + -0.16193237900733948, + -0.24548999965190887, + 3.9820005893707275 + ], + [ + 0.24949683248996735, + -0.004568725824356079, + -0.9683648943901062, + -6.6068034172058105 + ], + [ + 0.15568804740905762, + -0.9867913126945496, + 0.044768307358026505, + -0.23665641248226166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3583, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_138469219", + "mask_path": "../../mask/hdr_left_03583.png" + }, + { + "file_path": "../../rgb/hdr_left_03584.png", + "transform_matrix": [ + [ + -0.955309271812439, + -0.16659756004810333, + -0.24419140815734863, + 3.927279233932495 + ], + [ + 0.24744398891925812, + 0.0012716338969767094, + -0.9689013361930847, + -6.602188587188721 + ], + [ + 0.16172710061073303, + -0.9860242009162903, + 0.04000876098871231, + -0.2281211018562317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3584, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_238470792", + "mask_path": "../../mask/hdr_left_03584.png" + }, + { + "file_path": "../../rgb/hdr_left_03585.png", + "transform_matrix": [ + [ + -0.9534059166908264, + -0.17600616812705994, + -0.24502845108509064, + 3.8695507049560547 + ], + [ + 0.2477869838476181, + 0.006478405091911554, + -0.9687929153442383, + -6.597076416015625 + ], + [ + 0.17210090160369873, + -0.9843677878379822, + 0.03743548318743706, + -0.21033722162246704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3585, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_338469982", + "mask_path": "../../mask/hdr_left_03585.png" + }, + { + "file_path": "../../rgb/hdr_left_03586.png", + "transform_matrix": [ + [ + -0.9495220184326172, + -0.18796990811824799, + -0.2511478066444397, + 3.818981170654297 + ], + [ + 0.2533794045448303, + 0.012462795712053776, + -0.9672866463661194, + -6.583645820617676 + ], + [ + 0.1849507838487625, + -0.9820957779884338, + 0.035794008523225784, + -0.1844746321439743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3586, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_438470125", + "mask_path": "../../mask/hdr_left_03586.png" + }, + { + "file_path": "../../rgb/hdr_left_03588.png", + "transform_matrix": [ + [ + -0.9452112913131714, + -0.2046058475971222, + -0.25438573956489563, + 3.7174127101898193 + ], + [ + 0.26129060983657837, + -0.007003071717917919, + -0.9652346968650818, + -6.573840141296387 + ], + [ + 0.1957111805677414, + -0.9788194298744202, + 0.06008097529411316, + -0.14696967601776123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3588, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_638468980", + "mask_path": "../../mask/hdr_left_03588.png" + }, + { + "file_path": "../../rgb/hdr_left_03589.png", + "transform_matrix": [ + [ + -0.9447911977767944, + -0.2075957953929901, + -0.2535223662853241, + 3.658504009246826 + ], + [ + 0.2612641453742981, + -0.010294641368091106, + -0.9652124643325806, + -6.575762748718262 + ], + [ + 0.1977640837430954, + -0.978160560131073, + 0.06396361440420151, + -0.12907978892326355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3589, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_738470792", + "mask_path": "../../mask/hdr_left_03589.png" + }, + { + "file_path": "../../rgb/hdr_left_03590.png", + "transform_matrix": [ + [ + -0.9452292323112488, + -0.2074025720357895, + -0.2520431876182556, + 3.6074345111846924 + ], + [ + 0.2606368064880371, + -0.014744765125215054, + -0.965324342250824, + -6.577883243560791 + ], + [ + 0.19649440050125122, + -0.978144645690918, + 0.06799392402172089, + -0.1236443966627121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3590, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_838470697", + "mask_path": "../../mask/hdr_left_03590.png" + }, + { + "file_path": "../../rgb/hdr_left_03591.png", + "transform_matrix": [ + [ + -0.945196270942688, + -0.20681549608707428, + -0.2526484429836273, + 3.5553905963897705 + ], + [ + 0.26153063774108887, + -0.016331668943166733, + -0.9650569558143616, + -6.57839822769165 + ], + [ + 0.19546255469322205, + -0.9782437086105347, + 0.06952521950006485, + -0.11147314310073853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3591, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_938469648", + "mask_path": "../../mask/hdr_left_03591.png" + }, + { + "file_path": "../../rgb/hdr_left_03592.png", + "transform_matrix": [ + [ + -0.9437313675880432, + -0.20542767643928528, + -0.25917288661003113, + 3.5064456462860107 + ], + [ + 0.2675672173500061, + -0.01369625423103571, + -0.9634418487548828, + -6.572399616241455 + ], + [ + 0.1943679004907608, + -0.9785764813423157, + 0.06789129227399826, + -0.0926702469587326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3592, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_38470268", + "mask_path": "../../mask/hdr_left_03592.png" + }, + { + "file_path": "../../rgb/hdr_left_03593.png", + "transform_matrix": [ + [ + -0.9415987730026245, + -0.20943990349769592, + -0.2636794149875641, + 3.4534034729003906 + ], + [ + 0.2731422185897827, + -0.017082324251532555, + -0.961821973323822, + -6.571402549743652 + ], + [ + 0.1969396471977234, + -0.9776723384857178, + 0.07329157739877701, + -0.07001785933971405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3593, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_138470649", + "mask_path": "../../mask/hdr_left_03593.png" + }, + { + "file_path": "../../rgb/hdr_left_03594.png", + "transform_matrix": [ + [ + -0.9413042068481445, + -0.20882780849933624, + -0.26521170139312744, + 3.3931655883789062 + ], + [ + 0.27424123883247375, + -0.014996856451034546, + -0.9615439176559448, + -6.570375442504883 + ], + [ + 0.1968197524547577, + -0.9778374433517456, + 0.07138580083847046, + -0.04767538607120514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3594, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_238470077", + "mask_path": "../../mask/hdr_left_03594.png" + }, + { + "file_path": "../../rgb/hdr_left_03595.png", + "transform_matrix": [ + [ + -0.9414106011390686, + -0.20740830898284912, + -0.26594701409339905, + 3.332336187362671 + ], + [ + 0.2742995321750641, + -0.012064259499311447, + -0.9615685343742371, + -6.564872741699219 + ], + [ + 0.19622884690761566, + -0.9781801700592041, + 0.0682494267821312, + -0.04155263304710388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3595, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_338469982", + "mask_path": "../../mask/hdr_left_03595.png" + }, + { + "file_path": "../../rgb/hdr_left_03596.png", + "transform_matrix": [ + [ + -0.9416297078132629, + -0.20496319234371185, + -0.2670646607875824, + 3.278449296951294 + ], + [ + 0.2758346498012543, + -0.014935383573174477, + -0.961089015007019, + -6.559988498687744 + ], + [ + 0.19299915432929993, + -0.9786557555198669, + 0.07059955596923828, + -0.039192765951156616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3596, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_438468217", + "mask_path": "../../mask/hdr_left_03596.png" + }, + { + "file_path": "../../rgb/hdr_left_03597.png", + "transform_matrix": [ + [ + -0.9417881369590759, + -0.20055021345615387, + -0.2698419392108917, + 3.221588134765625 + ], + [ + 0.2787013351917267, + -0.016788886860013008, + -0.9602310657501221, + -6.555441856384277 + ], + [ + 0.18804419040679932, + -0.9795395731925964, + 0.07170519232749939, + -0.031085923314094543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3597, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_538467884", + "mask_path": "../../mask/hdr_left_03597.png" + }, + { + "file_path": "../../rgb/hdr_left_03598.png", + "transform_matrix": [ + [ + -0.939469575881958, + -0.19791387021541595, + -0.279690682888031, + 3.1704249382019043 + ], + [ + 0.2881495952606201, + -0.014711928553879261, + -0.9574723243713379, + -6.547752380371094 + ], + [ + 0.18538227677345276, + -0.9801090955734253, + 0.07085021585226059, + -0.010156363248825073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3598, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_638468027", + "mask_path": "../../mask/hdr_left_03598.png" + }, + { + "file_path": "../../rgb/hdr_left_03599.png", + "transform_matrix": [ + [ + -0.9377791881561279, + -0.19443883001804352, + -0.28768694400787354, + 3.1193206310272217 + ], + [ + 0.29527154564857483, + -0.010575879365205765, + -0.9553548097610474, + -6.539616584777832 + ], + [ + 0.1827155202627182, + -0.9808576703071594, + 0.06733007729053497, + 0.003877311944961548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3599, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_738467693", + "mask_path": "../../mask/hdr_left_03599.png" + }, + { + "file_path": "../../rgb/hdr_left_03600.png", + "transform_matrix": [ + [ + -0.9394951462745667, + -0.1798843890428543, + -0.2915310263633728, + 3.056812286376953 + ], + [ + 0.29704123735427856, + -0.003882897784933448, + -0.9548566937446594, + -6.535184860229492 + ], + [ + 0.17063184082508087, + -0.9836801886558533, + 0.05708105489611626, + 0.009767115116119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3600, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_838467359", + "mask_path": "../../mask/hdr_left_03600.png" + }, + { + "file_path": "../../rgb/hdr_left_03601.png", + "transform_matrix": [ + [ + -0.9434371590614319, + -0.16345784068107605, + -0.2884577512741089, + 2.999307155609131 + ], + [ + 0.29196763038635254, + 0.002661120379343629, + -0.9564244747161865, + -6.529578685760498 + ], + [ + 0.15710268914699554, + -0.9865467548370361, + 0.045213792473077774, + 0.0056494176387786865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3601, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_938468217", + "mask_path": "../../mask/hdr_left_03601.png" + }, + { + "file_path": "../../rgb/hdr_left_03603.png", + "transform_matrix": [ + [ + -0.9466868042945862, + -0.12880489230155945, + -0.2952854335308075, + 2.8953442573547363 + ], + [ + 0.29851603507995605, + -0.006095935590565205, + -0.9543851613998413, + -6.517192840576172 + ], + [ + 0.12112942337989807, + -0.9916512966156006, + 0.044221267104148865, + 0.003197088837623596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3603, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_138468027", + "mask_path": "../../mask/hdr_left_03603.png" + }, + { + "file_path": "../../rgb/hdr_left_03604.png", + "transform_matrix": [ + [ + -0.9460008144378662, + -0.10718964040279388, + -0.30592936277389526, + 2.8471603393554688 + ], + [ + 0.30943283438682556, + -0.01732688397169113, + -0.950763463973999, + -6.508543968200684 + ], + [ + 0.09661117941141129, + -0.9940876364707947, + 0.04955924302339554, + 0.004048362374305725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3604, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_238469362", + "mask_path": "../../mask/hdr_left_03604.png" + }, + { + "file_path": "../../rgb/hdr_left_03606.png", + "transform_matrix": [ + [ + -0.9417511820793152, + -0.07975950092077255, + -0.32671570777893066, + 2.74281907081604 + ], + [ + 0.32923245429992676, + -0.020386550575494766, + -0.9440287351608276, + -6.486147403717041 + ], + [ + 0.06863464415073395, + -0.9966056942939758, + 0.04545847326517105, + -0.006194613873958588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3606, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_438468694", + "mask_path": "../../mask/hdr_left_03606.png" + }, + { + "file_path": "../../rgb/hdr_left_03607.png", + "transform_matrix": [ + [ + -0.9424943327903748, + -0.05384763330221176, + -0.329855740070343, + 2.6896331310272217 + ], + [ + 0.3309137225151062, + -0.01182549074292183, + -0.9435868859291077, + -6.477123260498047 + ], + [ + 0.04690920189023018, + -0.9984791874885559, + 0.02896437980234623, + -0.029056183993816376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3607, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_538468599", + "mask_path": "../../mask/hdr_left_03607.png" + }, + { + "file_path": "../../rgb/hdr_left_03609.png", + "transform_matrix": [ + [ + -0.9383329153060913, + -0.016048166900873184, + -0.3453603982925415, + 2.5954952239990234 + ], + [ + 0.3455466628074646, + -0.010736429132521152, + -0.9383401274681091, + -6.4427690505981445 + ], + [ + 0.011350699700415134, + -0.9998136162757874, + 0.015619738027453423, + -0.04398548603057861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3609, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_738468408", + "mask_path": "../../mask/hdr_left_03609.png" + }, + { + "file_path": "../../rgb/hdr_left_03610.png", + "transform_matrix": [ + [ + -0.9339084625244141, + 0.010185076855123043, + -0.35736697912216187, + 2.540256977081299 + ], + [ + 0.3569585680961609, + -0.029038608074188232, + -0.9336687326431274, + -6.421565055847168 + ], + [ + -0.0198869276791811, + -0.9995264410972595, + 0.023483753204345703, + -0.061701640486717224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3610, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_838469028", + "mask_path": "../../mask/hdr_left_03610.png" + }, + { + "file_path": "../../rgb/hdr_left_03613.png", + "transform_matrix": [ + [ + -0.9101059436798096, + 0.044500529766082764, + -0.4119790494441986, + 2.3915913105010986 + ], + [ + 0.4107196033000946, + -0.0349002331495285, + -0.911093533039093, + -6.391188144683838 + ], + [ + -0.05492230877280235, + -0.998399555683136, + 0.013485671952366829, + -0.0939965769648552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3613, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_138468980", + "mask_path": "../../mask/hdr_left_03613.png" + }, + { + "file_path": "../../rgb/hdr_left_03614.png", + "transform_matrix": [ + [ + -0.9043139815330505, + 0.05531073734164238, + -0.4232693612575531, + 2.3358192443847656 + ], + [ + 0.4223586320877075, + -0.027808785438537598, + -0.9060021042823792, + -6.377147674560547 + ], + [ + -0.06188225373625755, + -0.9980818629264832, + 0.0017869077855721116, + -0.11161036044359207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3614, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_238472223", + "mask_path": "../../mask/hdr_left_03614.png" + }, + { + "file_path": "../../rgb/hdr_left_03616.png", + "transform_matrix": [ + [ + -0.8831788897514343, + 0.07251142710447311, + -0.46339741349220276, + 2.24947452545166 + ], + [ + 0.46354344487190247, + -0.01582206040620804, + -0.8859329223632812, + -6.341702461242676 + ], + [ + -0.07157215476036072, + -0.9972420930862427, + -0.019638478755950928, + -0.12999843060970306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3616, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_438471317", + "mask_path": "../../mask/hdr_left_03616.png" + }, + { + "file_path": "../../rgb/hdr_left_03617.png", + "transform_matrix": [ + [ + -0.8683983683586121, + 0.085719995200634, + -0.4884018301963806, + 2.200258493423462 + ], + [ + 0.48834705352783203, + -0.02304258570075035, + -0.8723452091217041, + -6.317898273468018 + ], + [ + -0.0860314592719078, + -0.9960528016090393, + -0.021850958466529846, + -0.1459234356880188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3617, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_538469314", + "mask_path": "../../mask/hdr_left_03617.png" + }, + { + "file_path": "../../rgb/hdr_left_03618.png", + "transform_matrix": [ + [ + -0.8506380915641785, + 0.09961085766553879, + -0.5162290334701538, + 2.155693531036377 + ], + [ + 0.5161972045898438, + -0.028104087337851524, + -0.8560085892677307, + -6.297896862030029 + ], + [ + -0.09977588057518005, + -0.9946295619010925, + -0.027512434870004654, + -0.15340353548526764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3618, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_638470888", + "mask_path": "../../mask/hdr_left_03618.png" + }, + { + "file_path": "../../rgb/hdr_left_03619.png", + "transform_matrix": [ + [ + -0.8298959732055664, + 0.10291831195354462, + -0.5483433604240417, + 2.1150176525115967 + ], + [ + 0.5484654903411865, + -0.029656684026122093, + -0.8356471061706543, + -6.2721638679504395 + ], + [ + -0.10226543247699738, + -0.9942476153373718, + -0.03183518722653389, + -0.16006070375442505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3619, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_738469600", + "mask_path": "../../mask/hdr_left_03619.png" + }, + { + "file_path": "../../rgb/hdr_left_03620.png", + "transform_matrix": [ + [ + -0.8086369037628174, + 0.10433213412761688, + -0.5789827704429626, + 2.064974784851074 + ], + [ + 0.5797629356384277, + -0.025803854689002037, + -0.8143765330314636, + -6.2395524978637695 + ], + [ + -0.09990562498569489, + -0.9942077398300171, + -0.039621952921152115, + -0.16826771199703217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3620, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_838470935", + "mask_path": "../../mask/hdr_left_03620.png" + }, + { + "file_path": "../../rgb/hdr_left_03621.png", + "transform_matrix": [ + [ + -0.7934101223945618, + 0.1084963008761406, + -0.598939836025238, + 1.998915195465088 + ], + [ + 0.6003826260566711, + -0.022495556622743607, + -0.7993965148925781, + -6.202796459197998 + ], + [ + -0.10020501911640167, + -0.9938423037528992, + -0.04729108139872551, + -0.1778261363506317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3621, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_938469648", + "mask_path": "../../mask/hdr_left_03621.png" + }, + { + "file_path": "../../rgb/hdr_left_03622.png", + "transform_matrix": [ + [ + -0.7798491716384888, + 0.1119266226887703, + -0.6158795356750488, + 1.9540549516677856 + ], + [ + 0.6175379753112793, + -0.02335810288786888, + -0.7861941456794739, + -6.174686431884766 + ], + [ + -0.10238182544708252, + -0.9934419393539429, + -0.050903137773275375, + -0.1893036663532257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3622, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_38467884", + "mask_path": "../../mask/hdr_left_03622.png" + }, + { + "file_path": "../../rgb/hdr_left_03623.png", + "transform_matrix": [ + [ + -0.766572892665863, + 0.11001729220151901, + -0.6326627731323242, + 1.9054261445999146 + ], + [ + 0.6338374018669128, + -0.02844715118408203, + -0.7729429602622986, + -6.141483783721924 + ], + [ + -0.10303454846143723, + -0.9935225248336792, + -0.04792626574635506, + -0.20170001685619354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3623, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_138467550", + "mask_path": "../../mask/hdr_left_03623.png" + }, + { + "file_path": "../../rgb/hdr_left_03624.png", + "transform_matrix": [ + [ + -0.7519429922103882, + 0.10816077142953873, + -0.6502945423126221, + 1.8514043092727661 + ], + [ + 0.6511070728302002, + -0.03250686451792717, + -0.7582893967628479, + -6.0962700843811035 + ], + [ + -0.103156179189682, + -0.9936017990112305, + -0.04598093777894974, + -0.21410155296325684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3624, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_238468647", + "mask_path": "../../mask/hdr_left_03624.png" + }, + { + "file_path": "../../rgb/hdr_left_03625.png", + "transform_matrix": [ + [ + -0.7317331433296204, + 0.10798273980617523, + -0.6729832291603088, + 1.79921555519104 + ], + [ + 0.6739695072174072, + -0.03261496126651764, + -0.7380388379096985, + -6.045551776885986 + ], + [ + -0.10164476931095123, + -0.9936177134513855, + -0.04891161993145943, + -0.2148311734199524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3625, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_338468074", + "mask_path": "../../mask/hdr_left_03625.png" + }, + { + "file_path": "../../rgb/hdr_left_03626.png", + "transform_matrix": [ + [ + -0.7064518928527832, + 0.10199611634016037, + -0.7003730535507202, + 1.7656329870224 + ], + [ + 0.701271653175354, + -0.032821279019117355, + -0.7121381163597107, + -6.011190414428711 + ], + [ + -0.0956224724650383, + -0.9942432641983032, + -0.0483403317630291, + -0.21531066298484802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3626, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_438467502", + "mask_path": "../../mask/hdr_left_03626.png" + }, + { + "file_path": "../../rgb/hdr_left_03627.png", + "transform_matrix": [ + [ + -0.6783633232116699, + 0.09470250457525253, + -0.7285976409912109, + 1.725756049156189 + ], + [ + 0.7297463417053223, + -0.028420470654964447, + -0.6831269860267639, + -5.967516899108887 + ], + [ + -0.08540092408657074, + -0.9950999021530151, + -0.049829404801130295, + -0.22040483355522156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3627, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_538468360", + "mask_path": "../../mask/hdr_left_03627.png" + }, + { + "file_path": "../../rgb/hdr_left_03628.png", + "transform_matrix": [ + [ + -0.6543607711791992, + 0.08660969138145447, + -0.7512062191963196, + 1.6695563793182373 + ], + [ + 0.7524619102478027, + -0.023846400901675224, + -0.6582039594650269, + -5.918522357940674 + ], + [ + -0.07492038607597351, + -0.9959568977355957, + -0.04956633225083351, + -0.2249489426612854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3628, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_638468503", + "mask_path": "../../mask/hdr_left_03628.png" + }, + { + "file_path": "../../rgb/hdr_left_03629.png", + "transform_matrix": [ + [ + -0.6375464200973511, + 0.08636098355054855, + -0.7655562162399292, + 1.6203185319900513 + ], + [ + 0.7668669819831848, + -0.024078363552689552, + -0.6413542628288269, + -5.87440299987793 + ], + [ + -0.07382132112979889, + -0.9959728717803955, + -0.050876300781965256, + -0.2288500815629959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3629, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_738468885", + "mask_path": "../../mask/hdr_left_03629.png" + }, + { + "file_path": "../../rgb/hdr_left_03630.png", + "transform_matrix": [ + [ + -0.6207758784294128, + 0.07822295278310776, + -0.7800759077072144, + 1.579363465309143 + ], + [ + 0.7809345126152039, + -0.02603612095117569, + -0.6240699887275696, + -5.835707187652588 + ], + [ + -0.06912674754858017, + -0.9965958595275879, + -0.044924408197402954, + -0.23671692609786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3630, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_838468790", + "mask_path": "../../mask/hdr_left_03630.png" + }, + { + "file_path": "../../rgb/hdr_left_03631.png", + "transform_matrix": [ + [ + -0.6022931337356567, + 0.07275225222110748, + -0.7949528098106384, + 1.532636046409607 + ], + [ + 0.7952789068222046, + -0.03151286393404007, + -0.6054242253303528, + -5.788484573364258 + ], + [ + -0.06909720599651337, + -0.9968520998954773, + -0.03887834772467613, + -0.24638652801513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3631, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_938469171", + "mask_path": "../../mask/hdr_left_03631.png" + }, + { + "file_path": "../../rgb/hdr_left_03632.png", + "transform_matrix": [ + [ + -0.5789353847503662, + 0.07038179785013199, + -0.8123300671577454, + 1.487809658050537 + ], + [ + 0.8125032782554626, + -0.03372068330645561, + -0.5819805264472961, + -5.734617710113525 + ], + [ + -0.06835315376520157, + -0.9969500303268433, + -0.03766334429383278, + -0.24909721314907074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3632, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_38468360", + "mask_path": "../../mask/hdr_left_03632.png" + }, + { + "file_path": "../../rgb/hdr_left_03633.png", + "transform_matrix": [ + [ + -0.5501739978790283, + 0.06412988901138306, + -0.8325839638710022, + 1.456457495689392 + ], + [ + 0.8327113389968872, + -0.03243349492549896, + -0.5527564287185669, + -5.685743808746338 + ], + [ + -0.06245182082056999, + -0.9974144697189331, + -0.035557620227336884, + -0.24383151531219482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3633, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_138467788", + "mask_path": "../../mask/hdr_left_03633.png" + }, + { + "file_path": "../../rgb/hdr_left_03634.png", + "transform_matrix": [ + [ + -0.5167643427848816, + 0.0559774674475193, + -0.8542956709861755, + 1.4193896055221558 + ], + [ + 0.8543652892112732, + -0.030274514108896255, + -0.5187902450561523, + -5.638045787811279 + ], + [ + -0.05490393936634064, + -0.9979730248451233, + -0.032180413603782654, + -0.24450597167015076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3634, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_238468170", + "mask_path": "../../mask/hdr_left_03634.png" + }, + { + "file_path": "../../rgb/hdr_left_03635.png", + "transform_matrix": [ + [ + -0.48554059863090515, + 0.051230527460575104, + -0.8727117776870728, + 1.377807378768921 + ], + [ + 0.8729706406593323, + -0.0248124822974205, + -0.48714128136634827, + -5.584023475646973 + ], + [ + -0.04661064222455025, + -0.998378574848175, + -0.032675281167030334, + -0.24550941586494446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3635, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_338468074", + "mask_path": "../../mask/hdr_left_03635.png" + }, + { + "file_path": "../../rgb/hdr_left_03636.png", + "transform_matrix": [ + [ + -0.46525490283966064, + 0.04817667603492737, + -0.88386470079422, + 1.3344082832336426 + ], + [ + 0.8841450214385986, + -0.02290387824177742, + -0.46665090322494507, + -5.5227274894714355 + ], + [ + -0.04272560775279999, + -0.9985762238502502, + -0.03193902224302292, + -0.24740305542945862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3636, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_438470840", + "mask_path": "../../mask/hdr_left_03636.png" + }, + { + "file_path": "../../rgb/hdr_left_03637.png", + "transform_matrix": [ + [ + -0.4458775222301483, + 0.044990573078393936, + -0.8939625024795532, + 1.300011157989502 + ], + [ + 0.8942514061927795, + -0.020931841805577278, + -0.44707515835762024, + -5.4777116775512695 + ], + [ + -0.03882644698023796, + -0.998768150806427, + -0.03089984320104122, + -0.25362059473991394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3637, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_538469314", + "mask_path": "../../mask/hdr_left_03637.png" + }, + { + "file_path": "../../rgb/hdr_left_03638.png", + "transform_matrix": [ + [ + -0.42522937059402466, + 0.04006410017609596, + -0.9041985273361206, + 1.2622798681259155 + ], + [ + 0.9042908549308777, + -0.023050369694828987, + -0.4262940585613251, + -5.429806232452393 + ], + [ + -0.037921201437711716, + -0.9989312291145325, + -0.02642790600657463, + -0.25677379965782166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3638, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_638468265", + "mask_path": "../../mask/hdr_left_03638.png" + }, + { + "file_path": "../../rgb/hdr_left_03639.png", + "transform_matrix": [ + [ + -0.400312215089798, + 0.03548843041062355, + -0.9156913757324219, + 1.22588050365448 + ], + [ + 0.9155687093734741, + -0.026518551632761955, + -0.40128636360168457, + -5.3733811378479 + ], + [ + -0.038523830473423004, + -0.9990181922912598, + -0.021876389160752296, + -0.26195821166038513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3639, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_738469123", + "mask_path": "../../mask/hdr_left_03639.png" + }, + { + "file_path": "../../rgb/hdr_left_03640.png", + "transform_matrix": [ + [ + -0.3700910210609436, + 0.032799817621707916, + -0.9284163117408752, + 1.1998682022094727 + ], + [ + 0.9283974170684814, + -0.0227971188724041, + -0.37088900804519653, + -5.3167548179626465 + ], + [ + -0.03333030268549919, + -0.9992019534111023, + -0.022014256566762924, + -0.25312572717666626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3640, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_838468551", + "mask_path": "../../mask/hdr_left_03640.png" + }, + { + "file_path": "../../rgb/hdr_left_03641.png", + "transform_matrix": [ + [ + -0.3389023542404175, + 0.025525666773319244, + -0.9404752254486084, + 1.1786168813705444 + ], + [ + 0.9403794407844543, + -0.021451016888022423, + -0.33945006132125854, + -5.2652668952941895 + ], + [ + -0.028838839381933212, + -0.9994441270828247, + -0.016734007745981216, + -0.2498522400856018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3641, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_938467741", + "mask_path": "../../mask/hdr_left_03641.png" + }, + { + "file_path": "../../rgb/hdr_left_03642.png", + "transform_matrix": [ + [ + -0.31274867057800293, + 0.02257499098777771, + -0.9495675563812256, + 1.1484392881393433 + ], + [ + 0.949529767036438, + -0.01794661022722721, + -0.3131628930568695, + -5.202086448669434 + ], + [ + -0.02411116659641266, + -0.9995840787887573, + -0.015822844579815865, + -0.2495741844177246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3642, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_38468599", + "mask_path": "../../mask/hdr_left_03642.png" + }, + { + "file_path": "../../rgb/hdr_left_03643.png", + "transform_matrix": [ + [ + -0.29463496804237366, + 0.02181129716336727, + -0.9553609490394592, + 1.1051899194717407 + ], + [ + 0.9553567171096802, + -0.016285767778754234, + -0.2950054109096527, + -5.129305839538574 + ], + [ + -0.021993236616253853, + -0.9996294975280762, + -0.016039207577705383, + -0.2537604570388794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3643, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_138468265", + "mask_path": "../../mask/hdr_left_03643.png" + }, + { + "file_path": "../../rgb/hdr_left_03644.png", + "transform_matrix": [ + [ + -0.2790597081184387, + 0.02487240731716156, + -0.9599515795707703, + 1.0775139331817627 + ], + [ + 0.9599975943565369, + -0.016746146604418755, + -0.27950698137283325, + -5.071287155151367 + ], + [ + -0.02302750200033188, + -0.9995504021644592, + -0.0192042738199234, + -0.2591830790042877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3644, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_238468170", + "mask_path": "../../mask/hdr_left_03644.png" + }, + { + "file_path": "../../rgb/hdr_left_03645.png", + "transform_matrix": [ + [ + -0.26392754912376404, + 0.023299703374505043, + -0.9642610549926758, + 1.0453219413757324 + ], + [ + 0.9642493724822998, + -0.0182697381824255, + -0.26436588168144226, + -5.007640361785889 + ], + [ + -0.02377644181251526, + -0.999561607837677, + -0.017644835636019707, + -0.26414763927459717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3645, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_338468551", + "mask_path": "../../mask/hdr_left_03645.png" + }, + { + "file_path": "../../rgb/hdr_left_03646.png", + "transform_matrix": [ + [ + -0.24939177930355072, + 0.019462479278445244, + -0.968207061290741, + 1.0140173435211182 + ], + [ + 0.9680448174476624, + -0.02216745726764202, + -0.2497955560684204, + -4.941285610198975 + ], + [ + -0.026324328035116196, + -0.9995648860931396, + -0.013312166556715965, + -0.26795223355293274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3646, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_438467264", + "mask_path": "../../mask/hdr_left_03646.png" + }, + { + "file_path": "../../rgb/hdr_left_03647.png", + "transform_matrix": [ + [ + -0.23050160706043243, + 0.016720280051231384, + -0.9729282855987549, + 0.9924973845481873 + ], + [ + 0.9727416038513184, + -0.022090038284659386, + -0.23083701729774475, + -4.874503135681152 + ], + [ + -0.02535167895257473, + -0.9996161460876465, + -0.011172723956406116, + -0.2605198919773102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3647, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_538467884", + "mask_path": "../../mask/hdr_left_03647.png" + }, + { + "file_path": "../../rgb/hdr_left_03648.png", + "transform_matrix": [ + [ + -0.21117226779460907, + 0.009441434405744076, + -0.9774032235145569, + 0.9712039232254028 + ], + [ + 0.977230429649353, + -0.01909763738512993, + -0.2113194465637207, + -4.809183597564697 + ], + [ + -0.020661253482103348, + -0.9997730255126953, + -0.005193564109504223, + -0.2577134668827057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3648, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_638468742", + "mask_path": "../../mask/hdr_left_03648.png" + }, + { + "file_path": "../../rgb/hdr_left_03649.png", + "transform_matrix": [ + [ + -0.1969795674085617, + 0.007072557229548693, + -0.9803820252418518, + 0.9388429522514343 + ], + [ + 0.9802886247634888, + -0.014152351766824722, + -0.1970628798007965, + -4.728208541870117 + ], + [ + -0.015268451534211636, + -0.9998748302459717, + -0.004145418759435415, + -0.25998255610466003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3649, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_738468647", + "mask_path": "../../mask/hdr_left_03649.png" + }, + { + "file_path": "../../rgb/hdr_right_00609.png", + "transform_matrix": [ + [ + -0.4797188937664032, + -0.007963097654283047, + -0.8773861527442932, + 2.140634298324585 + ], + [ + 0.8769139647483826, + -0.0383828841149807, + -0.4791123867034912, + -5.240688323974609 + ], + [ + -0.029861388728022575, + -0.9992313981056213, + 0.025395946577191353, + -0.21240416169166565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 609, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_38470029", + "mask_path": "../../mask/hdr_right_00609.png" + }, + { + "file_path": "../../rgb/hdr_right_00610.png", + "transform_matrix": [ + [ + -0.4928399920463562, + -0.00625406252220273, + -0.8700975179672241, + 2.1646838188171387 + ], + [ + 0.8695135712623596, + -0.04086781293153763, + -0.49221548438072205, + -5.291146755218506 + ], + [ + -0.0324806347489357, + -0.9991450309753418, + 0.025579286739230156, + -0.21560657024383545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 610, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_138470649", + "mask_path": "../../mask/hdr_right_00610.png" + }, + { + "file_path": "../../rgb/hdr_right_00611.png", + "transform_matrix": [ + [ + -0.4974815249443054, + -0.005671050399541855, + -0.8674560785293579, + 2.179076671600342 + ], + [ + 0.8669655323028564, + -0.03750453516840935, + -0.496955007314682, + -5.338560104370117 + ], + [ + -0.02971527725458145, + -0.9992804527282715, + 0.02357441559433937, + -0.2084706723690033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 611, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_238469362", + "mask_path": "../../mask/hdr_right_00611.png" + }, + { + "file_path": "../../rgb/hdr_right_00613.png", + "transform_matrix": [ + [ + -0.5205615758895874, + 0.001550832181237638, + -0.8538228273391724, + 2.2275195121765137 + ], + [ + 0.8531497120857239, + -0.038791365921497345, + -0.5202217698097229, + -5.435770034790039 + ], + [ + -0.03392773121595383, + -0.9992460608482361, + 0.01887020282447338, + -0.19235756993293762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 613, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_438469886", + "mask_path": "../../mask/hdr_right_00613.png" + }, + { + "file_path": "../../rgb/hdr_right_00614.png", + "transform_matrix": [ + [ + -0.5495328307151794, + 0.008540930226445198, + -0.8354284167289734, + 2.2711663246154785 + ], + [ + 0.8346065878868103, + -0.039892058819532394, + -0.5494000911712646, + -5.488813400268555 + ], + [ + -0.03801935166120529, + -0.9991675019264221, + 0.014793679118156433, + -0.19318905472755432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 614, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_538470029", + "mask_path": "../../mask/hdr_right_00614.png" + }, + { + "file_path": "../../rgb/hdr_right_00615.png", + "transform_matrix": [ + [ + -0.5809659957885742, + 0.00990728847682476, + -0.8138676285743713, + 2.3067846298217773 + ], + [ + 0.8129322528839111, + -0.04238022863864899, + -0.5808142423629761, + -5.536998748779297 + ], + [ + -0.04024618864059448, + -0.9990524053573608, + 0.016567518934607506, + -0.1962614506483078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 615, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_638470172", + "mask_path": "../../mask/hdr_right_00615.png" + }, + { + "file_path": "../../rgb/hdr_right_00616.png", + "transform_matrix": [ + [ + -0.605190634727478, + 0.012241843156516552, + -0.7959864735603333, + 2.335338830947876 + ], + [ + 0.7950811386108398, + -0.04079262539744377, + -0.6051297187805176, + -5.588118553161621 + ], + [ + -0.039878275245428085, + -0.9990925788879395, + 0.014954054728150368, + -0.18920576572418213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 616, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_738470315", + "mask_path": "../../mask/hdr_right_00616.png" + }, + { + "file_path": "../../rgb/hdr_right_00617.png", + "transform_matrix": [ + [ + -0.6224066019058228, + 0.013160424306988716, + -0.7825835347175598, + 2.36588191986084 + ], + [ + 0.781580924987793, + -0.04285752400755882, + -0.6223299503326416, + -5.636940956115723 + ], + [ + -0.04172971472144127, + -0.9989945292472839, + 0.016388865187764168, + -0.17982101440429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 617, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_838470220", + "mask_path": "../../mask/hdr_right_00617.png" + }, + { + "file_path": "../../rgb/hdr_right_00618.png", + "transform_matrix": [ + [ + -0.644197940826416, + 0.025608506053686142, + -0.7644299864768982, + 2.406822443008423 + ], + [ + 0.7632868885993958, + -0.04251905158162117, + -0.6446591019630432, + -5.688236713409424 + ], + [ + -0.04901158809661865, + -0.9987673759460449, + 0.007844047620892525, + -0.17131750285625458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 618, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594228_938469886", + "mask_path": "../../mask/hdr_right_00618.png" + }, + { + "file_path": "../../rgb/hdr_right_00619.png", + "transform_matrix": [ + [ + -0.6726000308990479, + 0.03696512430906296, + -0.7390825152397156, + 2.456833600997925 + ], + [ + 0.7377160787582397, + -0.04502002149820328, + -0.6736083030700684, + -5.7397074699401855 + ], + [ + -0.0581735223531723, + -0.9983019828796387, + 0.003010694868862629, + -0.16372615098953247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 619, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_38470029", + "mask_path": "../../mask/hdr_right_00619.png" + }, + { + "file_path": "../../rgb/hdr_right_00620.png", + "transform_matrix": [ + [ + -0.7036908864974976, + 0.0353815071284771, + -0.7096247673034668, + 2.5002145767211914 + ], + [ + 0.7078313827514648, + -0.05167311057448387, + -0.7044889330863953, + -5.787089824676514 + ], + [ + -0.0615943968296051, + -0.9980370998382568, + 0.011317755095660686, + -0.16152656078338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 620, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_138470888", + "mask_path": "../../mask/hdr_right_00620.png" + }, + { + "file_path": "../../rgb/hdr_right_00621.png", + "transform_matrix": [ + [ + -0.7285673022270203, + 0.03855762258172035, + -0.6838881373405457, + 2.53659725189209 + ], + [ + 0.6820337772369385, + -0.051575638353824615, + -0.7294996976852417, + -5.832181453704834 + ], + [ + -0.06339973956346512, + -0.9979245662689209, + 0.011278720572590828, + -0.15149438381195068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 621, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_238470315", + "mask_path": "../../mask/hdr_right_00621.png" + }, + { + "file_path": "../../rgb/hdr_right_00622.png", + "transform_matrix": [ + [ + -0.7454952597618103, + 0.04326612502336502, + -0.6651052236557007, + 2.5719475746154785 + ], + [ + 0.6630930304527283, + -0.05278458073735237, + -0.746673583984375, + -5.874080181121826 + ], + [ + -0.06741297245025635, + -0.9976682066917419, + 0.010661187581717968, + -0.13869255781173706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 622, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_338469982", + "mask_path": "../../mask/hdr_right_00622.png" + }, + { + "file_path": "../../rgb/hdr_right_00623.png", + "transform_matrix": [ + [ + -0.7640002965927124, + 0.0556529276072979, + -0.6428112983703613, + 2.6163523197174072 + ], + [ + 0.6407814621925354, + -0.05115768313407898, + -0.766016960144043, + -5.91404914855957 + ], + [ + -0.07551582157611847, + -0.9971387386322021, + 0.003423118032515049, + -0.1279180645942688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 623, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_438470602", + "mask_path": "../../mask/hdr_right_00623.png" + }, + { + "file_path": "../../rgb/hdr_right_00624.png", + "transform_matrix": [ + [ + -0.7872340083122253, + 0.06800646334886551, + -0.6128929853439331, + 2.675215005874634 + ], + [ + 0.6107808351516724, + -0.05086030438542366, + -0.7901646494865417, + -5.9539618492126465 + ], + [ + -0.08490822464227676, + -0.9963877201080322, + -0.0014980838168412447, + -0.11718553304672241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 624, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_538469791", + "mask_path": "../../mask/hdr_right_00624.png" + }, + { + "file_path": "../../rgb/hdr_right_00625.png", + "transform_matrix": [ + [ + -0.8108763098716736, + 0.07178663462400436, + -0.5807979702949524, + 2.724121332168579 + ], + [ + 0.5781013369560242, + -0.056040775030851364, + -0.8140382170677185, + -5.984128475189209 + ], + [ + -0.09098543971776962, + -0.9958443641662598, + 0.003942179027944803, + -0.11332826316356659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 625, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_638470411", + "mask_path": "../../mask/hdr_right_00625.png" + }, + { + "file_path": "../../rgb/hdr_right_00626.png", + "transform_matrix": [ + [ + -0.8308190107345581, + 0.07735376805067062, + -0.5511407852172852, + 2.764843225479126 + ], + [ + 0.5486857891082764, + -0.05196758732199669, + -0.8344119787216187, + -6.012096405029297 + ], + [ + -0.09318637102842331, + -0.9956483840942383, + 0.0007327448111027479, + -0.10243071615695953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 626, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_738470792", + "mask_path": "../../mask/hdr_right_00626.png" + }, + { + "file_path": "../../rgb/hdr_right_00627.png", + "transform_matrix": [ + [ + -0.8456194996833801, + 0.08179856836795807, + -0.5274815559387207, + 2.8082478046417236 + ], + [ + 0.525448203086853, + -0.04641994833946228, + -0.8495583534240723, + -6.043235778808594 + ], + [ + -0.09397831559181213, + -0.995567262172699, + -0.003727299626916647, + -0.08887355029582977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 627, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_838470458", + "mask_path": "../../mask/hdr_right_00627.png" + }, + { + "file_path": "../../rgb/hdr_right_00628.png", + "transform_matrix": [ + [ + -0.8613402247428894, + 0.09642653912305832, + -0.49879348278045654, + 2.860452651977539 + ], + [ + 0.4971887171268463, + -0.0417393259704113, + -0.8666379451751709, + -6.069145202636719 + ], + [ + -0.10438620299100876, + -0.9944645166397095, + -0.011990419588983059, + -0.07494264841079712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 628, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594229_938470602", + "mask_path": "../../mask/hdr_right_00628.png" + }, + { + "file_path": "../../rgb/hdr_right_00629.png", + "transform_matrix": [ + [ + -0.8785881400108337, + 0.10857117921113968, + -0.46507546305656433, + 2.920100688934326 + ], + [ + 0.46341201663017273, + -0.04163092002272606, + -0.8851644992828369, + -6.0910325050354 + ], + [ + -0.11546486616134644, + -0.9932165145874023, + -0.01373676024377346, + -0.06297613680362701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 629, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_38471221", + "mask_path": "../../mask/hdr_right_00629.png" + }, + { + "file_path": "../../rgb/hdr_right_00630.png", + "transform_matrix": [ + [ + -0.8961172103881836, + 0.11209035664796829, + -0.42942970991134644, + 2.965602397918701 + ], + [ + 0.42736831307411194, + -0.04304836690425873, + -0.9030520915985107, + -6.108612537384033 + ], + [ + -0.11970968544483185, + -0.9927650690078735, + -0.009327486157417297, + -0.06090556085109711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 630, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_138469457", + "mask_path": "../../mask/hdr_right_00630.png" + }, + { + "file_path": "../../rgb/hdr_right_00631.png", + "transform_matrix": [ + [ + -0.9097214937210083, + 0.11419727653265, + -0.3992065191268921, + 3.0101850032806396 + ], + [ + 0.39691057801246643, + -0.04317893087863922, + -0.9168410897254944, + -6.130612850189209 + ], + [ + -0.1219380795955658, + -0.9925192594528198, + -0.006045311689376831, + -0.04658859968185425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 631, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_238469123", + "mask_path": "../../mask/hdr_right_00631.png" + }, + { + "file_path": "../../rgb/hdr_right_00632.png", + "transform_matrix": [ + [ + -0.9187835454940796, + 0.11994124203920364, + -0.3760995864868164, + 3.0554840564727783 + ], + [ + 0.37427473068237305, + -0.03826290741562843, + -0.9265280961990356, + -6.159302234649658 + ], + [ + -0.12551958858966827, + -0.9920433759689331, + -0.009735656902194023, + -0.02436704933643341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 632, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_338469743", + "mask_path": "../../mask/hdr_right_00632.png" + }, + { + "file_path": "../../rgb/hdr_right_00633.png", + "transform_matrix": [ + [ + -0.9302593469619751, + 0.12338081747293472, + -0.34553566575050354, + 3.110523223876953 + ], + [ + 0.34446728229522705, + -0.03057468868792057, + -0.9383003115653992, + -6.171838283538818 + ], + [ + -0.12633290886878967, + -0.9918882846832275, + -0.014058270491659641, + -0.015754878520965576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 633, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_438468694", + "mask_path": "../../mask/hdr_right_00633.png" + }, + { + "file_path": "../../rgb/hdr_right_00634.png", + "transform_matrix": [ + [ + -0.9430741667747498, + 0.1209850087761879, + -0.30979636311531067, + 3.170285940170288 + ], + [ + 0.30871883034706116, + -0.028029199689626694, + -0.9507402181625366, + -6.1835408210754395 + ], + [ + -0.12370866537094116, + -0.9922584891319275, + -0.01091674342751503, + -0.021288573741912842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 634, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_538469552", + "mask_path": "../../mask/hdr_right_00634.png" + }, + { + "file_path": "../../rgb/hdr_right_00635.png", + "transform_matrix": [ + [ + -0.9544533491134644, + 0.1178036481142044, + -0.27411898970603943, + 3.2196555137634277 + ], + [ + 0.2733873426914215, + -0.02264460362493992, + -0.9616374969482422, + -6.192037582397461 + ], + [ + -0.11949171125888824, + -0.9927787780761719, + -0.010592813603579998, + -0.024848029017448425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 635, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_638469696", + "mask_path": "../../mask/hdr_right_00635.png" + }, + { + "file_path": "../../rgb/hdr_right_00636.png", + "transform_matrix": [ + [ + -0.9635059237480164, + 0.11150771379470825, + -0.243356391787529, + 3.268404483795166 + ], + [ + 0.2437923550605774, + -0.009917608462274075, + -0.9697768092155457, + -6.202555179595947 + ], + [ + -0.11055111140012741, + -0.9937140941619873, + -0.01762905903160572, + -0.01953333616256714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 636, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_738469123", + "mask_path": "../../mask/hdr_right_00636.png" + }, + { + "file_path": "../../rgb/hdr_right_00637.png", + "transform_matrix": [ + [ + -0.9692128300666809, + 0.1089673638343811, + -0.22080017626285553, + 3.3166708946228027 + ], + [ + 0.22158770263195038, + -0.004980503581464291, + -0.9751276969909668, + -6.218899250030518 + ], + [ + -0.10735679417848587, + -0.9940328598022461, + -0.01931866444647312, + -0.0067428648471832275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 637, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_838469505", + "mask_path": "../../mask/hdr_right_00637.png" + }, + { + "file_path": "../../rgb/hdr_right_00638.png", + "transform_matrix": [ + [ + -0.9750475883483887, + 0.10229223966598511, + -0.1970243602991104, + 3.3716282844543457 + ], + [ + 0.19791506230831146, + -0.0014687819639220834, + -0.9802181124687195, + -6.232897758483887 + ], + [ + -0.1005580946803093, + -0.9947532415390015, + -0.01881304569542408, + 0.0008586645126342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 638, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594230_938468933", + "mask_path": "../../mask/hdr_right_00638.png" + }, + { + "file_path": "../../rgb/hdr_right_00639.png", + "transform_matrix": [ + [ + -0.9827099442481995, + 0.07860859483480453, + -0.16763615608215332, + 3.428828477859497 + ], + [ + 0.16774311661720276, + -0.005287866573780775, + -0.9858166575431824, + -6.243354320526123 + ], + [ + -0.07838010042905807, + -0.9968915581703186, + -0.007989615201950073, + -0.023621678352355957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 639, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_38467645", + "mask_path": "../../mask/hdr_right_00639.png" + }, + { + "file_path": "../../rgb/hdr_right_00640.png", + "transform_matrix": [ + [ + -0.988812267780304, + 0.06556343287229538, + -0.13398407399654388, + 3.478327512741089 + ], + [ + 0.13381913304328918, + -0.006920365151017904, + -0.9909816980361938, + -6.253305435180664 + ], + [ + -0.06589937955141068, + -0.9978243708610535, + -0.0019306993344798684, + -0.04307195544242859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 640, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_138467788", + "mask_path": "../../mask/hdr_right_00640.png" + }, + { + "file_path": "../../rgb/hdr_right_00641.png", + "transform_matrix": [ + [ + -0.9936198592185974, + 0.050990454852581024, + -0.10059653967618942, + 3.5303711891174316 + ], + [ + 0.10095801949501038, + 0.004557809326797724, + -0.9948802590370178, + -6.262824058532715 + ], + [ + -0.05027089640498161, + -0.9986887574195862, + -0.009676630608737469, + -0.04619477689266205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 641, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_238468170", + "mask_path": "../../mask/hdr_right_00641.png" + }, + { + "file_path": "../../rgb/hdr_right_00642.png", + "transform_matrix": [ + [ + -0.9968938827514648, + 0.02672363631427288, + -0.07408323138952255, + 3.586381435394287 + ], + [ + 0.074835404753685, + 0.028340116143226624, + -0.9967932105064392, + -6.275111198425293 + ], + [ + -0.02453841082751751, + -0.9992411136627197, + -0.030251963064074516, + -0.05582662671804428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 642, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_338469028", + "mask_path": "../../mask/hdr_right_00642.png" + }, + { + "file_path": "../../rgb/hdr_right_00643.png", + "transform_matrix": [ + [ + -0.998246431350708, + 0.0006158553878776729, + -0.059192758053541183, + 3.6326744556427 + ], + [ + 0.05917352810502052, + 0.03789709508419037, + -0.997528076171875, + -6.27400016784668 + ], + [ + 0.0016288987826555967, + -0.9992815256118774, + -0.03786708042025566, + -0.06476608663797379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 643, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_438470125", + "mask_path": "../../mask/hdr_right_00643.png" + }, + { + "file_path": "../../rgb/hdr_right_00644.png", + "transform_matrix": [ + [ + -0.9990010857582092, + -0.011510536074638367, + -0.04317895695567131, + 3.691690683364868 + ], + [ + 0.0425960049033165, + 0.046816758811473846, + -0.9979949593544006, + -6.278374671936035 + ], + [ + 0.013508953154087067, + -0.9988371729850769, + -0.046279698610305786, + -0.07513665407896042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 644, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_538469314", + "mask_path": "../../mask/hdr_right_00644.png" + }, + { + "file_path": "../../rgb/hdr_right_00645.png", + "transform_matrix": [ + [ + -0.9989340901374817, + -0.03529898077249527, + -0.02974526956677437, + 3.7724857330322266 + ], + [ + 0.02827402763068676, + 0.04146985709667206, + -0.9987397193908691, + -6.285952568054199 + ], + [ + 0.03648802265524864, + -0.9985160231590271, + -0.04042760655283928, + -0.10072970390319824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 645, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_638470411", + "mask_path": "../../mask/hdr_right_00645.png" + }, + { + "file_path": "../../rgb/hdr_right_00646.png", + "transform_matrix": [ + [ + -0.9973464012145996, + -0.07060264050960541, + -0.017762817442417145, + 3.8395025730133057 + ], + [ + 0.015903664752840996, + 0.026807857677340508, + -0.9995142221450806, + -6.296895503997803 + ], + [ + 0.07104451954364777, + -0.9971442222595215, + -0.025613877922296524, + -0.1424846351146698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 646, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_738469362", + "mask_path": "../../mask/hdr_right_00646.png" + }, + { + "file_path": "../../rgb/hdr_right_00647.png", + "transform_matrix": [ + [ + -0.9960051774978638, + -0.08833511173725128, + -0.013058138079941273, + 3.893603563308716 + ], + [ + 0.011395428329706192, + 0.01930033229291439, + -0.9997488856315613, + -6.309041500091553 + ], + [ + 0.08856494724750519, + -0.9959037899971008, + -0.018216613680124283, + -0.15572090446949005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 647, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_838469982", + "mask_path": "../../mask/hdr_right_00647.png" + }, + { + "file_path": "../../rgb/hdr_right_00648.png", + "transform_matrix": [ + [ + -0.9945580959320068, + -0.10370200872421265, + -0.010005667805671692, + 3.959754467010498 + ], + [ + 0.008256243541836739, + 0.017285360023379326, + -0.9998164772987366, + -6.323544502258301 + ], + [ + 0.10385593771934509, + -0.9944581985473633, + -0.016335107386112213, + -0.16856369376182556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 648, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594231_938469171", + "mask_path": "../../mask/hdr_right_00648.png" + }, + { + "file_path": "../../rgb/hdr_right_00649.png", + "transform_matrix": [ + [ + -0.9916772842407227, + -0.12805476784706116, + -0.013348249718546867, + 4.034518241882324 + ], + [ + 0.00983859971165657, + 0.02800092101097107, + -0.9995595216751099, + -6.3447585105896 + ], + [ + 0.12837213277816772, + -0.991371750831604, + -0.026507999747991562, + -0.19520303606987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 649, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_38470268", + "mask_path": "../../mask/hdr_right_00649.png" + }, + { + "file_path": "../../rgb/hdr_right_00650.png", + "transform_matrix": [ + [ + -0.9882315993309021, + -0.15161888301372528, + -0.020250562578439713, + 4.091031551361084 + ], + [ + 0.01584829017519951, + 0.030187547206878662, + -0.9994186758995056, + -6.35424280166626 + ], + [ + 0.15214203298091888, + -0.9879779815673828, + -0.027429385110735893, + -0.22258546948432922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 650, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_138470649", + "mask_path": "../../mask/hdr_right_00650.png" + }, + { + "file_path": "../../rgb/hdr_right_00652.png", + "transform_matrix": [ + [ + -0.9862207770347595, + -0.1614150106906891, + -0.03624831885099411, + 4.236613750457764 + ], + [ + 0.033154621720314026, + 0.021819299086928368, + -0.9992120862007141, + -6.3806681632995605 + ], + [ + 0.16207878291606903, + -0.9866453409194946, + -0.016166986897587776, + -0.2563497722148895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 652, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_338470458", + "mask_path": "../../mask/hdr_right_00652.png" + }, + { + "file_path": "../../rgb/hdr_right_00653.png", + "transform_matrix": [ + [ + -0.9831410050392151, + -0.1795886904001236, + -0.03437673673033714, + 4.322570323944092 + ], + [ + 0.032927967607975006, + 0.011042588390409946, + -0.999396800994873, + -6.404197692871094 + ], + [ + 0.1798599511384964, + -0.9836798310279846, + -0.00494292052462697, + -0.28934425115585327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 653, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_438471555", + "mask_path": "../../mask/hdr_right_00653.png" + }, + { + "file_path": "../../rgb/hdr_right_00654.png", + "transform_matrix": [ + [ + -0.9817906022071838, + -0.1873500496149063, + -0.03141777962446213, + 4.380064964294434 + ], + [ + 0.030880045145750046, + 0.005788852926343679, + -0.999506413936615, + -6.4144721031188965 + ], + [ + 0.1874394714832306, + -0.9822761416435242, + 0.00010193618072662503, + -0.31200751662254333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 654, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_538470029", + "mask_path": "../../mask/hdr_right_00654.png" + }, + { + "file_path": "../../rgb/hdr_right_00655.png", + "transform_matrix": [ + [ + -0.9811128973960876, + -0.19139140844345093, + -0.028049882501363754, + 4.4495530128479 + ], + [ + 0.027239955961704254, + 0.00686199264600873, + -0.9996053576469421, + -6.4210333824157715 + ], + [ + 0.19150836765766144, + -0.9814897775650024, + -0.0015188970137387514, + -0.33641472458839417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 655, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_638470411", + "mask_path": "../../mask/hdr_right_00655.png" + }, + { + "file_path": "../../rgb/hdr_right_00656.png", + "transform_matrix": [ + [ + -0.9787288308143616, + -0.20310109853744507, + -0.028976479545235634, + 4.529733657836914 + ], + [ + 0.027180464938282967, + 0.01162713672965765, + -0.9995629787445068, + -6.432856559753418 + ], + [ + 0.2033492475748062, + -0.9790886640548706, + -0.0058594257570803165, + -0.36357396841049194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 656, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_738470077", + "mask_path": "../../mask/hdr_right_00656.png" + }, + { + "file_path": "../../rgb/hdr_right_00657.png", + "transform_matrix": [ + [ + -0.9758592844009399, + -0.215560182929039, + -0.035106539726257324, + 4.590982437133789 + ], + [ + 0.033806417137384415, + 0.009716642089188099, + -0.9993811249732971, + -6.451914310455322 + ], + [ + 0.21576790511608124, + -0.9764422178268433, + -0.0021947582717984915, + -0.3785910904407501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 657, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_838469505", + "mask_path": "../../mask/hdr_right_00657.png" + }, + { + "file_path": "../../rgb/hdr_right_00658.png", + "transform_matrix": [ + [ + -0.9751074910163879, + -0.21748781204223633, + -0.043181534856557846, + 4.651419162750244 + ], + [ + 0.04413681849837303, + 0.00046575479791499674, + -0.9990254044532776, + -6.471124649047852 + ], + [ + 0.21729594469070435, + -0.9760629534721375, + 0.009145062416791916, + -0.40304702520370483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 658, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594232_938468694", + "mask_path": "../../mask/hdr_right_00658.png" + }, + { + "file_path": "../../rgb/hdr_right_00659.png", + "transform_matrix": [ + [ + -0.9756594896316528, + -0.21341878175735474, + -0.05040865018963814, + 4.745580196380615 + ], + [ + 0.053444746881723404, + -0.008476759307086468, + -0.9985347390174866, + -6.493223190307617 + ], + [ + 0.21267879009246826, + -0.9769240021705627, + 0.01967654563486576, + -0.43447768688201904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 659, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_38467884", + "mask_path": "../../mask/hdr_right_00659.png" + }, + { + "file_path": "../../rgb/hdr_right_00660.png", + "transform_matrix": [ + [ + -0.9774087071418762, + -0.2056429088115692, + -0.04881875216960907, + 4.851024150848389 + ], + [ + 0.0518958643078804, + -0.009593282826244831, + -0.9986065030097961, + -6.507956504821777 + ], + [ + 0.2048880010843277, + -0.9785799980163574, + 0.020048579201102257, + -0.44482681155204773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 660, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_138468980", + "mask_path": "../../mask/hdr_right_00660.png" + }, + { + "file_path": "../../rgb/hdr_right_00661.png", + "transform_matrix": [ + [ + -0.9786329865455627, + -0.20134830474853516, + -0.04167011380195618, + 4.921634197235107 + ], + [ + 0.04474077746272087, + -0.010721840895712376, + -0.9989411234855652, + -6.510414123535156 + ], + [ + 0.20068830251693726, + -0.9794609546661377, + 0.019501231610774994, + -0.4503028094768524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 661, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_238467931", + "mask_path": "../../mask/hdr_right_00661.png" + }, + { + "file_path": "../../rgb/hdr_right_00662.png", + "transform_matrix": [ + [ + -0.9810376167297363, + -0.19023653864860535, + -0.037085216492414474, + 5.002868175506592 + ], + [ + 0.038842324167490005, + -0.005514949094504118, + -0.9992302060127258, + -6.522214412689209 + ], + [ + 0.18988554179668427, + -0.9817227721214294, + 0.01279960572719574, + -0.46627673506736755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 662, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_338466882", + "mask_path": "../../mask/hdr_right_00662.png" + }, + { + "file_path": "../../rgb/hdr_right_00663.png", + "transform_matrix": [ + [ + -0.9827855825424194, + -0.18117496371269226, + -0.03616926074028015, + 5.101044178009033 + ], + [ + 0.03750162199139595, + -0.003932660911232233, + -0.99928879737854, + -6.541009426116943 + ], + [ + 0.18090388178825378, + -0.983443021774292, + 0.010659320279955864, + -0.4828417897224426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 663, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_438469171", + "mask_path": "../../mask/hdr_right_00663.png" + }, + { + "file_path": "../../rgb/hdr_right_00664.png", + "transform_matrix": [ + [ + -0.9831040501594543, + -0.17799833416938782, + -0.042698271572589874, + 5.180417060852051 + ], + [ + 0.04420965909957886, + -0.004531580023467541, + -0.9990119934082031, + -6.560237407684326 + ], + [ + 0.17762897908687592, + -0.9840204119682312, + 0.012324267067015171, + -0.486678808927536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 664, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594233_538469076", + "mask_path": "../../mask/hdr_right_00664.png" + }, + { + "file_path": "../../rgb/hdr_right_03559.png", + "transform_matrix": [ + [ + 0.9870595335960388, + -0.09153497964143753, + -0.13166217505931854, + 4.666082382202148 + ], + [ + 0.13250601291656494, + 0.0031767631880939007, + 0.9911770820617676, + -6.88529634475708 + ], + [ + -0.09030911326408386, + -0.9957968592643738, + 0.015264585614204407, + -0.43570658564567566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3559, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_38469076", + "mask_path": "../../mask/hdr_right_03559.png" + }, + { + "file_path": "../../rgb/hdr_right_03560.png", + "transform_matrix": [ + [ + 0.9869194626808167, + -0.09043459594249725, + -0.13346019387245178, + 4.6009297370910645 + ], + [ + 0.13457085192203522, + 0.006269670091569424, + 0.9908842444419861, + -6.879645824432373 + ], + [ + -0.0887734591960907, + -0.9958826303482056, + 0.018357517197728157, + -0.43340182304382324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3560, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_138470649", + "mask_path": "../../mask/hdr_right_03560.png" + }, + { + "file_path": "../../rgb/hdr_right_03561.png", + "transform_matrix": [ + [ + 0.987419068813324, + -0.09288191795349121, + -0.1279708296060562, + 4.529507637023926 + ], + [ + 0.1294512301683426, + 0.010067331604659557, + 0.9915347695350647, + -6.870449066162109 + ], + [ + -0.09080731868743896, + -0.9956262111663818, + 0.02196435071527958, + -0.41181498765945435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3561, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_238470315", + "mask_path": "../../mask/hdr_right_03561.png" + }, + { + "file_path": "../../rgb/hdr_right_03562.png", + "transform_matrix": [ + [ + 0.988274097442627, + -0.09985048323869705, + -0.11551660299301147, + 4.465588569641113 + ], + [ + 0.11661500483751297, + 0.005214813631027937, + 0.993163526058197, + -6.863675117492676 + ], + [ + -0.09856545925140381, + -0.994988739490509, + 0.016797726973891258, + -0.3931506276130676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3562, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_338470697", + "mask_path": "../../mask/hdr_right_03562.png" + }, + { + "file_path": "../../rgb/hdr_right_03563.png", + "transform_matrix": [ + [ + 0.9878824949264526, + -0.11104969680309296, + -0.10842622071504593, + 4.40155553817749 + ], + [ + 0.10858988016843796, + -0.004591650795191526, + 0.9940760731697083, + -6.860229015350342 + ], + [ + -0.11088970303535461, + -0.9938042163848877, + 0.00752285635098815, + -0.37346184253692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3563, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_438469886", + "mask_path": "../../mask/hdr_right_03563.png" + }, + { + "file_path": "../../rgb/hdr_right_03564.png", + "transform_matrix": [ + [ + 0.9863588809967041, + -0.12334070354700089, + -0.10901042073965073, + 4.326920509338379 + ], + [ + 0.10828154534101486, + -0.012618009932339191, + 0.9940402507781982, + -6.858968257904053 + ], + [ + -0.12398111075162888, + -0.9922841191291809, + 0.0009096302092075348, + -0.34848231077194214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3564, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_538469791", + "mask_path": "../../mask/hdr_right_03564.png" + }, + { + "file_path": "../../rgb/hdr_right_03565.png", + "transform_matrix": [ + [ + 0.9853050112724304, + -0.12682831287384033, + -0.11440586298704147, + 4.262380599975586 + ], + [ + 0.11473099887371063, + -0.004763063974678516, + 0.9933852553367615, + -6.857376575469971 + ], + [ + -0.12653429806232452, + -0.9919132590293884, + 0.009858065284788609, + -0.3283063471317291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3565, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_638469219", + "mask_path": "../../mask/hdr_right_03565.png" + }, + { + "file_path": "../../rgb/hdr_right_03566.png", + "transform_matrix": [ + [ + 0.9851571321487427, + -0.1281977891921997, + -0.1141526848077774, + 4.206099510192871 + ], + [ + 0.11545201390981674, + 0.0027256873436272144, + 0.9933093786239624, + -6.851227283477783 + ], + [ + -0.1270289123058319, + -0.991744875907898, + 0.01748592033982277, + -0.32005906105041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3566, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_738470315", + "mask_path": "../../mask/hdr_right_03566.png" + }, + { + "file_path": "../../rgb/hdr_right_03567.png", + "transform_matrix": [ + [ + 0.9852651953697205, + -0.13403598964214325, + -0.10623965412378311, + 4.148772716522217 + ], + [ + 0.10871103405952454, + 0.011235078796744347, + 0.9940099120140076, + -6.839670658111572 + ], + [ + -0.13203951716423035, + -0.9909127950668335, + 0.02564072236418724, + -0.29859551787376404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3567, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_838471412", + "mask_path": "../../mask/hdr_right_03567.png" + }, + { + "file_path": "../../rgb/hdr_right_03568.png", + "transform_matrix": [ + [ + 0.9843859076499939, + -0.1469530165195465, + -0.09689901769161224, + 4.091386318206787 + ], + [ + 0.09873387962579727, + 0.005226246081292629, + 0.9951001405715942, + -6.8294596672058105 + ], + [ + -0.14572657644748688, + -0.9891296625137329, + 0.019653884693980217, + -0.27605879306793213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3568, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594523_938469409", + "mask_path": "../../mask/hdr_right_03568.png" + }, + { + "file_path": "../../rgb/hdr_right_03569.png", + "transform_matrix": [ + [ + 0.9829230308532715, + -0.15834252536296844, + -0.09375429898500443, + 4.029341220855713 + ], + [ + 0.09531114995479584, + 0.0022500231862068176, + 0.9954450130462646, + -6.820335388183594 + ], + [ + -0.15741032361984253, + -0.9873816967010498, + 0.017303403466939926, + -0.2518374025821686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3569, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_38469076", + "mask_path": "../../mask/hdr_right_03569.png" + }, + { + "file_path": "../../rgb/hdr_right_03570.png", + "transform_matrix": [ + [ + 0.981676459312439, + -0.16596277058124542, + -0.09363588690757751, + 3.9651408195495605 + ], + [ + 0.09584788978099823, + 0.005351469852030277, + 0.9953817129135132, + -6.813229560852051 + ], + [ + -0.16469521820545197, + -0.9861174821853638, + 0.021160589531064034, + -0.23398561775684357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3570, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_138469219", + "mask_path": "../../mask/hdr_right_03570.png" + }, + { + "file_path": "../../rgb/hdr_right_03571.png", + "transform_matrix": [ + [ + 0.9807778000831604, + -0.17063581943511963, + -0.0946485623717308, + 3.910663366317749 + ], + [ + 0.09797880053520203, + 0.011182896792888641, + 0.9951257109642029, + -6.8086466789245605 + ], + [ + -0.16874563694000244, + -0.9852706789970398, + 0.027686621993780136, + -0.22663238644599915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3571, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_238470792", + "mask_path": "../../mask/hdr_right_03571.png" + }, + { + "file_path": "../../rgb/hdr_right_03572.png", + "transform_matrix": [ + [ + 0.9792449474334717, + -0.18002445995807648, + -0.0931159108877182, + 3.8526875972747803 + ], + [ + 0.09763563424348831, + 0.016390642151236534, + 0.9950873255729675, + -6.803518772125244 + ], + [ + -0.17761380970478058, + -0.9835255742073059, + 0.03362724930047989, + -0.2097349315881729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3572, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_338469982", + "mask_path": "../../mask/hdr_right_03572.png" + }, + { + "file_path": "../../rgb/hdr_right_03573.png", + "transform_matrix": [ + [ + 0.9776446223258972, + -0.19190998375415802, + -0.0859161838889122, + 3.80072021484375 + ], + [ + 0.09188354015350342, + 0.02239772491157055, + 0.9955177903175354, + -6.7899699211120605 + ], + [ + -0.18912550806999207, + -0.9811569452285767, + 0.03953038156032562, + -0.18465448915958405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3573, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_438470125", + "mask_path": "../../mask/hdr_right_03573.png" + }, + { + "file_path": "../../rgb/hdr_right_03575.png", + "transform_matrix": [ + [ + 0.9746453762054443, + -0.20848943293094635, + -0.08123133331537247, + 3.6983230113983154 + ], + [ + 0.08368630707263947, + 0.002966246334835887, + 0.9964877367019653, + -6.78004264831543 + ], + [ + -0.20751622319221497, + -0.9780201315879822, + 0.020338740199804306, + -0.14256416261196136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3575, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_638468980", + "mask_path": "../../mask/hdr_right_03575.png" + }, + { + "file_path": "../../rgb/hdr_right_03576.png", + "transform_matrix": [ + [ + 0.973946750164032, + -0.2114839255809784, + -0.08186890929937363, + 3.639572858810425 + ], + [ + 0.08369331061840057, + -0.00032549555180594325, + 0.996491551399231, + -6.781962871551514 + ], + [ + -0.21076856553554535, + -0.9773814082145691, + 0.017382772639393806, + -0.123952716588974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3576, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_738470792", + "mask_path": "../../mask/hdr_right_03576.png" + }, + { + "file_path": "../../rgb/hdr_right_03577.png", + "transform_matrix": [ + [ + 0.9738543629646301, + -0.21130622923374176, + -0.08341065794229507, + 3.588820695877075 + ], + [ + 0.08430732041597366, + -0.0047784363850951195, + 0.9964284300804138, + -6.784089088439941 + ], + [ + -0.2109500765800476, + -0.9774082899093628, + 0.013161150738596916, + -0.117650106549263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3577, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_838470697", + "mask_path": "../../mask/hdr_right_03577.png" + }, + { + "file_path": "../../rgb/hdr_right_03578.png", + "transform_matrix": [ + [ + 0.9740317463874817, + -0.21071377396583557, + -0.0828365609049797, + 3.5366528034210205 + ], + [ + 0.08337098360061646, + -0.0063617960549890995, + 0.9964982867240906, + -6.784582138061523 + ], + [ + -0.21050290763378143, + -0.9775271415710449, + 0.011370819061994553, + -0.10513025522232056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3578, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594524_938469648", + "mask_path": "../../mask/hdr_right_03578.png" + }, + { + "file_path": "../../rgb/hdr_right_03579.png", + "transform_matrix": [ + [ + 0.9748850464820862, + -0.20926058292388916, + -0.076218381524086, + 3.486325740814209 + ], + [ + 0.07715379446744919, + -0.0037015751004219055, + 0.9970123767852783, + -6.7784624099731445 + ], + [ + -0.2089175134897232, + -0.9778528809547424, + 0.012536629103124142, + -0.08662299811840057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3579, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_38470268", + "mask_path": "../../mask/hdr_right_03579.png" + }, + { + "file_path": "../../rgb/hdr_right_03580.png", + "transform_matrix": [ + [ + 0.9744054079055786, + -0.21322017908096313, + -0.0712137222290039, + 3.4322850704193115 + ], + [ + 0.0713501051068306, + -0.007065499201416969, + 0.9974263906478882, + -6.777332782745361 + ], + [ + -0.21317459642887115, + -0.976978600025177, + 0.00832862313836813, + -0.06295710802078247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3580, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_138470649", + "mask_path": "../../mask/hdr_right_03580.png" + }, + { + "file_path": "../../rgb/hdr_right_03581.png", + "transform_matrix": [ + [ + 0.9746533036231995, + -0.21259306371212006, + -0.06967926025390625, + 3.3717246055603027 + ], + [ + 0.07022866606712341, + -0.004975470248609781, + 0.9975185394287109, + -6.776285648345947 + ], + [ + -0.21241219341754913, + -0.9771281480789185, + 0.010080765932798386, + -0.04099969565868378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3581, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_238470077", + "mask_path": "../../mask/hdr_right_03581.png" + }, + { + "file_path": "../../rgb/hdr_right_03582.png", + "transform_matrix": [ + [ + 0.9750086069107056, + -0.21116802096366882, + -0.06903893500566483, + 3.3107502460479736 + ], + [ + 0.0701913982629776, + -0.002042455365881324, + 0.9975314140319824, + -6.770786762237549 + ], + [ + -0.21078775823116302, + -0.9774476885795593, + 0.012830766849219799, + -0.03549693524837494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3582, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_338469982", + "mask_path": "../../mask/hdr_right_03582.png" + }, + { + "file_path": "../../rgb/hdr_right_03583.png", + "transform_matrix": [ + [ + 0.9756035208702087, + -0.20871485769748688, + -0.06808823347091675, + 3.256645441055298 + ], + [ + 0.06857583671808243, + -0.004907657857984304, + 0.9976338148117065, + -6.765861511230469 + ], + [ + -0.2085551619529724, + -0.9779642224311829, + 0.009524866007268429, + -0.0325448215007782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3583, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_438468217", + "mask_path": "../../mask/hdr_right_03583.png" + }, + { + "file_path": "../../rgb/hdr_right_03584.png", + "transform_matrix": [ + [ + 0.9767137169837952, + -0.20427928864955902, + -0.06557705253362656, + 3.1992273330688477 + ], + [ + 0.06558270007371902, + -0.0067499843426048756, + 0.9978243112564087, + -6.761241436004639 + ], + [ + -0.20427750051021576, + -0.9788893461227417, + 0.006804382894188166, + -0.024039894342422485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3584, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_538467884", + "mask_path": "../../mask/hdr_right_03584.png" + }, + { + "file_path": "../../rgb/hdr_right_03585.png", + "transform_matrix": [ + [ + 0.9779026508331299, + -0.2015436291694641, + -0.05555576831102371, + 3.145975112915039 + ], + [ + 0.05576665699481964, + -0.004636059515178204, + 0.9984330534934998, + -6.753316879272461 + ], + [ + -0.20148539543151855, + -0.979468584060669, + 0.006705793086439371, + -0.0031923651695251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3585, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_638468027", + "mask_path": "../../mask/hdr_right_03585.png" + }, + { + "file_path": "../../rgb/hdr_right_03586.png", + "transform_matrix": [ + [ + 0.979052722454071, + -0.19798924028873444, + -0.047498613595962524, + 3.0931830406188965 + ], + [ + 0.04836254194378853, + -0.000472622225061059, + 0.9988297820091248, + -6.744993686676025 + ], + [ + -0.19777998328208923, + -0.9802040457725525, + 0.009112540632486343, + 0.010215148329734802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3586, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_738467693", + "mask_path": "../../mask/hdr_right_03586.png" + }, + { + "file_path": "../../rgb/hdr_right_03587.png", + "transform_matrix": [ + [ + 0.9820226430892944, + -0.18341366946697235, + -0.04462015628814697, + 3.0299649238586426 + ], + [ + 0.04654990881681442, + 0.006227079313248396, + 0.998896598815918, + -6.740515232086182 + ], + [ + -0.18293343484401703, + -0.9830161333084106, + 0.014653019607067108, + 0.014432236552238464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3587, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_838467359", + "mask_path": "../../mask/hdr_right_03587.png" + }, + { + "file_path": "../../rgb/hdr_right_03588.png", + "transform_matrix": [ + [ + 0.9847307205200195, + -0.16703981161117554, + -0.04902227595448494, + 2.9732420444488525 + ], + [ + 0.05187439173460007, + 0.012751547619700432, + 0.9985722303390503, + -6.735044956207275 + ], + [ + -0.1661761850118637, + -0.9858676195144653, + 0.02122192271053791, + 0.008361950516700745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3588, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594525_938468217", + "mask_path": "../../mask/hdr_right_03588.png" + }, + { + "file_path": "../../rgb/hdr_right_03590.png", + "transform_matrix": [ + [ + 0.9902228713035583, + -0.13235114514827728, + -0.04406888037919998, + 2.868035078048706 + ], + [ + 0.04499584063887596, + 0.004019605927169323, + 0.9989791512489319, + -6.7224812507629395 + ], + [ + -0.132038876414299, + -0.9911947250366211, + 0.009935552254319191, + 0.006959766149520874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3590, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_138468027", + "mask_path": "../../mask/hdr_right_03590.png" + }, + { + "file_path": "../../rgb/hdr_right_03591.png", + "transform_matrix": [ + [ + 0.9932769536972046, + -0.11064132302999496, + -0.034051887691020966, + 2.817676544189453 + ], + [ + 0.03346347063779831, + -0.007171576842665672, + 0.9994142651557922, + -6.713486194610596 + ], + [ + -0.1108207181096077, + -0.9938344955444336, + -0.0034209215082228184, + 0.009755760431289673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3591, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_238469362", + "mask_path": "../../mask/hdr_right_03591.png" + }, + { + "file_path": "../../rgb/hdr_right_03593.png", + "transform_matrix": [ + [ + 0.9964596033096313, + -0.08300693333148956, + -0.013345487415790558, + 2.7089715003967285 + ], + [ + 0.01254468597471714, + -0.01016154233366251, + 0.9998696446418762, + -6.690410137176514 + ], + [ + -0.08313171565532684, + -0.9964971542358398, + -0.009084273129701614, + -0.00034859776496887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3593, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_438468694", + "mask_path": "../../mask/hdr_right_03593.png" + }, + { + "file_path": "../../rgb/hdr_right_03594.png", + "transform_matrix": [ + [ + 0.9983103275299072, + -0.05707437917590141, + -0.010913539677858353, + 2.6551973819732666 + ], + [ + 0.010840222239494324, + -0.0015939567238092422, + 0.9999399781227112, + -6.681345462799072 + ], + [ + -0.05708834156394005, + -0.9983686804771423, + -0.0009725657873786986, + -0.025819674134254456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3594, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_538468599", + "mask_path": "../../mask/hdr_right_03594.png" + }, + { + "file_path": "../../rgb/hdr_right_03596.png", + "transform_matrix": [ + [ + 0.99980628490448, + -0.019117189571261406, + 0.004691762384027243, + 2.5577876567840576 + ], + [ + -0.004701301455497742, + -0.00045589011278934777, + 0.999988853931427, + -6.646430969238281 + ], + [ + -0.019114837050437927, + -0.9998171329498291, + -0.0005456788348965347, + -0.04223114997148514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3596, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_738468408", + "mask_path": "../../mask/hdr_right_03596.png" + }, + { + "file_path": "../../rgb/hdr_right_03597.png", + "transform_matrix": [ + [ + 0.9998254776000977, + 0.007246100809425116, + 0.01721748150885105, + 2.4999709129333496 + ], + [ + -0.017079243436455727, + -0.01872372254729271, + 0.9996788501739502, + -6.624691486358643 + ], + [ + 0.007566148415207863, + -0.9997984170913696, + -0.018596699461340904, + -0.05724906921386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3597, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594526_838469028", + "mask_path": "../../mask/hdr_right_03597.png" + }, + { + "file_path": "../../rgb/hdr_right_03600.png", + "transform_matrix": [ + [ + 0.9961908459663391, + 0.04218161851167679, + 0.0763181522488594, + 2.3393590450286865 + ], + [ + -0.07533472776412964, + -0.024433061480522156, + 0.9968590140342712, + -6.591591835021973 + ], + [ + 0.04391380771994591, + -0.9988111257553101, + -0.021162249147892, + -0.09035871177911758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3600, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_138468980", + "mask_path": "../../mask/hdr_right_03600.png" + }, + { + "file_path": "../../rgb/hdr_right_03601.png", + "transform_matrix": [ + [ + 0.9946321845054626, + 0.05312540754675865, + 0.08879540115594864, + 2.281090497970581 + ], + [ + -0.08799029886722565, + -0.01731087639927864, + 0.9959709048271179, + -6.576911926269531 + ], + [ + 0.05444848909974098, + -0.998437762260437, + -0.012543435208499432, + -0.1101171150803566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3601, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_238472223", + "mask_path": "../../mask/hdr_right_03601.png" + }, + { + "file_path": "../../rgb/hdr_right_03603.png", + "transform_matrix": [ + [ + 0.9885098338127136, + 0.070805624127388, + 0.13354745507240295, + 2.1858322620391846 + ], + [ + -0.13351361453533173, + -0.0052322642877697945, + 0.9910331964492798, + -6.538797378540039 + ], + [ + 0.07086946815252304, + -0.9974763989448547, + 0.004281364846974611, + -0.1325395107269287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3603, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_438471317", + "mask_path": "../../mask/hdr_right_03603.png" + }, + { + "file_path": "../../rgb/hdr_right_03604.png", + "transform_matrix": [ + [ + 0.9831884503364563, + 0.0843232050538063, + 0.16195708513259888, + 2.1310081481933594 + ], + [ + -0.1614871472120285, + -0.012409510090947151, + 0.9867968559265137, + -6.513093948364258 + ], + [ + 0.08521968126296997, + -0.9963611960411072, + 0.0014162277802824974, + -0.14840927720069885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3604, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_538469314", + "mask_path": "../../mask/hdr_right_03604.png" + }, + { + "file_path": "../../rgb/hdr_right_03605.png", + "transform_matrix": [ + [ + 0.9760313034057617, + 0.0985664427280426, + 0.1940295696258545, + 2.080155372619629 + ], + [ + -0.19325558841228485, + -0.01743186265230179, + 0.9809936285018921, + -6.490736484527588 + ], + [ + 0.10007534921169281, + -0.9949777722358704, + 0.002034479286521673, + -0.15656304359436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3605, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_638470888", + "mask_path": "../../mask/hdr_right_03605.png" + }, + { + "file_path": "../../rgb/hdr_right_03606.png", + "transform_matrix": [ + [ + 0.9675010442733765, + 0.10228288918733597, + 0.2312576025724411, + 2.0322012901306152 + ], + [ + -0.23053938150405884, + -0.0189516544342041, + 0.9728784561157227, + -6.461976528167725 + ], + [ + 0.1038915365934372, + -0.9945747256278992, + 0.005244493950158358, + -0.1640152633190155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3606, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_738469600", + "mask_path": "../../mask/hdr_right_03606.png" + }, + { + "file_path": "../../rgb/hdr_right_03607.png", + "transform_matrix": [ + [ + 0.9579756259918213, + 0.10409646481275558, + 0.2672950327396393, + 1.9751611948013306 + ], + [ + -0.2672038674354553, + -0.015080384910106659, + 0.9635220766067505, + -6.426113605499268 + ], + [ + 0.1043301522731781, + -0.9944528341293335, + 0.013368337415158749, + -0.173894464969635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3607, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_838470935", + "mask_path": "../../mask/hdr_right_03607.png" + }, + { + "file_path": "../../rgb/hdr_right_03608.png", + "transform_matrix": [ + [ + 0.950484573841095, + 0.10852969437837601, + 0.29120540618896484, + 1.9044992923736572 + ], + [ + -0.2916867434978485, + -0.011768278665840626, + 0.9564415812492371, + -6.387017250061035 + ], + [ + 0.10722928494215012, + -0.9940235018730164, + 0.020471110939979553, + -0.1850077360868454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3608, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594527_938469648", + "mask_path": "../../mask/hdr_right_03608.png" + }, + { + "file_path": "../../rgb/hdr_right_03609.png", + "transform_matrix": [ + [ + 0.9435275197029114, + 0.11219250410795212, + 0.3117189407348633, + 1.8557099103927612 + ], + [ + -0.3123197555541992, + -0.01263379491865635, + 0.9498929977416992, + -6.356812477111816 + ], + [ + 0.11050906777381897, + -0.9936061501502991, + 0.023119602352380753, + -0.19714613258838654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3609, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_38467884", + "mask_path": "../../mask/hdr_right_03609.png" + }, + { + "file_path": "../../rgb/hdr_right_03610.png", + "transform_matrix": [ + [ + 0.9367680549621582, + 0.11051279306411743, + 0.3320431709289551, + 1.803188443183899 + ], + [ + -0.332177996635437, + -0.017731493338942528, + 0.9430500864982605, + -6.3214802742004395 + ], + [ + 0.11010672152042389, + -0.9937164783477783, + 0.02009962871670723, + -0.20891200006008148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3610, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_138467550", + "mask_path": "../../mask/hdr_right_03610.png" + }, + { + "file_path": "../../rgb/hdr_right_03611.png", + "transform_matrix": [ + [ + 0.9290258884429932, + 0.10890188068151474, + 0.3536260426044464, + 1.7450535297393799 + ], + [ + -0.3534235656261444, + -0.021805720403790474, + 0.9352092146873474, + -6.2738823890686035 + ], + [ + 0.10955711454153061, + -0.9938132762908936, + 0.018230417743325233, + -0.22091221809387207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3611, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_238468647", + "mask_path": "../../mask/hdr_right_03611.png" + }, + { + "file_path": "../../rgb/hdr_right_03612.png", + "transform_matrix": [ + [ + 0.9177691340446472, + 0.10904867947101593, + 0.3818485736846924, + 1.687525749206543 + ], + [ + -0.38182350993156433, + -0.021940644830465317, + 0.9239748120307922, + -6.21983003616333 + ], + [ + 0.10913622379302979, + -0.9937942624092102, + 0.02150089666247368, + -0.22229301929473877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3612, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_338468074", + "mask_path": "../../mask/hdr_right_03612.png" + }, + { + "file_path": "../../rgb/hdr_right_03613.png", + "transform_matrix": [ + [ + 0.9033311605453491, + 0.10346020013093948, + 0.416279673576355, + 1.647461175918579 + ], + [ + -0.41632476449012756, + -0.022193744778633118, + 0.9089450836181641, + -6.181135654449463 + ], + [ + 0.10327845066785812, + -0.9943860173225403, + 0.023024743422865868, + -0.22286713123321533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3613, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_438467502", + "mask_path": "../../mask/hdr_right_03613.png" + }, + { + "file_path": "../../rgb/hdr_right_03614.png", + "transform_matrix": [ + [ + 0.8865350484848022, + 0.09659003466367722, + 0.4524664878845215, + 1.6008319854736328 + ], + [ + -0.4529750645160675, + -0.017859147861599922, + 0.8913442492485046, + -6.132530689239502 + ], + [ + 0.09417565166950226, + -0.9951639771461487, + 0.02792011760175228, + -0.2286236584186554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3614, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_538468360", + "mask_path": "../../mask/hdr_right_03614.png" + }, + { + "file_path": "../../rgb/hdr_right_03615.png", + "transform_matrix": [ + [ + 0.8716612458229065, + 0.08884620666503906, + 0.481988787651062, + 1.5391689538955688 + ], + [ + -0.4828164875507355, + -0.013353240676224232, + 0.8756197690963745, + -6.079237937927246 + ], + [ + 0.08423160016536713, + -0.9959558248519897, + 0.031256917864084244, + -0.2334814965724945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3615, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_638468503", + "mask_path": "../../mask/hdr_right_03615.png" + }, + { + "file_path": "../../rgb/hdr_right_03616.png", + "transform_matrix": [ + [ + 0.8607509732246399, + 0.08882889151573181, + 0.5012156963348389, + 1.4864132404327393 + ], + [ + -0.5021066665649414, + -0.013637219555675983, + 0.8646982312202454, + -6.032182693481445 + ], + [ + 0.08364536613225937, + -0.9959535002708435, + 0.032863326370716095, + -0.23768854141235352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3616, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_738468885", + "mask_path": "../../mask/hdr_right_03616.png" + }, + { + "file_path": "../../rgb/hdr_right_03617.png", + "transform_matrix": [ + [ + 0.8499153852462769, + 0.08092387020587921, + 0.520668089389801, + 1.4418989419937134 + ], + [ + -0.5212332606315613, + -0.015652796253561974, + 0.8532706499099731, + -5.990451812744141 + ], + [ + 0.07719989120960236, + -0.9965973496437073, + 0.028876665979623795, + -0.2445051074028015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3617, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_838468790", + "mask_path": "../../mask/hdr_right_03617.png" + }, + { + "file_path": "../../rgb/hdr_right_03618.png", + "transform_matrix": [ + [ + 0.8376003503799438, + 0.07570011913776398, + 0.5410131216049194, + 1.3914821147918701 + ], + [ + -0.5410955548286438, + -0.021197067573666573, + 0.8406940698623657, + -5.939930438995361 + ], + [ + 0.07510852068662643, + -0.9969052672386169, + 0.023206328973174095, + -0.25294166803359985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3618, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594528_938469171", + "mask_path": "../../mask/hdr_right_03618.png" + }, + { + "file_path": "../../rgb/hdr_right_03619.png", + "transform_matrix": [ + [ + 0.8215656280517578, + 0.07362925261259079, + 0.5653395056724548, + 1.342288851737976 + ], + [ + -0.5652917623519897, + -0.023495275527238846, + 0.8245564103126526, + -5.881882190704346 + ], + [ + 0.07399427145719528, + -0.9970088601112366, + 0.02231910452246666, + -0.2554304301738739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3619, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_38468360", + "mask_path": "../../mask/hdr_right_03619.png" + }, + { + "file_path": "../../rgb/hdr_right_03620.png", + "transform_matrix": [ + [ + 0.8014208674430847, + 0.06773661822080612, + 0.59425288438797, + 1.3057894706726074 + ], + [ + -0.5942538380622864, + -0.022329119965434074, + 0.8039674162864685, + -5.827747344970703 + ], + [ + 0.06772718578577042, + -0.9974533915519714, + 0.022357724606990814, + -0.24994170665740967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3620, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_138467788", + "mask_path": "../../mask/hdr_right_03620.png" + }, + { + "file_path": "../../rgb/hdr_right_03621.png", + "transform_matrix": [ + [ + 0.7773982882499695, + 0.059985995292663574, + 0.6261419057846069, + 1.2631120681762695 + ], + [ + -0.6261903047561646, + -0.020322641357779503, + 0.779405415058136, + -5.77386999130249 + ], + [ + 0.059478260576725006, + -0.9979923367500305, + 0.021763863041996956, + -0.25019121170043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3621, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_238468170", + "mask_path": "../../mask/hdr_right_03621.png" + }, + { + "file_path": "../../rgb/hdr_right_03622.png", + "transform_matrix": [ + [ + 0.7543166279792786, + 0.05559829622507095, + 0.6541524529457092, + 1.2166731357574463 + ], + [ + -0.6544601321220398, + -0.015013015829026699, + 0.7559475302696228, + -5.714031219482422 + ], + [ + 0.05185019224882126, + -0.9983403086662292, + 0.025062313303351402, + -0.2515861690044403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3622, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_338468074", + "mask_path": "../../mask/hdr_right_03622.png" + }, + { + "file_path": "../../rgb/hdr_right_03623.png", + "transform_matrix": [ + [ + 0.7390438914299011, + 0.05277087166905403, + 0.6715872287750244, + 1.170284628868103 + ], + [ + -0.6719489097595215, + -0.013208593241870403, + 0.7404797077178955, + -5.6489410400390625 + ], + [ + 0.04794647917151451, + -0.9985193014144897, + 0.025697601959109306, + -0.25346559286117554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3623, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_438470840", + "mask_path": "../../mask/hdr_right_03623.png" + }, + { + "file_path": "../../rgb/hdr_right_03624.png", + "transform_matrix": [ + [ + 0.7242644429206848, + 0.04979630187153816, + 0.6877217888832092, + 1.1331449747085571 + ], + [ + -0.6881216168403625, + -0.011339757591485977, + 0.7255067825317383, + -5.600280284881592 + ], + [ + 0.04392614960670471, + -0.9986950159072876, + 0.0260529275983572, + -0.2596075236797333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3624, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_538469314", + "mask_path": "../../mask/hdr_right_03624.png" + }, + { + "file_path": "../../rgb/hdr_right_03625.png", + "transform_matrix": [ + [ + 0.708332359790802, + 0.04509081691503525, + 0.7044375538825989, + 1.0925967693328857 + ], + [ + -0.7046552896499634, + -0.013572030700743198, + 0.7094199657440186, + -5.548485279083252 + ], + [ + 0.04154897853732109, + -0.9988906979560852, + 0.02215997688472271, + -0.2618795931339264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3625, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_638468265", + "mask_path": "../../mask/hdr_right_03625.png" + }, + { + "file_path": "../../rgb/hdr_right_03626.png", + "transform_matrix": [ + [ + 0.6888173222541809, + 0.04077436402440071, + 0.7237873673439026, + 1.0529749393463135 + ], + [ + -0.7237993478775024, + -0.017182208597660065, + 0.6897965669631958, + -5.4873528480529785 + ], + [ + 0.040562283247709274, + -0.9990206360816956, + 0.017677055671811104, + -0.266113817691803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3626, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_738469123", + "mask_path": "../../mask/hdr_right_03626.png" + }, + { + "file_path": "../../rgb/hdr_right_03627.png", + "transform_matrix": [ + [ + 0.6647427678108215, + 0.03838956356048584, + 0.7460854053497314, + 1.023305058479309 + ], + [ + -0.7462176084518433, + -0.013639490120112896, + 0.6655624508857727, + -5.4249653816223145 + ], + [ + 0.035726871341466904, + -0.9991697669029236, + 0.01958022080361843, + -0.2574912905693054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3627, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_838468551", + "mask_path": "../../mask/hdr_right_03627.png" + }, + { + "file_path": "../../rgb/hdr_right_03628.png", + "transform_matrix": [ + [ + 0.6395171880722046, + 0.03141998499631882, + 0.7681345343589783, + 0.9984935522079468 + ], + [ + -0.7682028412818909, + -0.012486354447901249, + 0.6400848627090454, + -5.367476940155029 + ], + [ + 0.029702655971050262, + -0.9994283318519592, + 0.016151685267686844, + -0.2532971501350403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3628, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594529_938467741", + "mask_path": "../../mask/hdr_right_03628.png" + }, + { + "file_path": "../../rgb/hdr_right_03629.png", + "transform_matrix": [ + [ + 0.6180258393287659, + 0.02871577814221382, + 0.7856331467628479, + 0.9655420184135437 + ], + [ + -0.785761833190918, + -0.009149014949798584, + 0.6184614300727844, + -5.299245834350586 + ], + [ + 0.02494737133383751, + -0.9995457530021667, + 0.016909433528780937, + -0.25299856066703796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3629, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_38468599", + "mask_path": "../../mask/hdr_right_03629.png" + }, + { + "file_path": "../../rgb/hdr_right_03630.png", + "transform_matrix": [ + [ + 0.6029732823371887, + 0.028118383139371872, + 0.7972657084465027, + 0.9204756021499634 + ], + [ + -0.7974289655685425, + -0.0076067037880420685, + 0.6033649444580078, + -5.222960948944092 + ], + [ + 0.02303021214902401, + -0.999575674533844, + 0.017835773527622223, + -0.2573031187057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3630, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_138468265", + "mask_path": "../../mask/hdr_right_03630.png" + }, + { + "file_path": "../../rgb/hdr_right_03631.png", + "transform_matrix": [ + [ + 0.5899084210395813, + 0.031318917870521545, + 0.8068625926971436, + 0.8913208246231079 + ], + [ + -0.8070804476737976, + -0.008170286193490028, + 0.5903849005699158, + -5.161940574645996 + ], + [ + 0.02508251555263996, + -0.9994760155677795, + 0.02045716531574726, + -0.263335645198822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3631, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_238468170", + "mask_path": "../../mask/hdr_right_03631.png" + }, + { + "file_path": "../../rgb/hdr_right_03632.png", + "transform_matrix": [ + [ + 0.5771497488021851, + 0.029880642890930176, + 0.8160915374755859, + 0.857718288898468 + ], + [ + -0.8162477016448975, + -0.009796456433832645, + 0.5776189565658569, + -5.095353126525879 + ], + [ + 0.02525443211197853, + -0.9995054602622986, + 0.018735988065600395, + -0.2679556608200073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3632, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_338468551", + "mask_path": "../../mask/hdr_right_03632.png" + }, + { + "file_path": "../../rgb/hdr_right_03633.png", + "transform_matrix": [ + [ + 0.5648205876350403, + 0.026171017438173294, + 0.8247986435890198, + 0.8250957131385803 + ], + [ + -0.8247987031936646, + -0.01379464939236641, + 0.565258264541626, + -5.026160717010498 + ], + [ + 0.026171192526817322, + -0.9995623230934143, + 0.01379431877285242, + -0.2707866132259369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3633, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_438467264", + "mask_path": "../../mask/hdr_right_03633.png" + }, + { + "file_path": "../../rgb/hdr_right_03634.png", + "transform_matrix": [ + [ + 0.5486661791801453, + 0.023591022938489914, + 0.8357086777687073, + 0.8019484281539917 + ], + [ + -0.835681676864624, + -0.013849818147718906, + 0.5490394830703735, + -4.955671310424805 + ], + [ + 0.024526813998818398, + -0.9996257424354553, + 0.012115661054849625, + -0.2629515528678894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3634, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_538467884", + "mask_path": "../../mask/hdr_right_03634.png" + }, + { + "file_path": "../../rgb/hdr_right_03635.png", + "transform_matrix": [ + [ + 0.5320008397102356, + 0.01647534966468811, + 0.8465834856033325, + 0.7790578603744507 + ], + [ + -0.8465508222579956, + -0.010996309109032154, + 0.5321943163871765, + -4.886521339416504 + ], + [ + 0.018077382817864418, + -0.9998037219047546, + 0.008097175508737564, + -0.2590886950492859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3635, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_638468742", + "mask_path": "../../mask/hdr_right_03635.png" + }, + { + "file_path": "../../rgb/hdr_right_03636.png", + "transform_matrix": [ + [ + 0.5196687579154968, + 0.014223475940525532, + 0.8542494773864746, + 0.7455899119377136 + ], + [ + -0.8542742729187012, + -0.006154055707156658, + 0.5197862386703491, + -4.802737712860107 + ], + [ + 0.012650265358388424, + -0.9998798370361328, + 0.008952675387263298, + -0.2613324820995331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3636, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594530_738468647", + "mask_path": "../../mask/hdr_right_03636.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/cd66d8d8/mesh.ply b/2024-11-14-15-22-43/splats/cd66d8d8/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..d2198c106b4b720780aa72472e9ab4a3aea1499e --- /dev/null +++ b/2024-11-14-15-22-43/splats/cd66d8d8/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e76d6d0a2972df3ca3952fe802cf63af5540abb479fd6530082edd6052d8de1 +size 129977213 diff --git a/2024-11-14-15-22-43/splats/cd66d8d8/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/cd66d8d8/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b1b4e82a01b6aeae4889d8345e02b62f388bfc9 --- /dev/null +++ b/2024-11-14-15-22-43/splats/cd66d8d8/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336ef2e46306b2bb9c893a105782723392575c4ed675f44675b4fa4e09b94260 +size 1506549 diff --git a/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/config.yml b/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..e9930a85a6be41ecf6de04f824342c8e141e1e8a --- /dev/null +++ b/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_cd66d8d8 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_cd66d8d8 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe0470a91b3c8a166c452a3dc3d123c3ef78954 --- /dev/null +++ b/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9917294979095459, + -0.08781711012125015, + 0.09359980374574661, + 19.443462371826172 + ], + [ + -0.08781711012125015, + 0.9961280822753906, + 0.004126897547394037, + 8.422533988952637 + ], + [ + -0.09359980374574661, + -0.004126897547394037, + -0.9956014156341553, + -0.331210732460022 + ] + ], + "scale": 0.18812148699391631 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..77572d3684bcb0a3fcfae956b0582855c5648847 --- /dev/null +++ b/2024-11-14-15-22-43/splats/cd66d8d8/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7e9bbe2a3e1fc1b7fbba8eb07917ae9241ec0171b856050aec8a55f58959898 +size 315915898 diff --git a/2024-11-14-15-22-43/splats/cd66d8d8/transforms.json b/2024-11-14-15-22-43/splats/cd66d8d8/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9f1c8f7208f979d04bf0c8804b269bc292375df4 --- /dev/null +++ b/2024-11-14-15-22-43/splats/cd66d8d8/transforms.json @@ -0,0 +1,35412 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_00860.png", + "transform_matrix": [ + [ + -0.06327051669359207, + -0.10724683851003647, + -0.9922173023223877, + 15.345308303833008 + ], + [ + 0.9979647397994995, + 0.0011171124642714858, + -0.06375777721405029, + -6.787558555603027 + ], + [ + 0.007946236990392208, + -0.9942318201065063, + 0.10695788264274597, + -1.601792812347412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 860, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_438470363", + "mask_path": "../../mask/hdr_front_00860.png" + }, + { + "file_path": "../../rgb/hdr_front_00861.png", + "transform_matrix": [ + [ + -0.039407674223184586, + -0.10725274682044983, + -0.9934505224227905, + 15.40427017211914 + ], + [ + 0.9991821050643921, + 0.004789115861058235, + -0.04015206918120384, + -6.783023357391357 + ], + [ + 0.00906417053192854, + -0.9942203164100647, + 0.10697630047798157, + -1.6110405921936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 861, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_538469791", + "mask_path": "../../mask/hdr_front_00861.png" + }, + { + "file_path": "../../rgb/hdr_front_00862.png", + "transform_matrix": [ + [ + -0.026518598198890686, + -0.11173199862241745, + -0.9933844804763794, + 15.478553771972656 + ], + [ + 0.9996205568313599, + 0.004447991028428078, + -0.027185365557670593, + -6.78117036819458 + ], + [ + 0.007456040941178799, + -0.9937284588813782, + 0.11157164722681046, + -1.6307142972946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 862, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_638470411", + "mask_path": "../../mask/hdr_front_00862.png" + }, + { + "file_path": "../../rgb/hdr_front_00863.png", + "transform_matrix": [ + [ + -0.015783054754137993, + -0.10966409742832184, + -0.9938433766365051, + 15.538955688476562 + ], + [ + 0.999832272529602, + 0.0075053926557302475, + -0.016706334426999092, + -6.7774834632873535 + ], + [ + 0.009291271679103374, + -0.9939404129981995, + 0.10952725261449814, + -1.6463334560394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 863, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_738467693", + "mask_path": "../../mask/hdr_front_00863.png" + }, + { + "file_path": "../../rgb/hdr_front_00864.png", + "transform_matrix": [ + [ + 0.0005028887535445392, + -0.11261187493801117, + -0.9936390519142151, + 15.599756240844727 + ], + [ + 0.999950647354126, + 0.00991173554211855, + -0.0006172410794533789, + -6.774263858795166 + ], + [ + 0.009918195195496082, + -0.9935896992683411, + 0.1126113086938858, + -1.6593060493469238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 864, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_838469028", + "mask_path": "../../mask/hdr_front_00864.png" + }, + { + "file_path": "../../rgb/hdr_front_00865.png", + "transform_matrix": [ + [ + 0.024492299184203148, + -0.12152064591646194, + -0.992286741733551, + 15.66865348815918 + ], + [ + 0.9996586441993713, + 0.01201615110039711, + 0.023202696815133095, + -6.779233455657959 + ], + [ + 0.009103859774768353, + -0.9925161600112915, + 0.12177346646785736, + -1.6698737144470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 865, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_938469648", + "mask_path": "../../mask/hdr_front_00865.png" + }, + { + "file_path": "../../rgb/hdr_front_00866.png", + "transform_matrix": [ + [ + 0.053066521883010864, + -0.11841823160648346, + -0.9915448427200317, + 15.733442306518555 + ], + [ + 0.9985581040382385, + 0.014347149059176445, + 0.051728419959545135, + -6.791917324066162 + ], + [ + 0.008100254461169243, + -0.9928601980209351, + 0.11900883913040161, + -1.6752461194992065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 866, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_38469314", + "mask_path": "../../mask/hdr_front_00866.png" + }, + { + "file_path": "../../rgb/hdr_front_00867.png", + "transform_matrix": [ + [ + 0.07824921607971191, + -0.1132829338312149, + -0.9904766082763672, + 15.807477951049805 + ], + [ + 0.9968912601470947, + 0.018064970150589943, + 0.07668986171483994, + -6.796511173248291 + ], + [ + 0.009205279871821404, + -0.9933986067771912, + 0.11434435099363327, + -1.680328369140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 867, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_138469457", + "mask_path": "../../mask/hdr_front_00867.png" + }, + { + "file_path": "../../rgb/hdr_front_00868.png", + "transform_matrix": [ + [ + 0.08989860862493515, + -0.11298055946826935, + -0.989521861076355, + 15.891830444335938 + ], + [ + 0.9958977699279785, + 0.020463719964027405, + 0.08814135938882828, + -6.800744533538818 + ], + [ + 0.010291037149727345, + -0.993386447429657, + 0.11435674130916595, + -1.692211627960205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 868, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_238469123", + "mask_path": "../../mask/hdr_front_00868.png" + }, + { + "file_path": "../../rgb/hdr_front_00869.png", + "transform_matrix": [ + [ + 0.09539937973022461, + -0.10956702381372452, + -0.9893907308578491, + 15.955198287963867 + ], + [ + 0.9953413009643555, + 0.02443588152527809, + 0.0932670533657074, + -6.801487445831299 + ], + [ + 0.013957643881440163, + -0.9936790466308594, + 0.11138774454593658, + -1.7031750679016113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 869, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_338470220", + "mask_path": "../../mask/hdr_front_00869.png" + }, + { + "file_path": "../../rgb/hdr_front_00870.png", + "transform_matrix": [ + [ + 0.10425695776939392, + -0.10932541638612747, + -0.9885233640670776, + 16.025426864624023 + ], + [ + 0.9944525957107544, + 0.025397062301635742, + 0.10207352787256241, + -6.8094563484191895 + ], + [ + 0.013946355320513248, + -0.9936814904212952, + 0.11136675626039505, + -1.712156891822815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 870, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_438469648", + "mask_path": "../../mask/hdr_front_00870.png" + }, + { + "file_path": "../../rgb/hdr_front_00871.png", + "transform_matrix": [ + [ + 0.11389192193746567, + -0.11139030009508133, + -0.9872288703918457, + 16.089031219482422 + ], + [ + 0.9934282898902893, + 0.024123117327690125, + 0.11188528686761856, + -6.8176069259643555 + ], + [ + 0.011352102272212505, + -0.9934839010238647, + 0.11340570449829102, + -1.7165604829788208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 871, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_538467884", + "mask_path": "../../mask/hdr_front_00871.png" + }, + { + "file_path": "../../rgb/hdr_front_00872.png", + "transform_matrix": [ + [ + 0.12398688495159149, + -0.10616908967494965, + -0.9865877628326416, + 16.15171241760254 + ], + [ + 0.9922005534172058, + 0.026144929230213165, + 0.1218787431716919, + -6.824387073516846 + ], + [ + 0.012854509986937046, + -0.9940043687820435, + 0.10858266055583954, + -1.720743179321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 872, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_638468980", + "mask_path": "../../mask/hdr_front_00872.png" + }, + { + "file_path": "../../rgb/hdr_front_00873.png", + "transform_matrix": [ + [ + 0.12957945466041565, + -0.10023996233940125, + -0.9864892959594727, + 16.230194091796875 + ], + [ + 0.9913830757141113, + 0.03236425295472145, + 0.12693361937999725, + -6.827406406402588 + ], + [ + 0.01920316368341446, + -0.9944368004798889, + 0.10356994718313217, + -1.731144666671753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 873, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_738469600", + "mask_path": "../../mask/hdr_front_00873.png" + }, + { + "file_path": "../../rgb/hdr_front_00874.png", + "transform_matrix": [ + [ + 0.12358201295137405, + -0.09629274159669876, + -0.9876513481140137, + 16.313215255737305 + ], + [ + 0.9920432567596436, + 0.03609224036335945, + 0.12061271071434021, + -6.827167987823486 + ], + [ + 0.02403242327272892, + -0.9946985244750977, + 0.09998691827058792, + -1.7397260665893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 874, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_838469266", + "mask_path": "../../mask/hdr_front_00874.png" + }, + { + "file_path": "../../rgb/hdr_front_00875.png", + "transform_matrix": [ + [ + 0.11934859305620193, + -0.09114114195108414, + -0.9886602759361267, + 16.384977340698242 + ], + [ + 0.9924781322479248, + 0.03828980773687363, + 0.11627967655658722, + -6.830077648162842 + ], + [ + 0.02725774422287941, + -0.9951015710830688, + 0.095025435090065, + -1.7469638586044312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 875, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_938471078", + "mask_path": "../../mask/hdr_front_00875.png" + }, + { + "file_path": "../../rgb/hdr_front_00876.png", + "transform_matrix": [ + [ + 0.12325667589902878, + -0.09023591876029968, + -0.9882638454437256, + 16.461769104003906 + ], + [ + 0.9919734001159668, + 0.03952639177441597, + 0.12011028081178665, + -6.8429388999938965 + ], + [ + 0.02822422981262207, + -0.9951357841491699, + 0.09438352286815643, + -1.7482157945632935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 876, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_38469314", + "mask_path": "../../mask/hdr_front_00876.png" + }, + { + "file_path": "../../rgb/hdr_front_00877.png", + "transform_matrix": [ + [ + 0.13419462740421295, + -0.08830583095550537, + -0.9870126247406006, + 16.53142547607422 + ], + [ + 0.9905807971954346, + 0.03932400420308113, + 0.13116152584552765, + -6.857361793518066 + ], + [ + 0.02723095938563347, + -0.9953169226646423, + 0.09275113791227341, + -1.7486474514007568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 877, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_138470411", + "mask_path": "../../mask/hdr_front_00877.png" + }, + { + "file_path": "../../rgb/hdr_front_00878.png", + "transform_matrix": [ + [ + 0.14355172216892242, + -0.08249562978744507, + -0.9861984252929688, + 16.597824096679688 + ], + [ + 0.9891997575759888, + 0.04177822917699814, + 0.14049385488033295, + -6.866143226623535 + ], + [ + 0.0296114981174469, + -0.9957154393196106, + 0.08760198950767517, + -1.753434181213379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 878, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_238469839", + "mask_path": "../../mask/hdr_front_00878.png" + }, + { + "file_path": "../../rgb/hdr_front_00879.png", + "transform_matrix": [ + [ + 0.1458040177822113, + -0.08084207773208618, + -0.9860049486160278, + 16.68448829650879 + ], + [ + 0.9889176487922668, + 0.040099434554576874, + 0.1429470032453537, + -6.868593215942383 + ], + [ + 0.027982110157608986, + -0.9959200024604797, + 0.08579282462596893, + -1.7666195631027222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 879, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_338469743", + "mask_path": "../../mask/hdr_front_00879.png" + }, + { + "file_path": "../../rgb/hdr_front_00880.png", + "transform_matrix": [ + [ + 0.1407451033592224, + -0.07900386303663254, + -0.9868886470794678, + 16.76163101196289 + ], + [ + 0.9896296858787537, + 0.04012405499815941, + 0.1379239857196808, + -6.869742393493652 + ], + [ + 0.028701452538371086, + -0.9960665702819824, + 0.08383183926343918, + -1.778610110282898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 880, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_438469171", + "mask_path": "../../mask/hdr_front_00880.png" + }, + { + "file_path": "../../rgb/hdr_front_00881.png", + "transform_matrix": [ + [ + 0.14087063074111938, + -0.0758519396185875, + -0.9871180057525635, + 16.82872772216797 + ], + [ + 0.9895066022872925, + 0.043143127113580704, + 0.13789629936218262, + -6.876798629760742 + ], + [ + 0.03212765231728554, + -0.9961853623390198, + 0.08113359659910202, + -1.7840442657470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 881, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_538469552", + "mask_path": "../../mask/hdr_front_00881.png" + }, + { + "file_path": "../../rgb/hdr_front_00882.png", + "transform_matrix": [ + [ + 0.1484445035457611, + -0.08122005313634872, + -0.985579788684845, + 16.900684356689453 + ], + [ + 0.9882600903511047, + 0.048607394099235535, + 0.14484255015850067, + -6.89625358581543 + ], + [ + 0.036142345517873764, + -0.9955103397369385, + 0.0874820277094841, + -1.7895625829696655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 882, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_638469219", + "mask_path": "../../mask/hdr_front_00882.png" + }, + { + "file_path": "../../rgb/hdr_front_00883.png", + "transform_matrix": [ + [ + 0.16043390333652496, + -0.08133885264396667, + -0.9836894869804382, + 16.96101188659668 + ], + [ + 0.9866396188735962, + 0.04183046519756317, + 0.15745623409748077, + -6.912151336669922 + ], + [ + 0.028340879827737808, + -0.9958083629608154, + 0.08696315437555313, + -1.7899924516677856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 883, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_738470077", + "mask_path": "../../mask/hdr_front_00883.png" + }, + { + "file_path": "../../rgb/hdr_front_00885.png", + "transform_matrix": [ + [ + 0.17550115287303925, + -0.08882756531238556, + -0.9804636836051941, + 17.093002319335938 + ], + [ + 0.9843477010726929, + 0.03210825100541115, + 0.17328745126724243, + -6.9262776374816895 + ], + [ + 0.016088271513581276, + -0.9955294132232666, + 0.09307225048542023, + -1.8096904754638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 885, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_938471317", + "mask_path": "../../mask/hdr_front_00885.png" + }, + { + "file_path": "../../rgb/hdr_front_00886.png", + "transform_matrix": [ + [ + 0.17207792401313782, + -0.09436670690774918, + -0.9805529713630676, + 17.155611038208008 + ], + [ + 0.9849879741668701, + 0.030336961150169373, + 0.1699366420507431, + -6.932173252105713 + ], + [ + 0.01371063757687807, + -0.9950752258300781, + 0.09817039221525192, + -1.8257818222045898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 886, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_38468599", + "mask_path": "../../mask/hdr_front_00886.png" + }, + { + "file_path": "../../rgb/hdr_front_00887.png", + "transform_matrix": [ + [ + 0.16847752034664154, + -0.09480402618646622, + -0.9811358451843262, + 17.214399337768555 + ], + [ + 0.9856099486351013, + 0.03005867265164852, + 0.1663413643836975, + -6.939553260803223 + ], + [ + 0.013721813447773457, + -0.995042085647583, + 0.09850400686264038, + -1.8348000049591064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 887, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_138470172", + "mask_path": "../../mask/hdr_front_00887.png" + }, + { + "file_path": "../../rgb/hdr_front_00888.png", + "transform_matrix": [ + [ + 0.1662888377904892, + -0.10158675909042358, + -0.9808303713798523, + 17.286514282226562 + ], + [ + 0.9859780073165894, + 0.031232420355081558, + 0.16392675042152405, + -6.951866626739502 + ], + [ + 0.013980916701257229, + -0.9943363070487976, + 0.10535591840744019, + -1.8443903923034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 888, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_238470792", + "mask_path": "../../mask/hdr_front_00888.png" + }, + { + "file_path": "../../rgb/hdr_front_00889.png", + "transform_matrix": [ + [ + 0.17100228369235992, + -0.1112222671508789, + -0.978972852230072, + 17.349586486816406 + ], + [ + 0.9852463006973267, + 0.026275018230080605, + 0.16911301016807556, + -6.9643378257751465 + ], + [ + 0.00691340072080493, + -0.9934481978416443, + 0.11407442390918732, + -1.8508814573287964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 889, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_338469743", + "mask_path": "../../mask/hdr_front_00889.png" + }, + { + "file_path": "../../rgb/hdr_front_00891.png", + "transform_matrix": [ + [ + 0.17234422266483307, + -0.1010991632938385, + -0.9798349738121033, + 17.477001190185547 + ], + [ + 0.9850232601165771, + 0.02290854975581169, + 0.170893132686615, + -6.981318950653076 + ], + [ + 0.005169447045773268, + -0.9946125745773315, + 0.10353317856788635, + -1.8619952201843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 891, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_538469076", + "mask_path": "../../mask/hdr_front_00891.png" + }, + { + "file_path": "../../rgb/hdr_front_00892.png", + "transform_matrix": [ + [ + 0.14893323183059692, + -0.10819049179553986, + -0.9829108715057373, + 17.552709579467773 + ], + [ + 0.9888364672660828, + 0.020921973511576653, + 0.14752820134162903, + -6.9844865798950195 + ], + [ + 0.004603288136422634, + -0.993910014629364, + 0.1100986897945404, + -1.8777114152908325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 892, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_638468980", + "mask_path": "../../mask/hdr_front_00892.png" + }, + { + "file_path": "../../rgb/hdr_front_00893.png", + "transform_matrix": [ + [ + 0.12293743342161179, + -0.10479181259870529, + -0.986866295337677, + 17.6173095703125 + ], + [ + 0.9923920631408691, + 0.01966337487101555, + 0.12153780460357666, + -6.979918003082275 + ], + [ + 0.006668954622000456, + -0.9942997694015503, + 0.10641191899776459, + -1.8909776210784912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 893, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_738469123", + "mask_path": "../../mask/hdr_front_00893.png" + }, + { + "file_path": "../../rgb/hdr_front_00894.png", + "transform_matrix": [ + [ + 0.09723423421382904, + -0.10132112354040146, + -0.9900906682014465, + 17.692758560180664 + ], + [ + 0.9952075481414795, + 0.02025788463652134, + 0.0956636592745781, + -6.9793009757995605 + ], + [ + 0.010364393703639507, + -0.9946475028991699, + 0.10280530154705048, + -1.9001655578613281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 894, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_838469028", + "mask_path": "../../mask/hdr_front_00894.png" + }, + { + "file_path": "../../rgb/hdr_front_00895.png", + "transform_matrix": [ + [ + 0.07642712444067001, + -0.1009514182806015, + -0.9919514656066895, + 17.768800735473633 + ], + [ + 0.9970130324363708, + 0.01883954182267189, + 0.07489980012178421, + -6.984978675842285 + ], + [ + 0.011126672849059105, + -0.9947129487991333, + 0.10208972543478012, + -1.906512975692749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 895, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_938469409", + "mask_path": "../../mask/hdr_front_00895.png" + }, + { + "file_path": "../../rgb/hdr_front_00896.png", + "transform_matrix": [ + [ + 0.056789543479681015, + -0.09395363926887512, + -0.9939555525779724, + 17.826683044433594 + ], + [ + 0.9982950687408447, + 0.01879413053393364, + 0.05526096001267433, + -6.978296279907227 + ], + [ + 0.01348856184631586, + -0.9953991770744324, + 0.09486076235771179, + -1.909325122833252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 896, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_38469314", + "mask_path": "../../mask/hdr_front_00896.png" + }, + { + "file_path": "../../rgb/hdr_front_00897.png", + "transform_matrix": [ + [ + 0.04483186453580856, + -0.08656588941812515, + -0.995236873626709, + 17.892959594726562 + ], + [ + 0.9988673329353333, + 0.019780892878770828, + 0.04327486455440521, + -6.9718804359436035 + ], + [ + 0.015940546989440918, + -0.996049702167511, + 0.0873546451330185, + -1.9181904792785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 897, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_138469696", + "mask_path": "../../mask/hdr_front_00897.png" + }, + { + "file_path": "../../rgb/hdr_front_00898.png", + "transform_matrix": [ + [ + 0.035840343683958054, + -0.08961887657642365, + -0.9953311085700989, + 17.97127342224121 + ], + [ + 0.9992989301681519, + 0.01399586908519268, + 0.03472304716706276, + -6.972583293914795 + ], + [ + 0.010818682610988617, + -0.995877742767334, + 0.09005766361951828, + -1.935472011566162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 898, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_238468647", + "mask_path": "../../mask/hdr_front_00898.png" + }, + { + "file_path": "../../rgb/hdr_front_00899.png", + "transform_matrix": [ + [ + 0.023736249655485153, + -0.08997875452041626, + -0.9956607818603516, + 18.036439895629883 + ], + [ + 0.9996685981750488, + 0.012068378739058971, + 0.022741161286830902, + -6.966009616851807 + ], + [ + 0.009969791397452354, + -0.9958705306053162, + 0.0902353823184967, + -1.9480801820755005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 899, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_338469982", + "mask_path": "../../mask/hdr_front_00899.png" + }, + { + "file_path": "../../rgb/hdr_front_00900.png", + "transform_matrix": [ + [ + 0.010968581773340702, + -0.08532006293535233, + -0.996293306350708, + 18.096036911010742 + ], + [ + 0.9999008178710938, + 0.009727660566568375, + 0.010175248607993126, + -6.955932140350342 + ], + [ + 0.008823448792099953, + -0.9963061213493347, + 0.08541829884052277, + -1.9580341577529907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 900, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_438469409", + "mask_path": "../../mask/hdr_front_00900.png" + }, + { + "file_path": "../../rgb/hdr_front_00901.png", + "transform_matrix": [ + [ + 0.0013072768924757838, + -0.0855989009141922, + -0.9963288903236389, + 18.169450759887695 + ], + [ + 0.999954342842102, + 0.009538883343338966, + 0.000492507650051266, + -6.951796531677246 + ], + [ + 0.009461707435548306, + -0.9962840676307678, + 0.08560746163129807, + -1.9704875946044922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 901, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_538468360", + "mask_path": "../../mask/hdr_front_00901.png" + }, + { + "file_path": "../../rgb/hdr_front_00902.png", + "transform_matrix": [ + [ + -0.0023421801161020994, + -0.09055997431278229, + -0.9958882331848145, + 18.241165161132812 + ], + [ + 0.9999658465385437, + 0.007679374422878027, + -0.0030500851571559906, + -6.950681686401367 + ], + [ + 0.007924014702439308, + -0.9958614110946655, + 0.09053889662027359, + -1.9723941087722778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 902, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_638468027", + "mask_path": "../../mask/hdr_front_00902.png" + }, + { + "file_path": "../../rgb/hdr_front_00903.png", + "transform_matrix": [ + [ + -0.0030273760203272104, + -0.0838204175233841, + -0.9964763522148132, + 18.300020217895508 + ], + [ + 0.9999489784240723, + 0.009346283972263336, + -0.0038241057191044092, + -6.946502208709717 + ], + [ + 0.009633888490498066, + -0.9964370131492615, + 0.08378785103559494, + -1.9680869579315186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 903, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_738470077", + "mask_path": "../../mask/hdr_front_00903.png" + }, + { + "file_path": "../../rgb/hdr_front_00904.png", + "transform_matrix": [ + [ + -0.004372419789433479, + -0.07728114724159241, + -0.9969998002052307, + 18.371185302734375 + ], + [ + 0.9999238848686218, + 0.011158508248627186, + -0.005250181071460247, + -6.93853235244751 + ], + [ + 0.011530771851539612, + -0.9969469308853149, + 0.07722647488117218, + -1.9709299802780151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 904, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_838470220", + "mask_path": "../../mask/hdr_front_00904.png" + }, + { + "file_path": "../../rgb/hdr_front_00905.png", + "transform_matrix": [ + [ + -0.01934521086513996, + -0.08328241109848022, + -0.9963382482528687, + 18.455801010131836 + ], + [ + 0.9997842311859131, + 0.005918893963098526, + -0.019906872883439064, + -6.924932956695557 + ], + [ + 0.007555112242698669, + -0.9965084195137024, + 0.08314994722604752, + -1.9877547025680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 905, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_938469886", + "mask_path": "../../mask/hdr_front_00905.png" + }, + { + "file_path": "../../rgb/hdr_front_00906.png", + "transform_matrix": [ + [ + -0.045562129467725754, + -0.08561016619205475, + -0.9952864050865173, + 18.521230697631836 + ], + [ + 0.998954176902771, + -7.05361962900497e-05, + -0.045723963528871536, + -6.908998012542725 + ], + [ + 0.0038442332297563553, + -0.9963287711143494, + 0.08552383631467819, + -2.000950574874878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 906, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_38469552", + "mask_path": "../../mask/hdr_front_00906.png" + }, + { + "file_path": "../../rgb/hdr_front_00907.png", + "transform_matrix": [ + [ + -0.07192931324243546, + -0.08614523708820343, + -0.9936826825141907, + 18.57756996154785 + ], + [ + 0.997398853302002, + -0.0015539106680080295, + -0.07206360250711441, + -6.892376899719238 + ], + [ + 0.004663840401917696, + -0.9962814450263977, + 0.0860329195857048, + -2.0127675533294678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 907, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_138469457", + "mask_path": "../../mask/hdr_front_00907.png" + }, + { + "file_path": "../../rgb/hdr_front_00908.png", + "transform_matrix": [ + [ + -0.09598644077777863, + -0.09225178509950638, + -0.9910985827445984, + 18.65492820739746 + ], + [ + 0.9953243136405945, + 0.0018779702950268984, + -0.09657052159309387, + -6.878565311431885 + ], + [ + 0.010770058259367943, + -0.9957339763641357, + 0.09164018929004669, + -2.023733377456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 908, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_238469839", + "mask_path": "../../mask/hdr_front_00908.png" + }, + { + "file_path": "../../rgb/hdr_front_00909.png", + "transform_matrix": [ + [ + -0.10422950983047485, + -0.09664338827133179, + -0.9898466467857361, + 18.724313735961914 + ], + [ + 0.9945069551467896, + -0.0005269230459816754, + -0.10466881096363068, + -6.868557453155518 + ], + [ + 0.009593975730240345, + -0.9953190088272095, + 0.0961674302816391, + -2.027587890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 909, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_338469982", + "mask_path": "../../mask/hdr_front_00909.png" + }, + { + "file_path": "../../rgb/hdr_front_00911.png", + "transform_matrix": [ + [ + -0.11524278670549393, + -0.08872059732675552, + -0.9893673658370972, + 18.842199325561523 + ], + [ + 0.993320882320404, + -0.00455500278621912, + -0.11529482901096344, + -6.8454203605651855 + ], + [ + 0.005722455680370331, + -0.9960461854934692, + 0.08865295350551605, + -2.044416904449463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 911, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_538469791", + "mask_path": "../../mask/hdr_front_00911.png" + }, + { + "file_path": "../../rgb/hdr_front_00912.png", + "transform_matrix": [ + [ + -0.12929488718509674, + -0.09351859986782074, + -0.9871864914894104, + 18.914491653442383 + ], + [ + 0.9916017651557922, + -0.015160738490521908, + -0.12843696773052216, + -6.824426174163818 + ], + [ + -0.002955229952931404, + -0.9955020546913147, + 0.09469342231750488, + -2.059305191040039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 912, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_638469696", + "mask_path": "../../mask/hdr_front_00912.png" + }, + { + "file_path": "../../rgb/hdr_front_00913.png", + "transform_matrix": [ + [ + -0.13633017241954803, + -0.09329739212989807, + -0.9862605333328247, + 18.96169662475586 + ], + [ + 0.9905796647071838, + -0.02578599564731121, + -0.13448792695999146, + -6.810202121734619 + ], + [ + -0.012884335592389107, + -0.9953043460845947, + 0.09593389928340912, + -2.0699124336242676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 913, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_738469839", + "mask_path": "../../mask/hdr_front_00913.png" + }, + { + "file_path": "../../rgb/hdr_front_00915.png", + "transform_matrix": [ + [ + -0.14042583107948303, + -0.10220246762037277, + -0.9848021268844604, + 19.0977725982666 + ], + [ + 0.9899342656135559, + -0.032202769070863724, + -0.1378156542778015, + -6.7884039878845215 + ], + [ + -0.017628252506256104, + -0.994242250919342, + 0.10569582879543304, + -2.1063075065612793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 915, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_938468694", + "mask_path": "../../mask/hdr_front_00915.png" + }, + { + "file_path": "../../rgb/hdr_front_00916.png", + "transform_matrix": [ + [ + -0.13001546263694763, + -0.11713828891515732, + -0.984568178653717, + 19.171396255493164 + ], + [ + 0.9912703037261963, + -0.037278953939676285, + -0.12646523118019104, + -6.783679962158203 + ], + [ + -0.02188974991440773, + -0.992415726184845, + 0.12096253782510757, + -2.114622116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 916, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_38470268", + "mask_path": "../../mask/hdr_front_00916.png" + }, + { + "file_path": "../../rgb/hdr_front_00917.png", + "transform_matrix": [ + [ + -0.11664266884326935, + -0.11500917375087738, + -0.9864924550056458, + 19.22889518737793 + ], + [ + 0.9928334951400757, + -0.03950418531894684, + -0.11278689652681351, + -6.783766746520996 + ], + [ + -0.025999056175351143, + -0.9925786852836609, + 0.11879283934831619, + -2.1206228733062744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 917, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_138470172", + "mask_path": "../../mask/hdr_front_00917.png" + }, + { + "file_path": "../../rgb/hdr_front_00918.png", + "transform_matrix": [ + [ + -0.10153412073850632, + -0.10828794538974762, + -0.9889209866523743, + 19.290451049804688 + ], + [ + 0.9944064617156982, + -0.04012047126889229, + -0.09770409762859344, + -6.781055927276611 + ], + [ + -0.029095793142914772, + -0.993309736251831, + 0.11175582557916641, + -2.130145311355591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 918, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_238469839", + "mask_path": "../../mask/hdr_front_00918.png" + }, + { + "file_path": "../../rgb/hdr_front_00919.png", + "transform_matrix": [ + [ + -0.09781134873628616, + -0.10476712137460709, + -0.9896751046180725, + 19.371706008911133 + ], + [ + 0.9944748282432556, + -0.04837653413414955, + -0.09316457062959671, + -6.766057014465332 + ], + [ + -0.038116466253995895, + -0.9933195114135742, + 0.10892003029584885, + -2.1354405879974365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 919, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_338468551", + "mask_path": "../../mask/hdr_front_00919.png" + }, + { + "file_path": "../../rgb/hdr_front_00920.png", + "transform_matrix": [ + [ + -0.10514570772647858, + -0.10258731245994568, + -0.9891512393951416, + 19.441036224365234 + ], + [ + 0.9934571981430054, + -0.055423419922590256, + -0.09985531866550446, + -6.753740310668945 + ], + [ + -0.04457826167345047, + -0.9931787848472595, + 0.10774363577365875, + -2.1419787406921387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 920, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_438468933", + "mask_path": "../../mask/hdr_front_00920.png" + }, + { + "file_path": "../../rgb/hdr_front_00921.png", + "transform_matrix": [ + [ + -0.11010083556175232, + -0.09932518005371094, + -0.9889450669288635, + 19.499055862426758 + ], + [ + 0.9929167628288269, + -0.05569601431488991, + -0.10494915395975113, + -6.7452616691589355 + ], + [ + -0.04465620219707489, + -0.9934951066970825, + 0.10475381463766098, + -2.1549549102783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 921, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_538469552", + "mask_path": "../../mask/hdr_front_00921.png" + }, + { + "file_path": "../../rgb/hdr_front_00922.png", + "transform_matrix": [ + [ + -0.11093304306268692, + -0.1018642708659172, + -0.9885937571525574, + 19.570817947387695 + ], + [ + 0.9928364157676697, + -0.0557803213596344, + -0.1056615561246872, + -6.7383294105529785 + ], + [ + -0.04438094049692154, + -0.9932332634925842, + 0.10732243955135345, + -2.165419101715088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 922, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_638469219", + "mask_path": "../../mask/hdr_front_00922.png" + }, + { + "file_path": "../../rgb/hdr_front_00923.png", + "transform_matrix": [ + [ + -0.10245504975318909, + -0.11252890527248383, + -0.9883522391319275, + 19.640024185180664 + ], + [ + 0.993706464767456, + -0.05680613964796066, + -0.09654241800308228, + -6.735067844390869 + ], + [ + -0.045280661433935165, + -0.9920233488082886, + 0.11764077842235565, + -2.169433355331421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 923, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_738469600", + "mask_path": "../../mask/hdr_front_00923.png" + }, + { + "file_path": "../../rgb/hdr_front_00925.png", + "transform_matrix": [ + [ + -0.07894148677587509, + -0.10185305774211884, + -0.991662323474884, + 19.73660659790039 + ], + [ + 0.9957977533340454, + -0.054380953311920166, + -0.07368525862693787, + -6.736835956573486 + ], + [ + -0.04642247408628464, + -0.9933120012283325, + 0.10571795701980591, + -2.184107780456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 925, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_938469409", + "mask_path": "../../mask/hdr_front_00925.png" + }, + { + "file_path": "../../rgb/hdr_front_00926.png", + "transform_matrix": [ + [ + -0.06945420056581497, + -0.09029538184404373, + -0.9934902787208557, + 19.81684684753418 + ], + [ + 0.9965699911117554, + -0.05119850113987923, + -0.06501622498035431, + -6.72784948348999 + ], + [ + -0.0449945405125618, + -0.9945981502532959, + 0.09354160726070404, + -2.187520980834961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 926, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_38469314", + "mask_path": "../../mask/hdr_front_00926.png" + }, + { + "file_path": "../../rgb/hdr_front_00927.png", + "transform_matrix": [ + [ + -0.06904725730419159, + -0.08471467345952988, + -0.9940100312232971, + 19.885881423950195 + ], + [ + 0.9962417483329773, + -0.058086834847927094, + -0.06425181776285172, + -6.717815399169922 + ], + [ + -0.05229582265019417, + -0.9947107434272766, + 0.08840702474117279, + -2.1868093013763428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 927, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_138469219", + "mask_path": "../../mask/hdr_front_00927.png" + }, + { + "file_path": "../../rgb/hdr_front_00928.png", + "transform_matrix": [ + [ + -0.0688086748123169, + -0.07876725494861603, + -0.9945155382156372, + 19.945602416992188 + ], + [ + 0.9963314533233643, + -0.056269120424985886, + -0.06447771191596985, + -6.7109761238098145 + ], + [ + -0.05088178813457489, + -0.9953038096427917, + 0.08235009759664536, + -2.190420150756836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 928, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_238468408", + "mask_path": "../../mask/hdr_front_00928.png" + }, + { + "file_path": "../../rgb/hdr_front_00929.png", + "transform_matrix": [ + [ + -0.06733335554599762, + -0.07742753624916077, + -0.9947216510772705, + 20.01531219482422 + ], + [ + 0.9966422915458679, + -0.0517730638384819, + -0.06343343108892441, + -6.710691452026367 + ], + [ + -0.046588294208049774, + -0.9956528544425964, + 0.0806536003947258, + -2.1948752403259277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 929, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_338469266", + "mask_path": "../../mask/hdr_front_00929.png" + }, + { + "file_path": "../../rgb/hdr_front_00930.png", + "transform_matrix": [ + [ + -0.059235721826553345, + -0.08104324340820312, + -0.9949488043785095, + 20.082035064697266 + ], + [ + 0.9972296357154846, + -0.04972516745328903, + -0.055321164429187775, + -6.712950229644775 + ], + [ + -0.04499059170484543, + -0.9954694509506226, + 0.08376424014568329, + -2.2007834911346436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 930, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_438469171", + "mask_path": "../../mask/hdr_front_00930.png" + }, + { + "file_path": "../../rgb/hdr_front_00931.png", + "transform_matrix": [ + [ + -0.04665803164243698, + -0.07966704666614532, + -0.9957290887832642, + 20.133047103881836 + ], + [ + 0.9977078437805176, + -0.052625928074121475, + -0.04254021868109703, + -6.715900421142578 + ], + [ + -0.04901210963726044, + -0.9954314827919006, + 0.08193984627723694, + -2.2020764350891113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 931, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_538469791", + "mask_path": "../../mask/hdr_front_00931.png" + }, + { + "file_path": "../../rgb/hdr_front_00933.png", + "transform_matrix": [ + [ + -0.020213117823004723, + -0.07370879501104355, + -0.9970749616622925, + 20.261323928833008 + ], + [ + 0.9981430172920227, + -0.05880590155720711, + -0.015887543559074402, + -6.723287105560303 + ], + [ + -0.05746283754706383, + -0.9955445528030396, + 0.0747605636715889, + -2.2220592498779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 933, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_738470077", + "mask_path": "../../mask/hdr_front_00933.png" + }, + { + "file_path": "../../rgb/hdr_front_00934.png", + "transform_matrix": [ + [ + -0.022449148818850517, + -0.07753904163837433, + -0.9967365264892578, + 20.341739654541016 + ], + [ + 0.9976929426193237, + -0.06563011556863785, + -0.01736513152718544, + -6.722821235656738 + ], + [ + -0.06406944990158081, + -0.9948268532752991, + 0.07883349806070328, + -2.2321605682373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 934, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_838469743", + "mask_path": "../../mask/hdr_front_00934.png" + }, + { + "file_path": "../../rgb/hdr_front_00935.png", + "transform_matrix": [ + [ + -0.024919090792536736, + -0.07491487264633179, + -0.9968785643577576, + 20.40617561340332 + ], + [ + 0.9974679350852966, + -0.06830514967441559, + -0.019800731912255287, + -6.719056606292725 + ], + [ + -0.06660857051610947, + -0.99484783411026, + 0.07642728090286255, + -2.242480516433716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 935, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_938470125", + "mask_path": "../../mask/hdr_front_00935.png" + }, + { + "file_path": "../../rgb/hdr_front_00936.png", + "transform_matrix": [ + [ + -0.025886530056595802, + -0.07853329926729202, + -0.9965752959251404, + 20.477947235107422 + ], + [ + 0.9976699352264404, + -0.06497780233621597, + -0.02079451084136963, + -6.716872692108154 + ], + [ + -0.06312219798564911, + -0.9947916865348816, + 0.0800323560833931, + -2.252434492111206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 936, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_38471221", + "mask_path": "../../mask/hdr_front_00936.png" + }, + { + "file_path": "../../rgb/hdr_front_00937.png", + "transform_matrix": [ + [ + -0.02024655044078827, + -0.09061860293149948, + -0.9956798553466797, + 20.567487716674805 + ], + [ + 0.9982092380523682, + -0.0579000748693943, + -0.015028397552669048, + -6.726917743682861 + ], + [ + -0.056288089603185654, + -0.994201123714447, + 0.09162861853837967, + -2.2610225677490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 937, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_138470649", + "mask_path": "../../mask/hdr_front_00937.png" + }, + { + "file_path": "../../rgb/hdr_front_00938.png", + "transform_matrix": [ + [ + -0.0058853100053966045, + -0.09072105586528778, + -0.9958589673042297, + 20.62003517150879 + ], + [ + 0.9983564615249634, + -0.057305674999952316, + -0.0006796209490858018, + -6.734090805053711 + ], + [ + -0.05700670927762985, + -0.9942262172698975, + 0.09090922027826309, + -2.2573184967041016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 938, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_238469362", + "mask_path": "../../mask/hdr_front_00938.png" + }, + { + "file_path": "../../rgb/hdr_front_00940.png", + "transform_matrix": [ + [ + 0.02342461608350277, + -0.08288956433534622, + -0.9962834119796753, + 20.733619689941406 + ], + [ + 0.9984008073806763, + -0.04934841766953468, + 0.027580130845308304, + -6.737821578979492 + ], + [ + -0.05145111680030823, + -0.99533611536026, + 0.08160103112459183, + -2.269517421722412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 940, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_438470363", + "mask_path": "../../mask/hdr_front_00940.png" + }, + { + "file_path": "../../rgb/hdr_front_00941.png", + "transform_matrix": [ + [ + 0.024662187322974205, + -0.08113296329975128, + -0.9963981509208679, + 20.811264038085938 + ], + [ + 0.998530387878418, + -0.04611431434750557, + 0.028469884768128395, + -6.7292914390563965 + ], + [ + -0.048258062452077866, + -0.9956359267234802, + 0.07987646013498306, + -2.270084857940674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 941, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_538471698", + "mask_path": "../../mask/hdr_front_00941.png" + }, + { + "file_path": "../../rgb/hdr_front_00945.png", + "transform_matrix": [ + [ + 0.015016932971775532, + -0.09937527030706406, + -0.9949366450309753, + 20.982099533081055 + ], + [ + 0.9989194869995117, + -0.04227681830525398, + 0.019299697130918503, + -6.711256504058838 + ], + [ + -0.043980665504932404, + -0.9941515326499939, + 0.09863303601741791, + -2.296419858932495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 945, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_938468694", + "mask_path": "../../mask/hdr_front_00945.png" + }, + { + "file_path": "../../rgb/hdr_front_00947.png", + "transform_matrix": [ + [ + 0.025722630321979523, + -0.09210441261529922, + -0.995417058467865, + 21.0570125579834 + ], + [ + 0.9985727667808533, + -0.044254984706640244, + 0.029899027198553085, + -6.721580982208252 + ], + [ + -0.04680599644780159, + -0.9947655200958252, + 0.0908346101641655, + -2.301471710205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 947, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_138471364", + "mask_path": "../../mask/hdr_front_00947.png" + }, + { + "file_path": "../../rgb/hdr_front_00948.png", + "transform_matrix": [ + [ + 0.0272794421762228, + -0.08975712954998016, + -0.9955900311470032, + 21.111705780029297 + ], + [ + 0.9984891414642334, + -0.04507750645279884, + 0.03142283111810684, + -6.72243070602417 + ], + [ + -0.04769913852214813, + -0.9949430823326111, + 0.08839183300733566, + -2.3050765991210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 948, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_238469600", + "mask_path": "../../mask/hdr_front_00948.png" + }, + { + "file_path": "../../rgb/hdr_front_00949.png", + "transform_matrix": [ + [ + 0.01792091317474842, + -0.09399650245904922, + -0.9954111576080322, + 21.167020797729492 + ], + [ + 0.9986926913261414, + -0.04598589986562729, + 0.022322431206703186, + -6.721812725067139 + ], + [ + -0.047873105853796005, + -0.9945098757743835, + 0.09304950386285782, + -2.3073902130126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 949, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_338469505", + "mask_path": "../../mask/hdr_front_00949.png" + }, + { + "file_path": "../../rgb/hdr_front_00950.png", + "transform_matrix": [ + [ + 0.0011623771861195564, + -0.09329909831285477, + -0.9956374764442444, + 21.217025756835938 + ], + [ + 0.9987540245056152, + -0.04956281930208206, + 0.005810443311929703, + -6.716757774353027 + ], + [ + -0.04988870397210121, + -0.9944037795066833, + 0.09312523901462555, + -2.3164055347442627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 950, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_438470363", + "mask_path": "../../mask/hdr_front_00950.png" + }, + { + "file_path": "../../rgb/hdr_front_00952.png", + "transform_matrix": [ + [ + -0.038683824241161346, + -0.09279923886060715, + -0.9949331283569336, + 21.32852554321289 + ], + [ + 0.9985762238502502, + -0.04018959775567055, + -0.035076919943094254, + -6.707804203033447 + ], + [ + -0.03673084080219269, + -0.9948734045028687, + 0.0942218005657196, + -2.336724042892456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 952, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_638471364", + "mask_path": "../../mask/hdr_front_00952.png" + }, + { + "file_path": "../../rgb/hdr_front_00956.png", + "transform_matrix": [ + [ + -0.09034360945224762, + -0.08987289667129517, + -0.9918471574783325, + 21.512786865234375 + ], + [ + 0.9954535961151123, + -0.038316890597343445, + -0.08720015734434128, + -6.666945457458496 + ], + [ + -0.03016756847500801, + -0.995215892791748, + 0.09292599558830261, + -2.3625683784484863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 956, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_38469791", + "mask_path": "../../mask/hdr_front_00956.png" + }, + { + "file_path": "../../rgb/hdr_front_00957.png", + "transform_matrix": [ + [ + -0.09848109632730484, + -0.09852263331413269, + -0.9902499318122864, + 21.566884994506836 + ], + [ + 0.9945719838142395, + -0.043328657746315, + -0.09460005164146423, + -6.656624794006348 + ], + [ + -0.03358595445752144, + -0.9941911697387695, + 0.10225491225719452, + -2.3721249103546143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 957, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_138470172", + "mask_path": "../../mask/hdr_front_00957.png" + }, + { + "file_path": "../../rgb/hdr_front_00959.png", + "transform_matrix": [ + [ + -0.10767783969640732, + -0.09991897642612457, + -0.9891520142555237, + 21.652711868286133 + ], + [ + 0.993610680103302, + -0.04465315490961075, + -0.10365257412195206, + -6.627043724060059 + ], + [ + -0.03381189703941345, + -0.9939931631088257, + 0.10408870130777359, + -2.392531394958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 959, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_338469505", + "mask_path": "../../mask/hdr_front_00959.png" + }, + { + "file_path": "../../rgb/hdr_front_00960.png", + "transform_matrix": [ + [ + -0.11192423105239868, + -0.10457374155521393, + -0.9881991147994995, + 21.71169662475586 + ], + [ + 0.9932771921157837, + -0.04134726524353027, + -0.10812392085790634, + -6.608513355255127 + ], + [ + -0.02955240197479725, + -0.9936572909355164, + 0.1084984838962555, + -2.406548023223877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 960, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_438469409", + "mask_path": "../../mask/hdr_front_00960.png" + }, + { + "file_path": "../../rgb/hdr_front_00961.png", + "transform_matrix": [ + [ + -0.10874335467815399, + -0.1118025928735733, + -0.9877626895904541, + 21.769346237182617 + ], + [ + 0.9935588836669922, + -0.04408031329512596, + -0.10439211130142212, + -6.593281269073486 + ], + [ + -0.03186957910656929, + -0.9927523136138916, + 0.11587589234113693, + -2.4097883701324463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 961, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_538469552", + "mask_path": "../../mask/hdr_front_00961.png" + }, + { + "file_path": "../../rgb/hdr_front_00962.png", + "transform_matrix": [ + [ + -0.09882070869207382, + -0.10771070420742035, + -0.9892587661743164, + 21.819921493530273 + ], + [ + 0.9944888353347778, + -0.04567651450634003, + -0.09436989575624466, + -6.587981700897217 + ], + [ + -0.03502124175429344, + -0.9931325316429138, + 0.1116308718919754, + -2.4092562198638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 962, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_638471364", + "mask_path": "../../mask/hdr_front_00962.png" + }, + { + "file_path": "../../rgb/hdr_front_00964.png", + "transform_matrix": [ + [ + -0.07443404197692871, + -0.09277189522981644, + -0.9929013252258301, + 21.952373504638672 + ], + [ + 0.996306300163269, + -0.04966892674565315, + -0.070048488676548, + -6.585644245147705 + ], + [ + -0.04281780496239662, + -0.9944478273391724, + 0.09612628817558289, + -2.432413101196289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 964, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_838470220", + "mask_path": "../../mask/hdr_front_00964.png" + }, + { + "file_path": "../../rgb/hdr_front_00965.png", + "transform_matrix": [ + [ + -0.07430785894393921, + -0.09594351053237915, + -0.9926093220710754, + 22.023958206176758 + ], + [ + 0.9959516525268555, + -0.057626429945230484, + -0.06898803263902664, + -6.575299263000488 + ], + [ + -0.05058157444000244, + -0.99371737241745, + 0.09983720630407333, + -2.4347357749938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 965, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_938469886", + "mask_path": "../../mask/hdr_front_00965.png" + }, + { + "file_path": "../../rgb/hdr_front_00966.png", + "transform_matrix": [ + [ + -0.07681211829185486, + -0.09667735546827316, + -0.9923473596572876, + 22.078990936279297 + ], + [ + 0.995537281036377, + -0.062160372734069824, + -0.07100321352481842, + -6.567797660827637 + ], + [ + -0.05482028052210808, + -0.9933728575706482, + 0.10102058947086334, + -2.4464962482452393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 966, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_38470029", + "mask_path": "../../mask/hdr_front_00966.png" + }, + { + "file_path": "../../rgb/hdr_front_00967.png", + "transform_matrix": [ + [ + -0.07739688456058502, + -0.09514732658863068, + -0.992449939250946, + 22.140090942382812 + ], + [ + 0.995574951171875, + -0.060585204511880875, + -0.07183221727609634, + -6.566042900085449 + ], + [ + -0.053293127566576004, + -0.9936178922653198, + 0.09941541403532028, + -2.4585466384887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 967, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_138469696", + "mask_path": "../../mask/hdr_front_00967.png" + }, + { + "file_path": "../../rgb/hdr_front_00968.png", + "transform_matrix": [ + [ + -0.07403440773487091, + -0.09711644053459167, + -0.9925156831741333, + 22.21683120727539 + ], + [ + 0.99616539478302, + -0.05372915789484978, + -0.06904931366443634, + -6.568212032318115 + ], + [ + -0.046621207147836685, + -0.9938217401504517, + 0.10072185099124908, + -2.4674649238586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 968, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_238470792", + "mask_path": "../../mask/hdr_front_00968.png" + }, + { + "file_path": "../../rgb/hdr_front_00969.png", + "transform_matrix": [ + [ + -0.06431250274181366, + -0.10374987870454788, + -0.9925220608711243, + 22.27831268310547 + ], + [ + 0.9968546032905579, + -0.052835337817668915, + -0.05907028913497925, + -6.5694146156311035 + ], + [ + -0.04631169140338898, + -0.9931991100311279, + 0.10682152211666107, + -2.4622721672058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 969, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_338469028", + "mask_path": "../../mask/hdr_front_00969.png" + }, + { + "file_path": "../../rgb/hdr_front_00971.png", + "transform_matrix": [ + [ + -0.039844200015068054, + -0.09630484133958817, + -0.9945540428161621, + 22.380781173706055 + ], + [ + 0.9981204271316528, + -0.050217676907777786, + -0.035124391317367554, + -6.5782928466796875 + ], + [ + -0.04656154662370682, + -0.9940842986106873, + 0.09812471270561218, + -2.4779908657073975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 971, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_538469076", + "mask_path": "../../mask/hdr_front_00971.png" + }, + { + "file_path": "../../rgb/hdr_front_00972.png", + "transform_matrix": [ + [ + -0.03380300849676132, + -0.09520672261714935, + -0.9948834776878357, + 22.458669662475586 + ], + [ + 0.998184084892273, + -0.052875883877277374, + -0.028855128213763237, + -6.5716986656188965 + ], + [ + -0.04985812306404114, + -0.9940522313117981, + 0.09682120382785797, + -2.483947515487671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 972, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_638469696", + "mask_path": "../../mask/hdr_front_00972.png" + }, + { + "file_path": "../../rgb/hdr_front_00973.png", + "transform_matrix": [ + [ + -0.03677962347865105, + -0.09611454606056213, + -0.9946905374526978, + 22.52737045288086 + ], + [ + 0.9978660941123962, + -0.05726807564496994, + -0.03136336803436279, + -6.565348148345947 + ], + [ + -0.05394953489303589, + -0.9937214851379395, + 0.09801573306322098, + -2.488032102584839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 973, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_738468647", + "mask_path": "../../mask/hdr_front_00973.png" + }, + { + "file_path": "../../rgb/hdr_front_00974.png", + "transform_matrix": [ + [ + -0.03930359706282616, + -0.09266550838947296, + -0.9949212670326233, + 22.594982147216797 + ], + [ + 0.997993528842926, + -0.05310430750250816, + -0.03447891026735306, + -6.558051586151123 + ], + [ + -0.04963960126042366, + -0.994280219078064, + 0.09456677734851837, + -2.5004220008850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 974, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_838469266", + "mask_path": "../../mask/hdr_front_00974.png" + }, + { + "file_path": "../../rgb/hdr_front_00975.png", + "transform_matrix": [ + [ + -0.040344543755054474, + -0.09403211623430252, + -0.9947513341903687, + 22.672609329223633 + ], + [ + 0.9982256889343262, + -0.047426603734493256, + -0.03600229695439339, + -6.549984455108643 + ], + [ + -0.043792303651571274, + -0.994438886642456, + 0.0957786813378334, + -2.512021541595459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 975, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_938469171", + "mask_path": "../../mask/hdr_front_00975.png" + }, + { + "file_path": "../../rgb/hdr_front_00976.png", + "transform_matrix": [ + [ + -0.032957885414361954, + -0.10104626417160034, + -0.9943355917930603, + 22.75348663330078 + ], + [ + 0.9986101984977722, + -0.04426807537674904, + -0.028600960969924927, + -6.547781944274902 + ], + [ + -0.04112730175256729, + -0.9938963651657104, + 0.10236481577157974, + -2.5202271938323975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 976, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_38470268", + "mask_path": "../../mask/hdr_front_00976.png" + }, + { + "file_path": "../../rgb/hdr_front_00977.png", + "transform_matrix": [ + [ + -0.0217606071382761, + -0.099151611328125, + -0.9948343634605408, + 22.81694984436035 + ], + [ + 0.998863697052002, + -0.044356800615787506, + -0.01742785982787609, + -6.544323921203613 + ], + [ + -0.04239967465400696, + -0.9940832257270813, + 0.100004181265831, + -2.521124839782715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 977, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_138470411", + "mask_path": "../../mask/hdr_front_00977.png" + }, + { + "file_path": "../../rgb/hdr_front_00979.png", + "transform_matrix": [ + [ + 0.0027321865782141685, + -0.08373400568962097, + -0.9964845180511475, + 22.966463088989258 + ], + [ + 0.9989993572235107, + -0.04425419494509697, + 0.006457737181335688, + -6.536886692047119 + ], + [ + -0.04463934153318405, + -0.9955050349235535, + 0.08352931588888168, + -2.5371921062469482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 979, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_338469505", + "mask_path": "../../mask/hdr_front_00979.png" + }, + { + "file_path": "../../rgb/hdr_front_00980.png", + "transform_matrix": [ + [ + -0.00022436286963056773, + -0.08557463437318802, + -0.9963317513465881, + 23.04459571838379 + ], + [ + 0.9989519715309143, + -0.04562200605869293, + 0.0036935070529580116, + -6.525704383850098 + ], + [ + -0.04577071964740753, + -0.9952867031097412, + 0.08549517393112183, + -2.5438430309295654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 980, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_438469171", + "mask_path": "../../mask/hdr_front_00980.png" + }, + { + "file_path": "../../rgb/hdr_front_00981.png", + "transform_matrix": [ + [ + -0.004186993930488825, + -0.08506405353546143, + -0.9963667392730713, + 23.0924072265625 + ], + [ + 0.9990507364273071, + -0.04355757683515549, + -0.00047957911738194525, + -6.510576248168945 + ], + [ + -0.043358515948057175, + -0.9954229593276978, + 0.08516567945480347, + -2.552673816680908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 981, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_538468837", + "mask_path": "../../mask/hdr_front_00981.png" + }, + { + "file_path": "../../rgb/hdr_front_00982.png", + "transform_matrix": [ + [ + -0.007125249132514, + -0.0851312130689621, + -0.9963443279266357, + 23.149415969848633 + ], + [ + 0.9993435740470886, + -0.03599938377737999, + -0.004070781636983156, + -6.505494594573975 + ], + [ + -0.03552122786641121, + -0.9957191944122314, + 0.08533183485269547, + -2.559054374694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 982, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_638469934", + "mask_path": "../../mask/hdr_front_00982.png" + }, + { + "file_path": "../../rgb/hdr_front_00983.png", + "transform_matrix": [ + [ + -0.007490592543035746, + -0.08868008852005005, + -0.9960320591926575, + 23.21250343322754 + ], + [ + 0.99949049949646, + -0.03156782314181328, + -0.004706012085080147, + -6.503530502319336 + ], + [ + -0.031025229021906853, + -0.995559811592102, + 0.08887136727571487, + -2.5702011585235596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 983, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_738470077", + "mask_path": "../../mask/hdr_front_00983.png" + }, + { + "file_path": "../../rgb/hdr_front_00984.png", + "transform_matrix": [ + [ + -0.004016114864498377, + -0.09334558993577957, + -0.9956256747245789, + 23.273860931396484 + ], + [ + 0.9993927478790283, + -0.03483789414167404, + -0.0007650586776435375, + -6.505455493927002 + ], + [ + -0.03461408242583275, + -0.9950240850448608, + 0.09342881292104721, + -2.5682687759399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 984, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_838470697", + "mask_path": "../../mask/hdr_front_00984.png" + }, + { + "file_path": "../../rgb/hdr_front_00985.png", + "transform_matrix": [ + [ + 0.0010031835408881307, + -0.09027773141860962, + -0.9959161877632141, + 23.324573516845703 + ], + [ + 0.9994542598724365, + -0.03279417008161545, + 0.003979471046477556, + -6.499438762664795 + ], + [ + -0.033019501715898514, + -0.9953765869140625, + 0.09019556641578674, + -2.570296287536621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 985, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_938469409", + "mask_path": "../../mask/hdr_front_00985.png" + }, + { + "file_path": "../../rgb/hdr_front_00986.png", + "transform_matrix": [ + [ + 0.006724432576447725, + -0.08480227738618851, + -0.9963752031326294, + 23.382164001464844 + ], + [ + 0.9995527863502502, + -0.02846113033592701, + 0.009168228134512901, + -6.497381210327148 + ], + [ + -0.02913544699549675, + -0.9959912300109863, + 0.08457296341657639, + -2.577340602874756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 986, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_38470506", + "mask_path": "../../mask/hdr_front_00986.png" + }, + { + "file_path": "../../rgb/hdr_front_00987.png", + "transform_matrix": [ + [ + 0.0015909111825749278, + -0.0856439545750618, + -0.9963245987892151, + 23.4507999420166 + ], + [ + 0.9995802044868469, + -0.028684407472610474, + 0.004061820916831493, + -6.490919589996338 + ], + [ + -0.028926847502589226, + -0.9959127902984619, + 0.08556237816810608, + -2.587886095046997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 987, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_138470172", + "mask_path": "../../mask/hdr_front_00987.png" + }, + { + "file_path": "../../rgb/hdr_front_00988.png", + "transform_matrix": [ + [ + -0.018319638445973396, + -0.09230825304985046, + -0.995561957359314, + 23.516225814819336 + ], + [ + 0.9993174076080322, + -0.03363927826285362, + -0.015269718132913113, + -6.481335639953613 + ], + [ + -0.03208046033978462, + -0.9951621294021606, + 0.09286150336265564, + -2.59692645072937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 988, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_238469123", + "mask_path": "../../mask/hdr_front_00988.png" + }, + { + "file_path": "../../rgb/hdr_front_00989.png", + "transform_matrix": [ + [ + -0.037869278341531754, + -0.09293796122074127, + -0.9949514865875244, + 23.568546295166016 + ], + [ + 0.9988723993301392, + -0.03205009922385216, + -0.0350247360765934, + -6.4694390296936035 + ], + [ + -0.02863316610455513, + -0.995155930519104, + 0.09404689073562622, + -2.6106603145599365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 989, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_338469743", + "mask_path": "../../mask/hdr_front_00989.png" + }, + { + "file_path": "../../rgb/hdr_front_00990.png", + "transform_matrix": [ + [ + -0.060000624507665634, + -0.09407850354909897, + -0.9937551021575928, + 23.622886657714844 + ], + [ + 0.998031735420227, + -0.023844273760914803, + -0.058001503348350525, + -6.456212043762207 + ], + [ + -0.018238669261336327, + -0.9952792525291443, + 0.09532400965690613, + -2.6226823329925537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 990, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_438469171", + "mask_path": "../../mask/hdr_front_00990.png" + }, + { + "file_path": "../../rgb/hdr_front_00991.png", + "transform_matrix": [ + [ + -0.07646914571523666, + -0.09477446973323822, + -0.9925574064254761, + 23.68837547302246 + ], + [ + 0.9970043301582336, + -0.018857760354876518, + -0.07501111924648285, + -6.448793411254883 + ], + [ + -0.011608269065618515, + -0.9953201413154602, + 0.09593259543180466, + -2.6271908283233643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 991, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_538470983", + "mask_path": "../../mask/hdr_front_00991.png" + }, + { + "file_path": "../../rgb/hdr_front_00992.png", + "transform_matrix": [ + [ + -0.07590189576148987, + -0.09699136763811111, + -0.9923867583274841, + 23.746118545532227 + ], + [ + 0.9970806241035461, + -0.015687478706240654, + -0.07472767680883408, + -6.444897174835205 + ], + [ + -0.008320104330778122, + -0.9951615929603577, + 0.0978989377617836, + -2.6232657432556152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 992, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_638470649", + "mask_path": "../../mask/hdr_front_00992.png" + }, + { + "file_path": "../../rgb/hdr_front_00993.png", + "transform_matrix": [ + [ + -0.06320877373218536, + -0.09552139788866043, + -0.9934185147285461, + 23.800376892089844 + ], + [ + 0.9979889392852783, + -0.01081816852092743, + -0.062459368258714676, + -6.4442524909973145 + ], + [ + -0.004780760500580072, + -0.9953685998916626, + 0.09601309895515442, + -2.6291744709014893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 993, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_738471031", + "mask_path": "../../mask/hdr_front_00993.png" + }, + { + "file_path": "../../rgb/hdr_front_00994.png", + "transform_matrix": [ + [ + -0.04974070563912392, + -0.09193018078804016, + -0.9945223927497864, + 23.86771583557129 + ], + [ + 0.9987570643424988, + -0.007768925279378891, + -0.04923437163233757, + -6.445035934448242 + ], + [ + -0.0032002448569983244, + -0.9957351684570312, + 0.09220234304666519, + -2.637939929962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 994, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_838470697", + "mask_path": "../../mask/hdr_front_00994.png" + }, + { + "file_path": "../../rgb/hdr_front_00995.png", + "transform_matrix": [ + [ + -0.04556030035018921, + -0.09865029901266098, + -0.9940786361694336, + 23.944164276123047 + ], + [ + 0.9989252090454102, + -0.012980976141989231, + -0.04449422284960747, + -6.436741352081299 + ], + [ + -0.00851474329829216, + -0.9950374960899353, + 0.09913568943738937, + -2.6508095264434814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 995, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_938470363", + "mask_path": "../../mask/hdr_front_00995.png" + }, + { + "file_path": "../../rgb/hdr_front_00996.png", + "transform_matrix": [ + [ + -0.0465460829436779, + -0.10080553591251373, + -0.9938167929649353, + 23.99797248840332 + ], + [ + 0.9988702535629272, + -0.014241254888474941, + -0.04533823952078819, + -6.424973011016846 + ], + [ + -0.009582851082086563, + -0.9948042631149292, + 0.10135450959205627, + -2.668846607208252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 996, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_38470029", + "mask_path": "../../mask/hdr_front_00996.png" + }, + { + "file_path": "../../rgb/hdr_front_00997.png", + "transform_matrix": [ + [ + -0.04678020253777504, + -0.10157997161149979, + -0.993726909160614, + 24.05643653869629 + ], + [ + 0.9988927841186523, + -0.00973669346421957, + -0.04602808877825737, + -6.412453651428223 + ], + [ + -0.005000082775950432, + -0.9947797656059265, + 0.10192297399044037, + -2.6822402477264404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 997, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_138470172", + "mask_path": "../../mask/hdr_front_00997.png" + }, + { + "file_path": "../../rgb/hdr_front_00998.png", + "transform_matrix": [ + [ + -0.04573110491037369, + -0.10631703585386276, + -0.9932800531387329, + 24.12330436706543 + ], + [ + 0.9989533424377441, + -0.005828992463648319, + -0.045368392020463943, + -6.401126384735107 + ], + [ + -0.0009663889068178833, + -0.9943152070045471, + 0.10647232085466385, + -2.691655158996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 998, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_238470315", + "mask_path": "../../mask/hdr_front_00998.png" + }, + { + "file_path": "../../rgb/hdr_front_00999.png", + "transform_matrix": [ + [ + -0.041073329746723175, + -0.11218225210905075, + -0.992838442325592, + 24.194669723510742 + ], + [ + 0.999146044254303, + -0.009080789051949978, + -0.04030822589993477, + -6.399285316467285 + ], + [ + -0.00449388800188899, + -0.9936462044715881, + 0.11245942115783691, + -2.6935787200927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 999, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_338469743", + "mask_path": "../../mask/hdr_front_00999.png" + }, + { + "file_path": "../../rgb/hdr_front_01000.png", + "transform_matrix": [ + [ + -0.03797701373696327, + -0.10846825689077377, + -0.9933743476867676, + 24.25486183166504 + ], + [ + 0.9992684721946716, + -0.008610614575445652, + -0.03726213797926903, + -6.398037910461426 + ], + [ + -0.0045118024572730064, + -0.9940627217292786, + 0.10871590673923492, + -2.6948063373565674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1000, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_438470363", + "mask_path": "../../mask/hdr_front_01000.png" + }, + { + "file_path": "../../rgb/hdr_front_01001.png", + "transform_matrix": [ + [ + -0.03695005923509598, + -0.10057646036148071, + -0.9942429065704346, + 24.31658935546875 + ], + [ + 0.999302864074707, + -0.009041101671755314, + -0.03622352331876755, + -6.390799045562744 + ], + [ + -0.0053458185866475105, + -0.9948883652687073, + 0.10084039717912674, + -2.7013654708862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_538470983", + "mask_path": "../../mask/hdr_front_01001.png" + }, + { + "file_path": "../../rgb/hdr_front_01002.png", + "transform_matrix": [ + [ + -0.04117676615715027, + -0.09680352360010147, + -0.9944513440132141, + 24.39665985107422 + ], + [ + 0.9991281628608704, + -0.010844655334949493, + -0.04031476378440857, + -6.382734775543213 + ], + [ + -0.006881870795041323, + -0.9952445030212402, + 0.09716566652059555, + -2.7127954959869385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1002, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_638470411", + "mask_path": "../../mask/hdr_front_01002.png" + }, + { + "file_path": "../../rgb/hdr_front_01003.png", + "transform_matrix": [ + [ + -0.05674117058515549, + -0.10100504010915756, + -0.9932665824890137, + 24.474550247192383 + ], + [ + 0.9983616471290588, + -0.013081097044050694, + -0.055702026933431625, + -6.36917781829834 + ], + [ + -0.007366829551756382, + -0.9947999715805054, + 0.10158179700374603, + -2.726729154586792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1003, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_738470554", + "mask_path": "../../mask/hdr_front_01003.png" + }, + { + "file_path": "../../rgb/hdr_front_01004.png", + "transform_matrix": [ + [ + -0.07306703180074692, + -0.10196176916360855, + -0.9921013116836548, + 24.53180503845215 + ], + [ + 0.9973235130310059, + -0.010110629722476006, + -0.07241254299879074, + -6.350891590118408 + ], + [ + -0.002647458342835307, + -0.994736909866333, + 0.10242762416601181, + -2.738217353820801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1004, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_838469743", + "mask_path": "../../mask/hdr_front_01004.png" + }, + { + "file_path": "../../rgb/hdr_front_01005.png", + "transform_matrix": [ + [ + -0.08937221765518188, + -0.10363307595252991, + -0.9905921816825867, + 24.602947235107422 + ], + [ + 0.995987594127655, + -0.004687679465860128, + -0.08936858177185059, + -6.333682537078857 + ], + [ + 0.004617963917553425, + -0.9946045875549316, + 0.10363620519638062, + -2.75050950050354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_938470125", + "mask_path": "../../mask/hdr_front_01005.png" + }, + { + "file_path": "../../rgb/hdr_front_01006.png", + "transform_matrix": [ + [ + -0.1015181615948677, + -0.10579848289489746, + -0.989192008972168, + 24.68645477294922 + ], + [ + 0.994820237159729, + -0.005626888945698738, + -0.1014939621090889, + -6.32428503036499 + ], + [ + 0.005171833094209433, + -0.9943717122077942, + 0.10582169890403748, + -2.7610130310058594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_38470506", + "mask_path": "../../mask/hdr_front_01006.png" + }, + { + "file_path": "../../rgb/hdr_front_01007.png", + "transform_matrix": [ + [ + -0.10721992701292038, + -0.10680091381072998, + -0.9884824156761169, + 24.75602912902832 + ], + [ + 0.994206964969635, + -0.00399791682139039, + -0.10740891098976135, + -6.315728187561035 + ], + [ + 0.007519497070461512, + -0.9942724108695984, + 0.10661084949970245, + -2.756460428237915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_138469696", + "mask_path": "../../mask/hdr_front_01007.png" + }, + { + "file_path": "../../rgb/hdr_front_01008.png", + "transform_matrix": [ + [ + -0.10833627730607986, + -0.102291040122509, + -0.9888376593589783, + 24.809558868408203 + ], + [ + 0.9940378069877625, + 0.0011933768400922418, + -0.10902945697307587, + -6.301499843597412 + ], + [ + 0.012332791462540627, + -0.9947538375854492, + 0.10155188292264938, + -2.7598302364349365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1008, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_238471031", + "mask_path": "../../mask/hdr_front_01008.png" + }, + { + "file_path": "../../rgb/hdr_front_01009.png", + "transform_matrix": [ + [ + -0.1024814024567604, + -0.09634622931480408, + -0.9900581240653992, + 24.88353157043457 + ], + [ + 0.9946520924568176, + 0.0029230599757283926, + -0.10324139147996902, + -6.290307998657227 + ], + [ + 0.012840916402637959, + -0.9953436255455017, + 0.0955314040184021, + -2.7692747116088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_338470220", + "mask_path": "../../mask/hdr_front_01009.png" + }, + { + "file_path": "../../rgb/hdr_front_01010.png", + "transform_matrix": [ + [ + -0.10262291878461838, + -0.09878279268741608, + -0.9898032546043396, + 24.9677734375 + ], + [ + 0.9947008490562439, + -0.003952302038669586, + -0.10273626446723938, + -6.275850296020508 + ], + [ + 0.006236574146896601, + -0.9951012134552002, + 0.09866491705179214, + -2.783966302871704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1010, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_438470363", + "mask_path": "../../mask/hdr_front_01010.png" + }, + { + "file_path": "../../rgb/hdr_front_01011.png", + "transform_matrix": [ + [ + -0.10526282340288162, + -0.10077697783708572, + -0.9893249273300171, + 25.026620864868164 + ], + [ + 0.9944347739219666, + -0.0062882136553525925, + -0.10516597330570221, + -6.260863780975342 + ], + [ + 0.004377223551273346, + -0.9948892593383789, + 0.10087805241346359, + -2.796635866165161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_538471460", + "mask_path": "../../mask/hdr_front_01011.png" + }, + { + "file_path": "../../rgb/hdr_front_01012.png", + "transform_matrix": [ + [ + -0.10637533664703369, + -0.10115036368370056, + -0.9891677498817444, + 25.094348907470703 + ], + [ + 0.9942935705184937, + -0.0027820321265608072, + -0.10664208978414536, + -6.248250961303711 + ], + [ + 0.008034990169107914, + -0.9948673844337463, + 0.10086909681558609, + -2.808474063873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1012, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_638470411", + "mask_path": "../../mask/hdr_front_01012.png" + }, + { + "file_path": "../../rgb/hdr_front_01013.png", + "transform_matrix": [ + [ + -0.10470835119485855, + -0.10334039479494095, + -0.989119291305542, + 25.17335319519043 + ], + [ + 0.9944641590118408, + -0.002094657626003027, + -0.10505533218383789, + -6.238882541656494 + ], + [ + 0.008784592151641846, + -0.9946438670158386, + 0.10298765450716019, + -2.820262908935547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_738470792", + "mask_path": "../../mask/hdr_front_01013.png" + }, + { + "file_path": "../../rgb/hdr_front_01014.png", + "transform_matrix": [ + [ + -0.09660578519105911, + -0.10324447602033615, + -0.9899534583091736, + 25.251380920410156 + ], + [ + 0.9953227639198303, + -0.009931747801601887, + -0.09609394520521164, + -6.234893321990967 + ], + [ + 8.91989839146845e-05, + -0.9946064949035645, + 0.10372103750705719, + -2.8223133087158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1014, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_838469982", + "mask_path": "../../mask/hdr_front_01014.png" + }, + { + "file_path": "../../rgb/hdr_front_03243.png", + "transform_matrix": [ + [ + 0.0981656089425087, + -0.08405829221010208, + 0.9916136860847473, + 24.635936737060547 + ], + [ + -0.9950991868972778, + 0.0035970397293567657, + 0.09881556779146194, + -5.955257415771484 + ], + [ + -0.01187314186245203, + -0.9964544177055359, + -0.08329324424266815, + -2.755882978439331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3243, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_738470077", + "mask_path": "../../mask/hdr_front_03243.png" + }, + { + "file_path": "../../rgb/hdr_front_03244.png", + "transform_matrix": [ + [ + 0.11380857974290848, + -0.08133941143751144, + 0.990167498588562, + 24.585067749023438 + ], + [ + -0.9933187365531921, + 0.009861959144473076, + 0.11498091369867325, + -5.967604160308838 + ], + [ + -0.01911746896803379, + -0.9966377019882202, + -0.07967359572649002, + -2.7563648223876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3244, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_838469743", + "mask_path": "../../mask/hdr_front_03244.png" + }, + { + "file_path": "../../rgb/hdr_front_03246.png", + "transform_matrix": [ + [ + 0.13930408656597137, + -0.07535390555858612, + 0.9873784780502319, + 24.469900131225586 + ], + [ + -0.990081250667572, + 0.007790025323629379, + 0.14027993381023407, + -5.98708963394165 + ], + [ + -0.018262343481183052, + -0.9971264004707336, + -0.07352130860090256, + -2.7448060512542725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3246, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_38471221", + "mask_path": "../../mask/hdr_front_03246.png" + }, + { + "file_path": "../../rgb/hdr_front_03247.png", + "transform_matrix": [ + [ + 0.14213261008262634, + -0.08094223588705063, + 0.9865327477455139, + 24.413606643676758 + ], + [ + -0.989736795425415, + 0.0032906481064856052, + 0.14286422729492188, + -5.996006488800049 + ], + [ + -0.014810081571340561, + -0.9967134594917297, + -0.07964380830526352, + -2.7322959899902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3247, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_138470888", + "mask_path": "../../mask/hdr_front_03247.png" + }, + { + "file_path": "../../rgb/hdr_front_03249.png", + "transform_matrix": [ + [ + 0.15513236820697784, + -0.08602458983659744, + 0.9841411709785461, + 24.298786163330078 + ], + [ + -0.9878734350204468, + -0.0071277376264333725, + 0.15509764850139618, + -6.0260796546936035 + ], + [ + -0.006327509880065918, + -0.996267557144165, + -0.08608713746070862, + -2.7122340202331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3249, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_338471174", + "mask_path": "../../mask/hdr_front_03249.png" + }, + { + "file_path": "../../rgb/hdr_front_03250.png", + "transform_matrix": [ + [ + 0.16949835419654846, + -0.08211749792098999, + 0.9821033477783203, + 24.244205474853516 + ], + [ + -0.9854897856712341, + -0.005059951450675726, + 0.16965970396995544, + -6.046828746795654 + ], + [ + -0.008962636813521385, + -0.9966098666191101, + -0.08178360760211945, + -2.712919235229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3250, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_438470363", + "mask_path": "../../mask/hdr_front_03250.png" + }, + { + "file_path": "../../rgb/hdr_front_03252.png", + "transform_matrix": [ + [ + 0.17352868616580963, + -0.07510259747505188, + 0.9819609522819519, + 24.1535587310791 + ], + [ + -0.9848029017448425, + -0.006005504168570042, + 0.1735716164112091, + -6.07424783706665 + ], + [ + -0.0071385083720088005, + -0.9971576929092407, + -0.07500339299440384, + -2.710653066635132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3252, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_638469457", + "mask_path": "../../mask/hdr_front_03252.png" + }, + { + "file_path": "../../rgb/hdr_front_03253.png", + "transform_matrix": [ + [ + 0.16799503564834595, + -0.0702037513256073, + 0.9832848906517029, + 24.104461669921875 + ], + [ + -0.9857779741287231, + -0.007495690602809191, + 0.16788581013679504, + -6.0811238288879395 + ], + [ + -0.004415811970829964, + -0.9975045323371887, + -0.07046454399824142, + -2.703148126602173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3253, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_738468647", + "mask_path": "../../mask/hdr_front_03253.png" + }, + { + "file_path": "../../rgb/hdr_front_03256.png", + "transform_matrix": [ + [ + 0.14377827942371368, + -0.08761382848024368, + 0.9857239127159119, + 23.936447143554688 + ], + [ + -0.9896050095558167, + -0.01585566997528076, + 0.14293509721755981, + -6.102048397064209 + ], + [ + 0.0031062238849699497, + -0.9960283637046814, + -0.08898279070854187, + -2.6759138107299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3256, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_38469076", + "mask_path": "../../mask/hdr_front_03256.png" + }, + { + "file_path": "../../rgb/hdr_front_03257.png", + "transform_matrix": [ + [ + 0.1459810584783554, + -0.08397670090198517, + 0.9857167601585388, + 23.869930267333984 + ], + [ + -0.9892761707305908, + -0.007654417306184769, + 0.1458560675382614, + -6.108166217803955 + ], + [ + -0.004703424405306578, + -0.9964383840560913, + -0.08419355750083923, + -2.6678426265716553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3257, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_138469219", + "mask_path": "../../mask/hdr_front_03257.png" + }, + { + "file_path": "../../rgb/hdr_front_03258.png", + "transform_matrix": [ + [ + 0.14710868895053864, + -0.08271575719118118, + 0.9856557250022888, + 23.814653396606445 + ], + [ + -0.989067018032074, + -0.0019566304981708527, + 0.14745363593101501, + -6.116959571838379 + ], + [ + -0.01026817224919796, + -0.9965713024139404, + -0.08209925889968872, + -2.6711649894714355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3258, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_238471031", + "mask_path": "../../mask/hdr_front_03258.png" + }, + { + "file_path": "../../rgb/hdr_front_03259.png", + "transform_matrix": [ + [ + 0.14798937737941742, + -0.0806986540555954, + 0.9856911301612854, + 23.75835609436035 + ], + [ + -0.988914966583252, + 0.00012430717470124364, + 0.14848355948925018, + -6.123056888580322 + ], + [ + -0.012104948982596397, + -0.996738612651825, + -0.07978569716215134, + -2.667140007019043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3259, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_338470220", + "mask_path": "../../mask/hdr_front_03259.png" + }, + { + "file_path": "../../rgb/hdr_front_03260.png", + "transform_matrix": [ + [ + 0.15046638250350952, + -0.08022657036781311, + 0.9853545427322388, + 23.699066162109375 + ], + [ + -0.9885205626487732, + 0.0015755612403154373, + 0.15107814967632294, + -6.130556583404541 + ], + [ + -0.0136729646474123, + -0.9967754483222961, + -0.07906853407621384, + -2.653237819671631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3260, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_438469648", + "mask_path": "../../mask/hdr_front_03260.png" + }, + { + "file_path": "../../rgb/hdr_front_03261.png", + "transform_matrix": [ + [ + 0.15723000466823578, + -0.08498940616846085, + 0.9838981628417969, + 23.645784378051758 + ], + [ + -0.9875105023384094, + -0.0033599603921175003, + 0.15751704573631287, + -6.140482425689697 + ], + [ + -0.010081418789923191, + -0.9963762164115906, + -0.08445621281862259, + -2.6415436267852783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3261, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_538470506", + "mask_path": "../../mask/hdr_front_03261.png" + }, + { + "file_path": "../../rgb/hdr_front_03263.png", + "transform_matrix": [ + [ + 0.1792268306016922, + -0.09062782675027847, + 0.9796245694160461, + 23.523752212524414 + ], + [ + -0.9838076829910278, + -0.01682538539171219, + 0.1784355789422989, + -6.177494525909424 + ], + [ + 0.00031133362790569663, + -0.995742678642273, + -0.0921759158372879, + -2.624469041824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3263, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_738470315", + "mask_path": "../../mask/hdr_front_03263.png" + }, + { + "file_path": "../../rgb/hdr_front_03264.png", + "transform_matrix": [ + [ + 0.20225615799427032, + -0.09244632720947266, + 0.9749595522880554, + 23.46831512451172 + ], + [ + -0.9793300628662109, + -0.016803089529275894, + 0.20156952738761902, + -6.202903747558594 + ], + [ + -0.002252031583338976, + -0.9955759644508362, + -0.09393400698900223, + -2.6193323135375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3264, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_838469982", + "mask_path": "../../mask/hdr_front_03264.png" + }, + { + "file_path": "../../rgb/hdr_front_03266.png", + "transform_matrix": [ + [ + 0.2460729479789734, + -0.08888894319534302, + 0.9651668667793274, + 23.380216598510742 + ], + [ + -0.9692296981811523, + -0.015915339812636375, + 0.24564309418201447, + -6.250403881072998 + ], + [ + -0.006473997607827187, + -0.9959143996238708, + -0.09007013589143753, + -2.613764524459839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3266, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_38469076", + "mask_path": "../../mask/hdr_front_03266.png" + }, + { + "file_path": "../../rgb/hdr_front_03267.png", + "transform_matrix": [ + [ + 0.2596445083618164, + -0.08583652973175049, + 0.9618819952011108, + 23.32823371887207 + ], + [ + -0.9656928777694702, + -0.018247142434120178, + 0.25904491543769836, + -6.271225452423096 + ], + [ + -0.004683917388319969, + -0.9961420893669128, + -0.08762949705123901, + -2.6002237796783447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3267, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_138468980", + "mask_path": "../../mask/hdr_front_03267.png" + }, + { + "file_path": "../../rgb/hdr_front_03268.png", + "transform_matrix": [ + [ + 0.2584143877029419, + -0.08944562822580338, + 0.9618843197822571, + 23.278932571411133 + ], + [ + -0.9660331606864929, + -0.025379540398716927, + 0.2571689188480377, + -6.288611888885498 + ], + [ + 0.0014095467049628496, + -0.995668351650238, + -0.09296587854623795, + -2.5861666202545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3268, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_238469362", + "mask_path": "../../mask/hdr_front_03268.png" + }, + { + "file_path": "../../rgb/hdr_front_03270.png", + "transform_matrix": [ + [ + 0.2517368793487549, + -0.0962255522608757, + 0.9630001187324524, + 23.15708351135254 + ], + [ + -0.9676889181137085, + -0.039808981120586395, + 0.24898478388786316, + -6.330002784729004 + ], + [ + 0.014377355575561523, + -0.9945631623268127, + -0.1031377837061882, + -2.5656471252441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3270, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_438469648", + "mask_path": "../../mask/hdr_front_03270.png" + }, + { + "file_path": "../../rgb/hdr_front_03271.png", + "transform_matrix": [ + [ + 0.2585224509239197, + -0.097411148250103, + 0.9610812664031982, + 23.09874725341797 + ], + [ + -0.9659806489944458, + -0.033165957778692245, + 0.25647878646850586, + -6.352351188659668 + ], + [ + 0.006891289260238409, + -0.9946914911270142, + -0.10267142951488495, + -2.562990665435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3271, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_538468837", + "mask_path": "../../mask/hdr_front_03271.png" + }, + { + "file_path": "../../rgb/hdr_front_03272.png", + "transform_matrix": [ + [ + 0.26294395327568054, + -0.09499198198318481, + 0.9601234197616577, + 23.047128677368164 + ], + [ + -0.9647976160049438, + -0.031149404123425484, + 0.2611422538757324, + -6.367863655090332 + ], + [ + 0.005100859794765711, + -0.9949906468391418, + -0.09983858466148376, + -2.5646815299987793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3272, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_638469219", + "mask_path": "../../mask/hdr_front_03272.png" + }, + { + "file_path": "../../rgb/hdr_front_03273.png", + "transform_matrix": [ + [ + 0.26190897822380066, + -0.09258904308080673, + 0.9606409668922424, + 22.9901180267334 + ], + [ + -0.9650833606719971, + -0.029470400884747505, + 0.26027971506118774, + -6.3817524909973145 + ], + [ + 0.004211426712572575, + -0.9952682256698608, + -0.09707470238208771, + -2.5558786392211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3273, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_738469600", + "mask_path": "../../mask/hdr_front_03273.png" + }, + { + "file_path": "../../rgb/hdr_front_03274.png", + "transform_matrix": [ + [ + 0.2531140446662903, + -0.09113489091396332, + 0.9631344079971313, + 22.931421279907227 + ], + [ + -0.9674232006072998, + -0.029057083651423454, + 0.2514917254447937, + -6.394261360168457 + ], + [ + 0.005066199693828821, + -0.9954146146774292, + -0.0955207571387291, + -2.5405426025390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3274, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_838469743", + "mask_path": "../../mask/hdr_front_03274.png" + }, + { + "file_path": "../../rgb/hdr_front_03275.png", + "transform_matrix": [ + [ + 0.24412855505943298, + -0.09437151253223419, + 0.9651399850845337, + 22.876874923706055 + ], + [ + -0.969704270362854, + -0.03263542428612709, + 0.24209196865558624, + -6.410130500793457 + ], + [ + 0.008651168085634708, + -0.9950019717216492, + -0.09947969019412994, + -2.532015562057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3275, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_938468217", + "mask_path": "../../mask/hdr_front_03275.png" + }, + { + "file_path": "../../rgb/hdr_front_03276.png", + "transform_matrix": [ + [ + 0.23895815014839172, + -0.09752747416496277, + 0.9661197066307068, + 22.813644409179688 + ], + [ + -0.970943033695221, + -0.03731038421392441, + 0.23638473451137543, + -6.429330348968506 + ], + [ + 0.012992292642593384, + -0.9945332407951355, + -0.10360923409461975, + -2.519467830657959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3276, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_38469076", + "mask_path": "../../mask/hdr_front_03276.png" + }, + { + "file_path": "../../rgb/hdr_front_03277.png", + "transform_matrix": [ + [ + 0.24055232107639313, + -0.09720972180366516, + 0.9657561182975769, + 22.742713928222656 + ], + [ + -0.9705632328987122, + -0.03629067912697792, + 0.23809680342674255, + -6.45184850692749 + ], + [ + 0.011902621947228909, + -0.9946020841598511, + -0.10307798534631729, + -2.5091962814331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3277, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_138469219", + "mask_path": "../../mask/hdr_front_03277.png" + }, + { + "file_path": "../../rgb/hdr_front_03278.png", + "transform_matrix": [ + [ + 0.24281370639801025, + -0.09537877887487411, + 0.9653727412223816, + 22.68682861328125 + ], + [ + -0.9700675010681152, + -0.02721269614994526, + 0.24130594730377197, + -6.468029022216797 + ], + [ + 0.003254929091781378, + -0.9950690865516663, + -0.09913145005702972, + -2.512354850769043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3278, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_238469123", + "mask_path": "../../mask/hdr_front_03278.png" + }, + { + "file_path": "../../rgb/hdr_front_03279.png", + "transform_matrix": [ + [ + 0.2407860904932022, + -0.08934293687343597, + 0.9664573669433594, + 22.623838424682617 + ], + [ + -0.9705780744552612, + -0.021719392389059067, + 0.2398049533367157, + -6.4842119216918945 + ], + [ + -0.00043400938739068806, + -0.9957641363143921, + -0.09194403141736984, + -2.511505603790283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3279, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_338469266", + "mask_path": "../../mask/hdr_front_03279.png" + }, + { + "file_path": "../../rgb/hdr_front_03280.png", + "transform_matrix": [ + [ + 0.2341955006122589, + -0.08330743759870529, + 0.9686135649681091, + 22.558401107788086 + ], + [ + -0.9721800684928894, + -0.015677684918045998, + 0.2337094247341156, + -6.4957170486450195 + ], + [ + -0.004284115042537451, + -0.9964005947113037, + -0.08466149121522903, + -2.49946665763855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3280, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_438469648", + "mask_path": "../../mask/hdr_front_03280.png" + }, + { + "file_path": "../../rgb/hdr_front_03281.png", + "transform_matrix": [ + [ + 0.2243204563856125, + -0.08712396025657654, + 0.9706130623817444, + 22.50103759765625 + ], + [ + -0.9745153784751892, + -0.019907645881175995, + 0.2234354168176651, + -6.50663423538208 + ], + [ + -0.0001439542684238404, + -0.9959985613822937, + -0.08936933428049088, + -2.487844467163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3281, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_538469076", + "mask_path": "../../mask/hdr_front_03281.png" + }, + { + "file_path": "../../rgb/hdr_front_03282.png", + "transform_matrix": [ + [ + 0.2172546237707138, + -0.08877668529748917, + 0.9720695614814758, + 22.43671417236328 + ], + [ + -0.9760952591896057, + -0.026090919971466064, + 0.21577157080173492, + -6.520084381103516 + ], + [ + 0.006206705700606108, + -0.9957097768783569, + -0.09232287108898163, + -2.4770119190216064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3282, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_638470888", + "mask_path": "../../mask/hdr_front_03282.png" + }, + { + "file_path": "../../rgb/hdr_front_03283.png", + "transform_matrix": [ + [ + 0.2171514928340912, + -0.08729905635118484, + 0.9722263216972351, + 22.36170196533203 + ], + [ + -0.9761266708374023, + -0.024183714762330055, + 0.21585114300251007, + -6.539712905883789 + ], + [ + 0.004668446723371744, + -0.9958885908126831, + -0.0904664695262909, + -2.4686689376831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3283, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_738469600", + "mask_path": "../../mask/hdr_front_03283.png" + }, + { + "file_path": "../../rgb/hdr_front_03284.png", + "transform_matrix": [ + [ + 0.22471611201763153, + -0.08640559762716293, + 0.970585823059082, + 22.296833038330078 + ], + [ + -0.9744241237640381, + -0.020276540890336037, + 0.22379973530769348, + -6.559395790100098 + ], + [ + 0.00034257452352903783, + -0.9960537552833557, + -0.08875218033790588, + -2.4693026542663574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3284, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_838469982", + "mask_path": "../../mask/hdr_front_03284.png" + }, + { + "file_path": "../../rgb/hdr_front_03285.png", + "transform_matrix": [ + [ + 0.22934211790561676, + -0.08482705801725388, + 0.9696425795555115, + 22.238985061645508 + ], + [ + -0.973345935344696, + -0.019976768642663956, + 0.22847044467926025, + -6.578500270843506 + ], + [ + -1.0149307854590006e-05, + -0.9961954951286316, + -0.08714758604764938, + -2.469139575958252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3285, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_938468933", + "mask_path": "../../mask/hdr_front_03285.png" + }, + { + "file_path": "../../rgb/hdr_front_03286.png", + "transform_matrix": [ + [ + 0.2273382544517517, + -0.08449030667543411, + 0.9701436161994934, + 22.173553466796875 + ], + [ + -0.9738075137138367, + -0.015594339929521084, + 0.22683870792388916, + -6.5929951667785645 + ], + [ + -0.0040369173511862755, + -0.9963022470474243, + -0.08582247048616409, + -2.4596986770629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3286, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_38470029", + "mask_path": "../../mask/hdr_front_03286.png" + }, + { + "file_path": "../../rgb/hdr_front_03287.png", + "transform_matrix": [ + [ + 0.21654288470745087, + -0.08629957586526871, + 0.972451388835907, + 22.107511520385742 + ], + [ + -0.97625732421875, + -0.01347266137599945, + 0.216194748878479, + -6.60268497467041 + ], + [ + -0.005556008778512478, + -0.996178150177002, + -0.08716800808906555, + -2.4434564113616943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3287, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_138469219", + "mask_path": "../../mask/hdr_front_03287.png" + }, + { + "file_path": "../../rgb/hdr_front_03288.png", + "transform_matrix": [ + [ + 0.2074044644832611, + -0.09245866537094116, + 0.9738761782646179, + 22.04977035522461 + ], + [ + -0.9782527089118958, + -0.021898478269577026, + 0.20625752210617065, + -6.616460800170898 + ], + [ + 0.0022561117075383663, + -0.995475709438324, + -0.09498977661132812, + -2.430898904800415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3288, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_238470077", + "mask_path": "../../mask/hdr_front_03288.png" + }, + { + "file_path": "../../rgb/hdr_front_03289.png", + "transform_matrix": [ + [ + 0.2033994495868683, + -0.0943983793258667, + 0.9745346307754517, + 21.985023498535156 + ], + [ + -0.9790819883346558, + -0.024902010336518288, + 0.20193643867969513, + -6.632768154144287 + ], + [ + 0.005205398891121149, + -0.9952229857444763, + -0.09748880565166473, + -2.419275999069214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3289, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_338469743", + "mask_path": "../../mask/hdr_front_03289.png" + }, + { + "file_path": "../../rgb/hdr_front_03290.png", + "transform_matrix": [ + [ + 0.20640526711940765, + -0.09120362251996994, + 0.974206805229187, + 21.92165184020996 + ], + [ + -0.9784655570983887, + -0.017891667783260345, + 0.20563264191150665, + -6.64812707901001 + ], + [ + -0.0013242590939626098, + -0.9956715703010559, + -0.09293254464864731, + -2.4157092571258545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3290, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_438469886", + "mask_path": "../../mask/hdr_front_03290.png" + }, + { + "file_path": "../../rgb/hdr_front_03291.png", + "transform_matrix": [ + [ + 0.20871029794216156, + -0.0908413827419281, + 0.9737493991851807, + 21.87152099609375 + ], + [ + -0.9779727458953857, + -0.016269555315375328, + 0.20809772610664368, + -6.662485122680664 + ], + [ + -0.003061417257413268, + -0.9957324862480164, + -0.09223602712154388, + -2.4196395874023438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3291, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_538470029", + "mask_path": "../../mask/hdr_front_03291.png" + }, + { + "file_path": "../../rgb/hdr_front_03292.png", + "transform_matrix": [ + [ + 0.20578904449939728, + -0.089802585542202, + 0.9744672775268555, + 21.816225051879883 + ], + [ + -0.9785838723182678, + -0.013858363032341003, + 0.20538127422332764, + -6.674086093902588 + ], + [ + -0.004939248785376549, + -0.9958631992340088, + -0.09073127061128616, + -2.4136579036712646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3292, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_638469934", + "mask_path": "../../mask/hdr_front_03292.png" + }, + { + "file_path": "../../rgb/hdr_front_03293.png", + "transform_matrix": [ + [ + 0.1966656893491745, + -0.086964912712574, + 0.9766063094139099, + 21.766843795776367 + ], + [ + -0.9804572463035583, + -0.012248615734279156, + 0.19635047018527985, + -6.682041168212891 + ], + [ + -0.005113528110086918, + -0.9961360692977905, + -0.08767426759004593, + -2.399359941482544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3293, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_738469123", + "mask_path": "../../mask/hdr_front_03293.png" + }, + { + "file_path": "../../rgb/hdr_front_03295.png", + "transform_matrix": [ + [ + 0.18335813283920288, + -0.09382998198270798, + 0.9785579442977905, + 21.66657066345215 + ], + [ + -0.9829933047294617, + -0.027828602120280266, + 0.18152083456516266, + -6.6995391845703125 + ], + [ + 0.010199804790318012, + -0.9951992630958557, + -0.09733683615922928, + -2.3760836124420166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3295, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_938468933", + "mask_path": "../../mask/hdr_front_03295.png" + }, + { + "file_path": "../../rgb/hdr_front_03296.png", + "transform_matrix": [ + [ + 0.18319208920001984, + -0.09440120309591293, + 0.9785341620445251, + 21.60455894470215 + ], + [ + -0.9830055832862854, + -0.029605893418192863, + 0.18117305636405945, + -6.715244770050049 + ], + [ + 0.011867423541843891, + -0.9950940608978271, + -0.09822046756744385, + -2.3634469509124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3296, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_38469552", + "mask_path": "../../mask/hdr_front_03296.png" + }, + { + "file_path": "../../rgb/hdr_front_03297.png", + "transform_matrix": [ + [ + 0.1871975213289261, + -0.09437095373868942, + 0.9777786731719971, + 21.544950485229492 + ], + [ + -0.9823187589645386, + -0.020646603778004646, + 0.18607403337955475, + -6.731556415557861 + ], + [ + 0.0026278276927769184, + -0.9953230619430542, + -0.09656734019517899, + -2.356527328491211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3297, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_138468503", + "mask_path": "../../mask/hdr_front_03297.png" + }, + { + "file_path": "../../rgb/hdr_front_03298.png", + "transform_matrix": [ + [ + 0.1883256733417511, + -0.08967611938714981, + 0.978003978729248, + 21.486146926879883 + ], + [ + -0.9821018576622009, + -0.014078530482947826, + 0.18782389163970947, + -6.743356704711914 + ], + [ + -0.003074459033086896, + -0.9958715438842773, + -0.09072242677211761, + -2.3613436222076416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3298, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_238468408", + "mask_path": "../../mask/hdr_front_03298.png" + }, + { + "file_path": "../../rgb/hdr_front_03299.png", + "transform_matrix": [ + [ + 0.18401658535003662, + -0.08833048492670059, + 0.9789462089538574, + 21.42073631286621 + ], + [ + -0.9828924536705017, + -0.008659709244966507, + 0.18397702276706696, + -6.753227233886719 + ], + [ + -0.007773389108479023, + -0.9960536360740662, + -0.08841290324926376, + -2.3471550941467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3299, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_338470935", + "mask_path": "../../mask/hdr_front_03299.png" + }, + { + "file_path": "../../rgb/hdr_front_03300.png", + "transform_matrix": [ + [ + 0.1738387644290924, + -0.09225337207317352, + 0.9804434180259705, + 21.356637954711914 + ], + [ + -0.9847739338874817, + -0.01549495104700327, + 0.17314860224723816, + -6.764188289642334 + ], + [ + -0.0007816144498065114, + -0.9956151247024536, + -0.09354232251644135, + -2.3332908153533936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3300, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_438470602", + "mask_path": "../../mask/hdr_front_03300.png" + }, + { + "file_path": "../../rgb/hdr_front_03301.png", + "transform_matrix": [ + [ + 0.1673201322555542, + -0.09471786022186279, + 0.9813422560691833, + 21.28561782836914 + ], + [ + -0.9858797192573547, + -0.022850314155220985, + 0.16588832437992096, + -6.781219959259033 + ], + [ + 0.00671139033511281, + -0.9952418804168701, + -0.09720373898744583, + -2.3211140632629395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3301, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_538470029", + "mask_path": "../../mask/hdr_front_03301.png" + }, + { + "file_path": "../../rgb/hdr_front_03302.png", + "transform_matrix": [ + [ + 0.16682027280330658, + -0.09150603413581848, + 0.9817320108413696, + 21.20647621154785 + ], + [ + -0.9859539866447449, + -0.023672401905059814, + 0.16533122956752777, + -6.800525665283203 + ], + [ + 0.00811115000396967, + -0.9955231547355652, + -0.09416977316141129, + -2.319185256958008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3302, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_638470649", + "mask_path": "../../mask/hdr_front_03302.png" + }, + { + "file_path": "../../rgb/hdr_front_03303.png", + "transform_matrix": [ + [ + 0.17147138714790344, + -0.0921950414776802, + 0.9808657765388489, + 21.13983154296875 + ], + [ + -0.9851869940757751, + -0.01807834394276142, + 0.17052756249904633, + -6.816427707672119 + ], + [ + 0.002010635333135724, + -0.995576798915863, + -0.09392927587032318, + -2.3223683834075928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3303, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_738470077", + "mask_path": "../../mask/hdr_front_03303.png" + }, + { + "file_path": "../../rgb/hdr_front_03304.png", + "transform_matrix": [ + [ + 0.17105399072170258, + -0.09004820883274078, + 0.9811381101608276, + 21.078445434570312 + ], + [ + -0.9852616190910339, + -0.015641454607248306, + 0.17033734917640686, + -6.829689979553223 + ], + [ + 7.853865099605173e-06, + -0.9958146214485168, + -0.09139657765626907, + -2.3201537132263184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3304, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_838469982", + "mask_path": "../../mask/hdr_front_03304.png" + }, + { + "file_path": "../../rgb/hdr_front_03305.png", + "transform_matrix": [ + [ + 0.16531717777252197, + -0.08695954829454422, + 0.9823992252349854, + 21.01348876953125 + ], + [ + -0.9862169027328491, + -0.007686121854931116, + 0.16527926921844482, + -6.840757369995117 + ], + [ + -0.006821766961365938, + -0.9961822628974915, + -0.08703161776065826, + -2.3083925247192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3305, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_938469886", + "mask_path": "../../mask/hdr_front_03305.png" + }, + { + "file_path": "../../rgb/hdr_front_03306.png", + "transform_matrix": [ + [ + 0.1547347605228424, + -0.09183648973703384, + 0.98367840051651, + 20.953441619873047 + ], + [ + -0.9879071116447449, + -0.0044755516573786736, + 0.1549820899963379, + -6.847796440124512 + ], + [ + -0.009830507449805737, + -0.9957640767097473, + -0.09141844511032104, + -2.297677516937256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3306, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_38471221", + "mask_path": "../../mask/hdr_front_03306.png" + }, + { + "file_path": "../../rgb/hdr_front_03307.png", + "transform_matrix": [ + [ + 0.14757412672042847, + -0.09506218135356903, + 0.9844719171524048, + 20.889251708984375 + ], + [ + -0.9890391826629639, + -0.00932502094656229, + 0.14735834300518036, + -6.857475280761719 + ], + [ + -0.004827981814742088, + -0.9954277276992798, + -0.09539634734392166, + -2.287064790725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3307, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_138470172", + "mask_path": "../../mask/hdr_front_03307.png" + }, + { + "file_path": "../../rgb/hdr_front_03308.png", + "transform_matrix": [ + [ + 0.14476056396961212, + -0.09040794521570206, + 0.9853277802467346, + 20.814083099365234 + ], + [ + -0.9894616007804871, + -0.010020576417446136, + 0.14444845914840698, + -6.874072074890137 + ], + [ + -0.003185734385624528, + -0.9958544373512268, + -0.09090577065944672, + -2.283395290374756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3308, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_238470077", + "mask_path": "../../mask/hdr_front_03308.png" + }, + { + "file_path": "../../rgb/hdr_front_03309.png", + "transform_matrix": [ + [ + 0.148746058344841, + -0.08482293039560318, + 0.9852307438850403, + 20.743221282958984 + ], + [ + -0.9888307452201843, + -0.003282445017248392, + 0.14900697767734528, + -6.887915134429932 + ], + [ + -0.00940523948520422, + -0.9963906407356262, + -0.08436375856399536, + -2.2862515449523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3309, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_338470220", + "mask_path": "../../mask/hdr_front_03309.png" + }, + { + "file_path": "../../rgb/hdr_front_03310.png", + "transform_matrix": [ + [ + 0.15020878612995148, + -0.08616984635591507, + 0.9848918318748474, + 20.676963806152344 + ], + [ + -0.9885661005973816, + 0.00021532153186853975, + 0.15078796446323395, + -6.900370121002197 + ], + [ + -0.013205444440245628, + -0.9962804913520813, + -0.08515225350856781, + -2.2877614498138428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3310, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_438469886", + "mask_path": "../../mask/hdr_front_03310.png" + }, + { + "file_path": "../../rgb/hdr_front_03311.png", + "transform_matrix": [ + [ + 0.1480441838502884, + -0.08603523671627045, + 0.9852314591407776, + 20.602785110473633 + ], + [ + -0.9888730645179749, + 0.001818336546421051, + 0.1487502008676529, + -6.912405014038086 + ], + [ + -0.014589241705834866, + -0.9962904453277588, + -0.08480874449014664, + -2.2794697284698486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3311, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_538469314", + "mask_path": "../../mask/hdr_front_03311.png" + }, + { + "file_path": "../../rgb/hdr_front_03312.png", + "transform_matrix": [ + [ + 0.13769669830799103, + -0.08473457396030426, + 0.9868432879447937, + 20.5331974029541 + ], + [ + -0.9903403520584106, + 0.004609533119946718, + 0.13858045637607574, + -6.921894550323486 + ], + [ + -0.016291441395878792, + -0.9963929653167725, + -0.08328136056661606, + -2.261862277984619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3312, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_638468265", + "mask_path": "../../mask/hdr_front_03312.png" + }, + { + "file_path": "../../rgb/hdr_front_03313.png", + "transform_matrix": [ + [ + 0.12686458230018616, + -0.0914369598031044, + 0.987696647644043, + 20.47028160095215 + ], + [ + -0.991864800453186, + -0.0011868112487718463, + 0.12729011476039886, + -6.926356315612793 + ], + [ + -0.010466809384524822, + -0.9958102703094482, + -0.09084366261959076, + -2.2495791912078857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3313, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_738468647", + "mask_path": "../../mask/hdr_front_03313.png" + }, + { + "file_path": "../../rgb/hdr_front_03314.png", + "transform_matrix": [ + [ + 0.12039195746183395, + -0.09373161196708679, + 0.9882915616035461, + 20.3990478515625 + ], + [ + -0.9927194118499756, + -0.007637462113052607, + 0.12020701169967651, + -6.931769371032715 + ], + [ + -0.003719156142324209, + -0.9955682754516602, + -0.09396867454051971, + -2.23701548576355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3314, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_838468551", + "mask_path": "../../mask/hdr_front_03314.png" + }, + { + "file_path": "../../rgb/hdr_front_03315.png", + "transform_matrix": [ + [ + 0.11890426278114319, + -0.08892611414194107, + 0.9889156222343445, + 20.322195053100586 + ], + [ + -0.992900013923645, + -0.007283953484147787, + 0.11872836947441101, + -6.945456504821777 + ], + [ + -0.0033548364881426096, + -0.9960116744041443, + -0.08916082978248596, + -2.2257425785064697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3315, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_938468456", + "mask_path": "../../mask/hdr_front_03315.png" + }, + { + "file_path": "../../rgb/hdr_front_03316.png", + "transform_matrix": [ + [ + 0.12176699191331863, + -0.0899113118648529, + 0.9884779453277588, + 20.258996963500977 + ], + [ + -0.9925143122673035, + -0.0016109342686831951, + 0.12211769074201584, + -6.955761432647705 + ], + [ + -0.009387388825416565, + -0.9959484934806824, + -0.0894344225525856, + -2.2227907180786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3316, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_38471460", + "mask_path": "../../mask/hdr_front_03316.png" + }, + { + "file_path": "../../rgb/hdr_front_03317.png", + "transform_matrix": [ + [ + 0.12082919478416443, + -0.08982238918542862, + 0.9886012077331543, + 20.198665618896484 + ], + [ + -0.9926087260246277, + 0.0004274855018593371, + 0.12135782837867737, + -6.963231563568115 + ], + [ + -0.011323264800012112, + -0.9959577322006226, + -0.08910684287548065, + -2.2217864990234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3317, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_138469934", + "mask_path": "../../mask/hdr_front_03317.png" + }, + { + "file_path": "../../rgb/hdr_front_03318.png", + "transform_matrix": [ + [ + 0.11626847088336945, + -0.09223233908414841, + 0.988926112651825, + 20.132356643676758 + ], + [ + -0.9931414723396301, + 0.0015567722730338573, + 0.11690925806760788, + -6.969395637512207 + ], + [ + -0.012322346679866314, + -0.9957363605499268, + -0.09141873568296432, + -2.2118825912475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3318, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_238469600", + "mask_path": "../../mask/hdr_front_03318.png" + }, + { + "file_path": "../../rgb/hdr_front_03319.png", + "transform_matrix": [ + [ + 0.10587381571531296, + -0.09617625921964645, + 0.9897176623344421, + 20.06873321533203 + ], + [ + -0.9942536354064941, + 0.005595504306256771, + 0.10690280795097351, + -6.97296667098999 + ], + [ + -0.015819480642676353, + -0.9953486323356628, + -0.09503118693828583, + -2.196821451187134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3319, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_338469743", + "mask_path": "../../mask/hdr_front_03319.png" + }, + { + "file_path": "../../rgb/hdr_front_03320.png", + "transform_matrix": [ + [ + 0.09799988567829132, + -0.10023106634616852, + 0.9901261329650879, + 20.01176643371582 + ], + [ + -0.9951273798942566, + 0.0009625852690078318, + 0.0985923483967781, + -6.9761223793029785 + ], + [ + -0.010835095308721066, + -0.9949637651443481, + -0.09964834153652191, + -2.1875455379486084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3320, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_438468933", + "mask_path": "../../mask/hdr_front_03320.png" + }, + { + "file_path": "../../rgb/hdr_front_03321.png", + "transform_matrix": [ + [ + 0.09210286289453506, + -0.09885257482528687, + 0.9908306002616882, + 19.945850372314453 + ], + [ + -0.9957284927368164, + -0.0026872381567955017, + 0.09229005873203278, + -6.9802069664001465 + ], + [ + -0.006460510194301605, + -0.9950984716415405, + -0.09867784380912781, + -2.1790897846221924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3321, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_538469076", + "mask_path": "../../mask/hdr_front_03321.png" + }, + { + "file_path": "../../rgb/hdr_front_03322.png", + "transform_matrix": [ + [ + 0.08879678696393967, + -0.08860241621732712, + 0.9921011328697205, + 19.871755599975586 + ], + [ + -0.9959672689437866, + 0.004923725966364145, + 0.08958254754543304, + -6.988193988800049 + ], + [ + -0.012822061777114868, + -0.9960549473762512, + -0.08780788630247116, + -2.1771280765533447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3322, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_638469934", + "mask_path": "../../mask/hdr_front_03322.png" + }, + { + "file_path": "../../rgb/hdr_front_03323.png", + "transform_matrix": [ + [ + 0.08833947777748108, + -0.08741108328104019, + 0.9922477006912231, + 19.812389373779297 + ], + [ + -0.9959297180175781, + 0.010140562430024147, + 0.0895606055855751, + -6.996318817138672 + ], + [ + -0.017890537157654762, + -0.9961208701133728, + -0.08615949004888535, + -2.1795363426208496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3323, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_738468408", + "mask_path": "../../mask/hdr_front_03323.png" + }, + { + "file_path": "../../rgb/hdr_front_03324.png", + "transform_matrix": [ + [ + 0.0854882225394249, + -0.08369685709476471, + 0.9928175210952759, + 19.752071380615234 + ], + [ + -0.996197521686554, + 0.009621327742934227, + 0.08659037202596664, + -7.0025529861450195 + ], + [ + -0.01679956540465355, + -0.9964448809623718, + -0.0825560986995697, + -2.1776552200317383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3324, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_838470935", + "mask_path": "../../mask/hdr_front_03324.png" + }, + { + "file_path": "../../rgb/hdr_front_03325.png", + "transform_matrix": [ + [ + 0.08075818419456482, + -0.07845759391784668, + 0.9936410784721375, + 19.68662452697754 + ], + [ + -0.996627151966095, + 0.008222509175539017, + 0.08165011554956436, + -7.007596969604492 + ], + [ + -0.014576293528079987, + -0.9968835115432739, + -0.0775289386510849, + -2.1737728118896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3325, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_938469409", + "mask_path": "../../mask/hdr_front_03325.png" + }, + { + "file_path": "../../rgb/hdr_front_03326.png", + "transform_matrix": [ + [ + 0.07054392248392105, + -0.08041297644376755, + 0.994262158870697, + 19.621063232421875 + ], + [ + -0.9973381161689758, + 0.012748904526233673, + 0.07179325073957443, + -7.0100321769714355 + ], + [ + -0.018448859453201294, + -0.9966801404953003, + -0.07929956167936325, + -2.161888599395752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3326, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_38469314", + "mask_path": "../../mask/hdr_front_03326.png" + }, + { + "file_path": "../../rgb/hdr_front_03327.png", + "transform_matrix": [ + [ + 0.059261444956064224, + -0.08376438915729523, + 0.9947219491004944, + 19.5565128326416 + ], + [ + -0.9981660842895508, + 0.007361723575741053, + 0.060086559504270554, + -7.012038230895996 + ], + [ + -0.012355980463325977, + -0.9964584112167358, + -0.08317451179027557, + -2.152207374572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3327, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_138468980", + "mask_path": "../../mask/hdr_front_03327.png" + }, + { + "file_path": "../../rgb/hdr_front_03328.png", + "transform_matrix": [ + [ + 0.04926716908812523, + -0.08132916688919067, + 0.9954689145088196, + 19.48045539855957 + ], + [ + -0.998759925365448, + 0.003133166115731001, + 0.04968602582812309, + -7.016353607177734 + ], + [ + -0.0071598924696445465, + -0.9966824650764465, + -0.08107395470142365, + -2.144287109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3328, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_238468408", + "mask_path": "../../mask/hdr_front_03328.png" + }, + { + "file_path": "../../rgb/hdr_front_03329.png", + "transform_matrix": [ + [ + 0.04410513490438461, + -0.07423988729715347, + 0.996264636516571, + 19.405580520629883 + ], + [ + -0.9989338517189026, + 0.010333248414099216, + 0.0449933186173439, + -7.020438194274902 + ], + [ + -0.013634948059916496, + -0.9971868395805359, + -0.07370498776435852, + -2.1424660682678223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3329, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_338469743", + "mask_path": "../../mask/hdr_front_03329.png" + }, + { + "file_path": "../../rgb/hdr_front_03330.png", + "transform_matrix": [ + [ + 0.03944356366991997, + -0.07524093985557556, + 0.9963849782943726, + 19.345958709716797 + ], + [ + -0.9990648031234741, + 0.014700421132147312, + 0.040659740567207336, + -7.025504112243652 + ], + [ + -0.017706554383039474, + -0.9970570206642151, + -0.07459074258804321, + -2.141939640045166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3330, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_438469648", + "mask_path": "../../mask/hdr_front_03330.png" + }, + { + "file_path": "../../rgb/hdr_front_03331.png", + "transform_matrix": [ + [ + 0.03188759461045265, + -0.07416877895593643, + 0.996735692024231, + 19.27528953552246 + ], + [ + -0.9993174076080322, + 0.01624377630650997, + 0.033178918063640594, + -7.027326583862305 + ], + [ + -0.01865158975124359, + -0.9971133470535278, + -0.07360018044710159, + -2.1346919536590576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3331, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_538469314", + "mask_path": "../../mask/hdr_front_03331.png" + }, + { + "file_path": "../../rgb/hdr_front_03332.png", + "transform_matrix": [ + [ + 0.01649024337530136, + -0.07023416459560394, + 0.9973942637443542, + 19.201255798339844 + ], + [ + -0.9996739029884338, + 0.01829206943511963, + 0.017816023901104927, + -7.024499893188477 + ], + [ + -0.01949569769203663, + -0.9973628520965576, + -0.06990961730480194, + -2.119274854660034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3332, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_638470411", + "mask_path": "../../mask/hdr_front_03332.png" + }, + { + "file_path": "../../rgb/hdr_front_03333.png", + "transform_matrix": [ + [ + -0.00028026491054333746, + -0.07718391716480255, + 0.9970168471336365, + 19.13575553894043 + ], + [ + -0.999887228012085, + 0.014993269927799702, + 0.0008796300389803946, + -7.021987438201904 + ], + [ + -0.015016434714198112, + -0.996904194355011, + -0.07717940956354141, + -2.105693817138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3333, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_738469362", + "mask_path": "../../mask/hdr_front_03333.png" + }, + { + "file_path": "../../rgb/hdr_front_03334.png", + "transform_matrix": [ + [ + -0.013209535740315914, + -0.08164074271917343, + 0.996574342250824, + 19.059648513793945 + ], + [ + -0.9998802542686462, + 0.009124085307121277, + -0.01250589918345213, + -7.0221147537231445 + ], + [ + -0.00807183701545, + -0.9966200590133667, + -0.0817514955997467, + -2.0914506912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3334, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_838468551", + "mask_path": "../../mask/hdr_front_03334.png" + }, + { + "file_path": "../../rgb/hdr_front_03335.png", + "transform_matrix": [ + [ + -0.020205270498991013, + -0.07873021811246872, + 0.9966911673545837, + 18.97593116760254 + ], + [ + -0.9997513890266418, + 0.010986268520355225, + -0.019399486482143402, + -7.022584438323975 + ], + [ + -0.00942259095609188, + -0.996835470199585, + -0.07893262803554535, + -2.083385705947876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3335, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_938469648", + "mask_path": "../../mask/hdr_front_03335.png" + }, + { + "file_path": "../../rgb/hdr_front_03336.png", + "transform_matrix": [ + [ + -0.022168319672346115, + -0.07959592342376709, + 0.9965807199478149, + 18.90998077392578 + ], + [ + -0.999663770198822, + 0.015174583531916142, + -0.021024925634264946, + -7.020103931427002 + ], + [ + -0.013449197635054588, + -0.9967117309570312, + -0.07990556955337524, + -2.0842761993408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3336, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_38469552", + "mask_path": "../../mask/hdr_front_03336.png" + }, + { + "file_path": "../../rgb/hdr_front_03337.png", + "transform_matrix": [ + [ + -0.027257731184363365, + -0.08110436797142029, + 0.9963328242301941, + 18.836318969726562 + ], + [ + -0.9995194673538208, + 0.016930842772126198, + -0.025966690853238106, + -7.017045497894287 + ], + [ + -0.014762741513550282, + -0.9965618252754211, + -0.08152688294649124, + -2.074910879135132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3337, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_138469457", + "mask_path": "../../mask/hdr_front_03337.png" + }, + { + "file_path": "../../rgb/hdr_front_03338.png", + "transform_matrix": [ + [ + -0.035949867218732834, + -0.08457551151514053, + 0.9957683682441711, + 18.757719039916992 + ], + [ + -0.9991435408592224, + 0.02347017638385296, + -0.034078288823366165, + -7.006832122802734 + ], + [ + -0.020488670095801353, + -0.9961405992507935, + -0.08534683287143707, + -2.058554172515869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3338, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_238469600", + "mask_path": "../../mask/hdr_front_03338.png" + }, + { + "file_path": "../../rgb/hdr_front_03339.png", + "transform_matrix": [ + [ + -0.04475627467036247, + -0.09445930272340775, + 0.994522213935852, + 18.681791305541992 + ], + [ + -0.9988075494766235, + 0.023664798587560654, + -0.04270145297050476, + -6.998015403747559 + ], + [ + -0.019501615315675735, + -0.9952474236488342, + -0.09540581703186035, + -2.0420587062835693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3339, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_338469266", + "mask_path": "../../mask/hdr_front_03339.png" + }, + { + "file_path": "../../rgb/hdr_front_03340.png", + "transform_matrix": [ + [ + -0.04877064749598503, + -0.09876978397369385, + 0.9939144849777222, + 18.601045608520508 + ], + [ + -0.9987279176712036, + 0.01758413016796112, + -0.04725942760705948, + -6.995565891265869 + ], + [ + -0.012809316627681255, + -0.9949549436569214, + -0.09950173646211624, + -2.029026985168457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3340, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_438469409", + "mask_path": "../../mask/hdr_front_03340.png" + }, + { + "file_path": "../../rgb/hdr_front_03341.png", + "transform_matrix": [ + [ + -0.04634462669491768, + -0.09560766816139221, + 0.9943397641181946, + 18.520065307617188 + ], + [ + -0.9988163709640503, + 0.01914975792169571, + -0.044711992144584656, + -6.995070457458496 + ], + [ + -0.014766555279493332, + -0.9952349066734314, + -0.09638198465108871, + -2.0191586017608643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3341, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_538469791", + "mask_path": "../../mask/hdr_front_03341.png" + }, + { + "file_path": "../../rgb/hdr_front_03342.png", + "transform_matrix": [ + [ + -0.04182828217744827, + -0.09877169132232666, + 0.9942306876182556, + 18.447677612304688 + ], + [ + -0.9989927411079407, + 0.020313987508416176, + -0.04001053422689438, + -6.994451522827148 + ], + [ + -0.016244882717728615, + -0.9949027895927429, + -0.09952189773321152, + -2.0148019790649414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3342, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_638468503", + "mask_path": "../../mask/hdr_front_03342.png" + }, + { + "file_path": "../../rgb/hdr_front_03343.png", + "transform_matrix": [ + [ + -0.04380199685692787, + -0.10224977135658264, + 0.9937939643859863, + 18.374080657958984 + ], + [ + -0.9988840818405151, + 0.02207372337579727, + -0.04175522178411484, + -6.988208770751953 + ], + [ + -0.017667269334197044, + -0.9945138692855835, + -0.10310252755880356, + -2.0043163299560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3343, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_738469123", + "mask_path": "../../mask/hdr_front_03343.png" + }, + { + "file_path": "../../rgb/hdr_front_03344.png", + "transform_matrix": [ + [ + -0.0538940355181694, + -0.10433531552553177, + 0.9930808544158936, + 18.303056716918945 + ], + [ + -0.9983224868774414, + 0.02670115977525711, + -0.05137321725487709, + -6.984958171844482 + ], + [ + -0.021156368777155876, + -0.9941837191581726, + -0.10559934377670288, + -1.9857330322265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3344, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_838468790", + "mask_path": "../../mask/hdr_front_03344.png" + }, + { + "file_path": "../../rgb/hdr_front_03345.png", + "transform_matrix": [ + [ + -0.06378965824842453, + -0.11015207320451736, + 0.9918656945228577, + 18.22911262512207 + ], + [ + -0.997887134552002, + 0.01932324655354023, + -0.06203096732497215, + -6.984315872192383 + ], + [ + -0.012333225458860397, + -0.9937269687652588, + -0.11115194857120514, + -1.9712021350860596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3345, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_938468456", + "mask_path": "../../mask/hdr_front_03345.png" + }, + { + "file_path": "../../rgb/hdr_front_03346.png", + "transform_matrix": [ + [ + -0.06569487601518631, + -0.11086326837539673, + 0.9916620254516602, + 18.150293350219727 + ], + [ + -0.9978118538856506, + 0.014733954332768917, + -0.06445509195327759, + -6.982789993286133 + ], + [ + -0.00746539980173111, + -0.9937264323234558, + -0.11158861964941025, + -1.962942123413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3346, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_38468599", + "mask_path": "../../mask/hdr_front_03346.png" + }, + { + "file_path": "../../rgb/hdr_front_03347.png", + "transform_matrix": [ + [ + -0.062176261097192764, + -0.11032167077064514, + 0.9919492602348328, + 18.07405662536621 + ], + [ + -0.9979921579360962, + 0.018887655809521675, + -0.060454417020082474, + -6.979604721069336 + ], + [ + -0.012066161260008812, + -0.9937165379524231, + -0.11127454042434692, + -1.9606804847717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3347, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_138467073", + "mask_path": "../../mask/hdr_front_03347.png" + }, + { + "file_path": "../../rgb/hdr_front_03348.png", + "transform_matrix": [ + [ + -0.06313465535640717, + -0.10766717791557312, + 0.992180347442627, + 18.00876235961914 + ], + [ + -0.9979339838027954, + 0.018677575513720512, + -0.06147396191954613, + -6.975350379943848 + ], + [ + -0.011912792921066284, + -0.9940115809440613, + -0.1086239218711853, + -1.9530675411224365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3348, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_238468885", + "mask_path": "../../mask/hdr_front_03348.png" + }, + { + "file_path": "../../rgb/hdr_front_03349.png", + "transform_matrix": [ + [ + -0.07082482427358627, + -0.10106643289327621, + 0.9923555850982666, + 17.940725326538086 + ], + [ + -0.9973998665809631, + 0.02045404724776745, + -0.0691017210483551, + -6.965718746185303 + ], + [ + -0.013313822448253632, + -0.9946694374084473, + -0.1022523045539856, + -1.9432209730148315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3349, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_338468790", + "mask_path": "../../mask/hdr_front_03349.png" + }, + { + "file_path": "../../rgb/hdr_front_03350.png", + "transform_matrix": [ + [ + -0.08306150138378143, + -0.10481701791286469, + 0.9910167455673218, + 17.88141441345215 + ], + [ + -0.9964691996574402, + 0.020959006622433662, + -0.0813017189502716, + -6.95587682723999 + ], + [ + -0.01224892120808363, + -0.9942706823348999, + -0.10618781298398972, + -1.9327657222747803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3350, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_438469648", + "mask_path": "../../mask/hdr_front_03350.png" + }, + { + "file_path": "../../rgb/hdr_front_03351.png", + "transform_matrix": [ + [ + -0.08920739591121674, + -0.10631243139505386, + 0.9903231263160706, + 17.81184196472168 + ], + [ + -0.9960033893585205, + 0.013901703990995884, + -0.08822672814130783, + -6.950124263763428 + ], + [ + -0.00438757985830307, + -0.9942355751991272, + -0.10712768882513046, + -1.9221479892730713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3351, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_538470029", + "mask_path": "../../mask/hdr_front_03351.png" + }, + { + "file_path": "../../rgb/hdr_front_03352.png", + "transform_matrix": [ + [ + -0.0883084386587143, + -0.0984874740242958, + 0.9912123084068298, + 17.732494354248047 + ], + [ + -0.996089518070221, + 0.011439108289778233, + -0.08760635554790497, + -6.947970867156982 + ], + [ + -0.002710455795750022, + -0.995072603225708, + -0.09911250323057175, + -1.916402816772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3352, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_638468980", + "mask_path": "../../mask/hdr_front_03352.png" + }, + { + "file_path": "../../rgb/hdr_front_03353.png", + "transform_matrix": [ + [ + -0.08370162546634674, + -0.09495674073696136, + 0.9919562935829163, + 17.665184020996094 + ], + [ + -0.9964591860771179, + 0.01591028831899166, + -0.0825585424900055, + -6.943035125732422 + ], + [ + -0.00794281717389822, + -0.9953542351722717, + -0.09595223516225815, + -1.9184715747833252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3353, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_738468885", + "mask_path": "../../mask/hdr_front_03353.png" + }, + { + "file_path": "../../rgb/hdr_front_03354.png", + "transform_matrix": [ + [ + -0.08532428741455078, + -0.09161864221096039, + 0.9921319484710693, + 17.59678840637207 + ], + [ + -0.9962841272354126, + 0.01957429200410843, + -0.08387378603219986, + -6.935328483581543 + ], + [ + -0.01173587329685688, + -0.9956017732620239, + -0.09294836968183517, + -1.9140684604644775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3354, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_838469028", + "mask_path": "../../mask/hdr_front_03354.png" + }, + { + "file_path": "../../rgb/hdr_front_03355.png", + "transform_matrix": [ + [ + -0.09295100718736649, + -0.08671601861715317, + 0.9918873906135559, + 17.52574920654297 + ], + [ + -0.9955501556396484, + 0.02359386906027794, + -0.09123155474662781, + -6.924284934997559 + ], + [ + -0.01549122016876936, + -0.9959536790847778, + -0.08852323144674301, + -1.898451328277588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3355, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_938469171", + "mask_path": "../../mask/hdr_front_03355.png" + }, + { + "file_path": "../../rgb/hdr_front_03356.png", + "transform_matrix": [ + [ + -0.10440240800380707, + -0.09268786013126373, + 0.9902065992355347, + 17.463376998901367 + ], + [ + -0.9944517612457275, + 0.02262161113321781, + -0.10273250192403793, + -6.910782337188721 + ], + [ + -0.012878010049462318, + -0.9954382181167603, + -0.09453535825014114, + -1.8837568759918213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3356, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_38468837", + "mask_path": "../../mask/hdr_front_03356.png" + }, + { + "file_path": "../../rgb/hdr_front_03357.png", + "transform_matrix": [ + [ + -0.11190367490053177, + -0.09629523009061813, + 0.989042341709137, + 17.39928436279297 + ], + [ + -0.9936977028846741, + 0.017367547377943993, + -0.11073945462703705, + -6.899612903594971 + ], + [ + -0.006513558328151703, + -0.9952012896537781, + -0.09763182699680328, + -1.8737682104110718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3357, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_138469457", + "mask_path": "../../mask/hdr_front_03357.png" + }, + { + "file_path": "../../rgb/hdr_front_03358.png", + "transform_matrix": [ + [ + -0.11502661556005478, + -0.09396935254335403, + 0.9889078140258789, + 17.32544708251953 + ], + [ + -0.993343710899353, + 0.016993844881653786, + -0.11392778158187866, + -6.89169979095459 + ], + [ + -0.006099626887589693, + -0.995430052280426, + -0.09529860317707062, + -1.8683820962905884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3358, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_238469362", + "mask_path": "../../mask/hdr_front_03358.png" + }, + { + "file_path": "../../rgb/hdr_front_03359.png", + "transform_matrix": [ + [ + -0.11034472286701202, + -0.09198775142431259, + 0.9896273612976074, + 17.253437042236328 + ], + [ + -0.9938083291053772, + 0.023240922018885612, + -0.10865061730146408, + -6.885207176208496 + ], + [ + -0.013005322776734829, + -0.9954888820648193, + -0.09398269653320312, + -1.8666375875473022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3359, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_338469266", + "mask_path": "../../mask/hdr_front_03359.png" + }, + { + "file_path": "../../rgb/hdr_front_03360.png", + "transform_matrix": [ + [ + -0.10806974023580551, + -0.092605821788311, + 0.9898207783699036, + 17.180438995361328 + ], + [ + -0.9940082430839539, + 0.02647586353123188, + -0.10604991018772125, + -6.873656272888184 + ], + [ + -0.01638551987707615, + -0.9953508377075195, + -0.09491219371557236, + -1.8642419576644897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3360, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_438469886", + "mask_path": "../../mask/hdr_front_03360.png" + }, + { + "file_path": "../../rgb/hdr_front_03361.png", + "transform_matrix": [ + [ + -0.11157344281673431, + -0.09425728023052216, + 0.9892759919166565, + 17.101966857910156 + ], + [ + -0.9935837388038635, + 0.029129641130566597, + -0.10928383469581604, + -6.860645294189453 + ], + [ + -0.01851644553244114, + -0.9951215982437134, + -0.09690258651971817, + -1.8490585088729858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3361, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_538469076", + "mask_path": "../../mask/hdr_front_03361.png" + }, + { + "file_path": "../../rgb/hdr_front_03362.png", + "transform_matrix": [ + [ + -0.1236671581864357, + -0.09756109118461609, + 0.9875162839889526, + 17.030899047851562 + ], + [ + -0.9921762943267822, + 0.029312781989574432, + -0.12135481834411621, + -6.8475661277771 + ], + [ + -0.017107337713241577, + -0.9947978258132935, + -0.10042282938957214, + -1.827617883682251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3362, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_638469457", + "mask_path": "../../mask/hdr_front_03362.png" + }, + { + "file_path": "../../rgb/hdr_front_03363.png", + "transform_matrix": [ + [ + -0.13387919962406158, + -0.10459958761930466, + 0.9854620099067688, + 16.962154388427734 + ], + [ + -0.990983247756958, + 0.019500968977808952, + -0.1325594037771225, + -6.837912082672119 + ], + [ + -0.005351806990802288, + -0.9943232536315918, + -0.10626719146966934, + -1.8110970258712769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3363, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_738469839", + "mask_path": "../../mask/hdr_front_03363.png" + }, + { + "file_path": "../../rgb/hdr_front_03364.png", + "transform_matrix": [ + [ + -0.13667148351669312, + -0.10775665193796158, + 0.984738290309906, + 16.880477905273438 + ], + [ + -0.9906164407730103, + 0.014758815988898277, + -0.13587228953838348, + -6.834536075592041 + ], + [ + 0.000107575673609972, + -0.9940677881240845, + -0.10876260697841644, + -1.7990622520446777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3364, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_838469266", + "mask_path": "../../mask/hdr_front_03364.png" + }, + { + "file_path": "../../rgb/hdr_front_03365.png", + "transform_matrix": [ + [ + -0.13226303458213806, + -0.10589347779750824, + 0.9855421185493469, + 16.804086685180664 + ], + [ + -0.9911826252937317, + 0.022117041051387787, + -0.13064365088939667, + -6.831748962402344 + ], + [ + -0.007962963543832302, + -0.9941315054893494, + -0.10788504779338837, + -1.796109676361084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3365, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_938469171", + "mask_path": "../../mask/hdr_front_03365.png" + }, + { + "file_path": "../../rgb/hdr_front_03366.png", + "transform_matrix": [ + [ + -0.13181152939796448, + -0.10454397648572922, + 0.9857465624809265, + 16.73882484436035 + ], + [ + -0.9911904335021973, + 0.026870425790548325, + -0.12968973815441132, + -6.820082187652588 + ], + [ + -0.01292914804071188, + -0.9941571950912476, + -0.10716482996940613, + -1.7915706634521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3366, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_38469791", + "mask_path": "../../mask/hdr_front_03366.png" + }, + { + "file_path": "../../rgb/hdr_front_03367.png", + "transform_matrix": [ + [ + -0.13820062577724457, + -0.10632360726594925, + 0.9846805930137634, + 16.667213439941406 + ], + [ + -0.9902095794677734, + 0.03454689309000969, + -0.13524630665779114, + -6.803245544433594 + ], + [ + -0.019637780264019966, + -0.9937312602996826, + -0.1100570410490036, + -1.773444652557373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3367, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_138469219", + "mask_path": "../../mask/hdr_front_03367.png" + }, + { + "file_path": "../../rgb/hdr_front_03368.png", + "transform_matrix": [ + [ + -0.1529429703950882, + -0.11530157923698425, + 0.9814856648445129, + 16.6060733795166 + ], + [ + -0.9880743026733398, + 0.035751380026340485, + -0.14976973831653595, + -6.788948059082031 + ], + [ + -0.017820775508880615, + -0.9926869869232178, + -0.119394451379776, + -1.7507985830307007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3368, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_238469839", + "mask_path": "../../mask/hdr_front_03368.png" + }, + { + "file_path": "../../rgb/hdr_front_03369.png", + "transform_matrix": [ + [ + -0.16075383126735687, + -0.11912594735622406, + 0.9797791838645935, + 16.54909324645996 + ], + [ + -0.9869224429130554, + 0.0314038023352623, + -0.15810762345790863, + -6.780835151672363 + ], + [ + -0.0119340680539608, + -0.9923824071884155, + -0.12261635065078735, + -1.7346410751342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3369, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_338469505", + "mask_path": "../../mask/hdr_front_03369.png" + }, + { + "file_path": "../../rgb/hdr_front_03370.png", + "transform_matrix": [ + [ + -0.1608390361070633, + -0.11713415384292603, + 0.9800052642822266, + 16.48431968688965 + ], + [ + -0.9869043827056885, + 0.03143792599439621, + -0.15821371972560883, + -6.7769083976745605 + ], + [ + -0.012277101166546345, + -0.9926184415817261, + -0.12065663933753967, + -1.7257933616638184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3370, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_438468933", + "mask_path": "../../mask/hdr_front_03370.png" + }, + { + "file_path": "../../rgb/hdr_front_03371.png", + "transform_matrix": [ + [ + -0.1555953025817871, + -0.11529538035392761, + 0.9810694456100464, + 16.426748275756836 + ], + [ + -0.9876819849014282, + 0.034808166325092316, + -0.15255340933799744, + -6.772234916687012 + ], + [ + -0.016560519114136696, + -0.9927211999893188, + -0.11929115653038025, + -1.721852421760559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3371, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_538470506", + "mask_path": "../../mask/hdr_front_03371.png" + }, + { + "file_path": "../../rgb/hdr_front_03372.png", + "transform_matrix": [ + [ + -0.1534239500761032, + -0.11058583855628967, + 0.9819530844688416, + 16.366214752197266 + ], + [ + -0.9879974126815796, + 0.03521603345870972, + -0.15040239691734314, + -6.76242208480835 + ], + [ + -0.017948118969798088, + -0.9932425022125244, + -0.11466150730848312, + -1.7194654941558838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3372, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_638468265", + "mask_path": "../../mask/hdr_front_03372.png" + }, + { + "file_path": "../../rgb/hdr_front_03373.png", + "transform_matrix": [ + [ + -0.15874376893043518, + -0.11170550435781479, + 0.9809802770614624, + 16.301849365234375 + ], + [ + -0.9870431423187256, + 0.04147756099700928, + -0.15500177443027496, + -6.749459743499756 + ], + [ + -0.02337411418557167, + -0.9928753972053528, + -0.11684245616197586, + -1.7016383409500122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3373, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_738469839", + "mask_path": "../../mask/hdr_front_03373.png" + }, + { + "file_path": "../../rgb/hdr_front_03374.png", + "transform_matrix": [ + [ + -0.17140011489391327, + -0.11893849819898605, + 0.977995753288269, + 16.24150848388672 + ], + [ + -0.9850152730941772, + 0.03998805582523346, + -0.1677672117948532, + -6.73532247543335 + ], + [ + -0.01915416494011879, + -0.9920960664749146, + -0.12401020526885986, + -1.6817245483398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3374, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_838470220", + "mask_path": "../../mask/hdr_front_03374.png" + }, + { + "file_path": "../../rgb/hdr_front_03375.png", + "transform_matrix": [ + [ + -0.1769571602344513, + -0.11945486068725586, + 0.9769425988197327, + 16.177349090576172 + ], + [ + -0.9840335249900818, + 0.04072064533829689, + -0.17326249182224274, + -6.726714134216309 + ], + [ + -0.019084684550762177, + -0.9920042157173157, + -0.12475339323282242, + -1.6705864667892456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3375, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_938471555", + "mask_path": "../../mask/hdr_front_03375.png" + }, + { + "file_path": "../../rgb/hdr_front_03376.png", + "transform_matrix": [ + [ + -0.17464622855186462, + -0.11423297971487045, + 0.9779824018478394, + 16.105144500732422 + ], + [ + -0.9842831492424011, + 0.046661376953125, + -0.17032115161418915, + -6.715799808502197 + ], + [ + -0.02617771178483963, + -0.9923575520515442, + -0.1205868348479271, + -1.6719293594360352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3376, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_38469552", + "mask_path": "../../mask/hdr_front_03376.png" + }, + { + "file_path": "../../rgb/hdr_front_03377.png", + "transform_matrix": [ + [ + -0.17439022660255432, + -0.1091265082359314, + 0.9786109924316406, + 16.048385620117188 + ], + [ + -0.9843049049377441, + 0.046624213457107544, + -0.17020578682422638, + -6.700358867645264 + ], + [ + -0.027053004130721092, + -0.9929338693618774, + -0.11554456502199173, + -1.6762773990631104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3377, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_138469696", + "mask_path": "../../mask/hdr_front_03377.png" + }, + { + "file_path": "../../rgb/hdr_front_03378.png", + "transform_matrix": [ + [ + -0.17819368839263916, + -0.105854831635952, + 0.9782851338386536, + 15.988219261169434 + ], + [ + -0.9836881756782532, + 0.044003091752529144, + -0.17441654205322266, + -6.684596538543701 + ], + [ + -0.024584736675024033, + -0.9934075474739075, + -0.1119692251086235, + -1.670793056488037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3378, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_238469600", + "mask_path": "../../mask/hdr_front_03378.png" + }, + { + "file_path": "../../rgb/hdr_front_03379.png", + "transform_matrix": [ + [ + -0.18795594573020935, + -0.1043521985411644, + 0.9766182899475098, + 15.933530807495117 + ], + [ + -0.9819340705871582, + 0.04209813103079796, + -0.18448081612586975, + -6.667922019958496 + ], + [ + -0.021862821653485298, + -0.9936490654945374, + -0.11037957668304443, + -1.657294750213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3379, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_338470458", + "mask_path": "../../mask/hdr_front_03379.png" + }, + { + "file_path": "../../rgb/hdr_front_03381.png", + "transform_matrix": [ + [ + -0.2011704444885254, + -0.09443763643503189, + 0.9749933481216431, + 15.822044372558594 + ], + [ + -0.9793893694877625, + 0.037767913192510605, + -0.19841927289962769, + -6.649917125701904 + ], + [ + -0.018085217103362083, + -0.9948141574859619, + -0.10008899122476578, + -1.6505013704299927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3381, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_538469791", + "mask_path": "../../mask/hdr_front_03381.png" + }, + { + "file_path": "../../rgb/hdr_front_03382.png", + "transform_matrix": [ + [ + -0.19531995058059692, + -0.08744072914123535, + 0.9768338799476624, + 15.763771057128906 + ], + [ + -0.9804387092590332, + 0.04207640886306763, + -0.1922743320465088, + -6.643164157867432 + ], + [ + -0.024289047345519066, + -0.9952807426452637, + -0.09394864737987518, + -1.6516934633255005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3382, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_638469457", + "mask_path": "../../mask/hdr_front_03382.png" + }, + { + "file_path": "../../rgb/hdr_front_03384.png", + "transform_matrix": [ + [ + -0.19601468741893768, + -0.07469620555639267, + 0.9777518510818481, + 15.676647186279297 + ], + [ + -0.9802427291870117, + 0.04187722131609917, + -0.1933148056268692, + -6.616977214813232 + ], + [ + -0.026505645364522934, + -0.9963266849517822, + -0.08142894506454468, + -1.6509971618652344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3384, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_838468790", + "mask_path": "../../mask/hdr_front_03384.png" + }, + { + "file_path": "../../rgb/hdr_front_03386.png", + "transform_matrix": [ + [ + -0.21648496389389038, + -0.07574024051427841, + 0.9733436107635498, + 15.589599609375 + ], + [ + -0.9762175679206848, + 0.028592005372047424, + -0.21489934623241425, + -6.595303535461426 + ], + [ + -0.011553316377103329, + -0.9967175722122192, + -0.08012868463993073, + -1.626340389251709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3386, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_38469791", + "mask_path": "../../mask/hdr_front_03386.png" + }, + { + "file_path": "../../rgb/hdr_front_03387.png", + "transform_matrix": [ + [ + -0.2182617485523224, + -0.07407213747501373, + 0.9730751514434814, + 15.532827377319336 + ], + [ + -0.9758414626121521, + 0.026541639119386673, + -0.21686185896396637, + -6.586802959442139 + ], + [ + -0.009763585403561592, + -0.9968996644020081, + -0.07807569205760956, + -1.6218427419662476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3387, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_138471126", + "mask_path": "../../mask/hdr_front_03387.png" + }, + { + "file_path": "../../rgb/hdr_front_03388.png", + "transform_matrix": [ + [ + -0.21053250133991241, + -0.07138851284980774, + 0.9749767780303955, + 15.481566429138184 + ], + [ + -0.9774373769760132, + 0.0328078493475914, + -0.20866166055202484, + -6.579513072967529 + ], + [ + -0.017090847715735435, + -0.9969089031219482, + -0.07668492943048477, + -1.6205276250839233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3388, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_238469839", + "mask_path": "../../mask/hdr_front_03388.png" + }, + { + "file_path": "../../rgb/hdr_front_03390.png", + "transform_matrix": [ + [ + -0.2134004384279251, + -0.060352616012096405, + 0.9750989079475403, + 15.398630142211914 + ], + [ + -0.9766518473625183, + 0.03844055160880089, + -0.2113610953092575, + -6.551511764526367 + ], + [ + -0.024727148935198784, + -0.9974367022514343, + -0.06714671850204468, + -1.6132014989852905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3390, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_438469171", + "mask_path": "../../mask/hdr_front_03390.png" + }, + { + "file_path": "../../rgb/hdr_front_03392.png", + "transform_matrix": [ + [ + -0.22829432785511017, + -0.06679520010948181, + 0.9712981581687927, + 15.316500663757324 + ], + [ + -0.9734005928039551, + 0.0354502871632576, + -0.2263506054878235, + -6.523387908935547 + ], + [ + -0.019313665106892586, + -0.9971367716789246, + -0.07311158627271652, + -1.599696159362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3392, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_638469457", + "mask_path": "../../mask/hdr_front_03392.png" + }, + { + "file_path": "../../rgb/hdr_front_03394.png", + "transform_matrix": [ + [ + -0.20527523756027222, + -0.06887567043304443, + 0.9762778282165527, + 15.225878715515137 + ], + [ + -0.9784135222434998, + 0.038752783089876175, + -0.2029903680086136, + -6.509626388549805 + ], + [ + -0.023852378129959106, + -0.9968722462654114, + -0.07534387707710266, + -1.5880554914474487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3394, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_838469982", + "mask_path": "../../mask/hdr_front_03394.png" + }, + { + "file_path": "../../rgb/hdr_front_03396.png", + "transform_matrix": [ + [ + -0.17656771838665009, + -0.07074426859617233, + 0.9817428588867188, + 15.141404151916504 + ], + [ + -0.9836462736129761, + 0.048707012087106705, + -0.17340025305747986, + -6.499260425567627 + ], + [ + -0.035550687462091446, + -0.9963046312332153, + -0.07818742096424103, + -1.576019525527954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3396, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_38470268", + "mask_path": "../../mask/hdr_front_03396.png" + }, + { + "file_path": "../../rgb/hdr_front_03398.png", + "transform_matrix": [ + [ + -0.1765785664319992, + -0.07916150242090225, + 0.9810981750488281, + 15.058797836303711 + ], + [ + -0.9838885068893433, + 0.04253910109400749, + -0.17364846169948578, + -6.485439777374268 + ], + [ + -0.027988754212856293, + -0.9959537982940674, + -0.08539758622646332, + -1.5585638284683228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3398, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_238470554", + "mask_path": "../../mask/hdr_front_03398.png" + }, + { + "file_path": "../../rgb/hdr_front_03399.png", + "transform_matrix": [ + [ + -0.1687205731868744, + -0.08616241812705994, + 0.9818907380104065, + 15.002532005310059 + ], + [ + -0.9853758215904236, + 0.0388275571167469, + -0.16591225564479828, + -6.482540607452393 + ], + [ + -0.023829016834497452, + -0.9955242872238159, + -0.09145336598157883, + -1.549780011177063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3399, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_338469266", + "mask_path": "../../mask/hdr_front_03399.png" + }, + { + "file_path": "../../rgb/hdr_front_03400.png", + "transform_matrix": [ + [ + -0.15695011615753174, + -0.08872915804386139, + 0.9836126565933228, + 14.947359085083008 + ], + [ + -0.9872192144393921, + 0.04198644310235977, + -0.1537380963563919, + -6.481322288513184 + ], + [ + -0.027657337486743927, + -0.9951704740524292, + -0.09418489784002304, + -1.547291874885559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3400, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_438469409", + "mask_path": "../../mask/hdr_front_03400.png" + }, + { + "file_path": "../../rgb/hdr_front_03401.png", + "transform_matrix": [ + [ + -0.15038245916366577, + -0.09118134528398514, + 0.9844141006469727, + 14.89481258392334 + ], + [ + -0.9882172346115112, + 0.04256134480237961, + -0.14702120423316956, + -6.479769229888916 + ], + [ + -0.02849239483475685, + -0.9949243664741516, + -0.09650745987892151, + -1.5477839708328247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3401, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_538469791", + "mask_path": "../../mask/hdr_front_03401.png" + }, + { + "file_path": "../../rgb/hdr_front_03402.png", + "transform_matrix": [ + [ + -0.15167830884456635, + -0.0950956717133522, + 0.9838448166847229, + 14.84095287322998 + ], + [ + -0.9878596663475037, + 0.048389919102191925, + -0.1476200670003891, + -6.471348285675049 + ], + [ + -0.03357013314962387, + -0.9942914247512817, + -0.10128088295459747, + -1.5335991382598877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3402, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_638469457", + "mask_path": "../../mask/hdr_front_03402.png" + }, + { + "file_path": "../../rgb/hdr_front_03404.png", + "transform_matrix": [ + [ + -0.1615794599056244, + -0.10934856534004211, + 0.9807828664779663, + 14.737225532531738 + ], + [ + -0.9866414070129395, + 0.03880363702774048, + -0.1582183688879013, + -6.45348596572876 + ], + [ + -0.020756985992193222, + -0.9932457804679871, + -0.11415769159793854, + -1.5052244663238525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3404, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_838469743", + "mask_path": "../../mask/hdr_front_03404.png" + }, + { + "file_path": "../../rgb/hdr_front_03405.png", + "transform_matrix": [ + [ + -0.1539154201745987, + -0.11633807420730591, + 0.981211245059967, + 14.679118156433105 + ], + [ + -0.9879042506217957, + 0.03706204146146774, + -0.15057098865509033, + -6.448803901672363 + ], + [ + -0.01884854957461357, + -0.9925180077552795, + -0.12063530087471008, + -1.4937844276428223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3405, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_938468456", + "mask_path": "../../mask/hdr_front_03405.png" + }, + { + "file_path": "../../rgb/hdr_left_00886.png", + "transform_matrix": [ + [ + 0.9868691563606262, + -0.10942074656486511, + 0.11881229281425476, + 15.273268699645996 + ], + [ + -0.11796627193689346, + 0.014196230098605156, + 0.9929161071777344, + -6.894983768463135 + ], + [ + -0.11033231019973755, + -0.9938941597938538, + 0.0011018643854185939, + -1.5952763557434082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 886, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_438470363", + "mask_path": "../../mask/hdr_left_00886.png" + }, + { + "file_path": "../../rgb/hdr_left_00887.png", + "transform_matrix": [ + [ + 0.9837617874145508, + -0.10911352187395096, + 0.1425020843744278, + 15.329684257507324 + ], + [ + -0.1413884311914444, + 0.017916055396199226, + 0.9897920489311218, + -6.888704299926758 + ], + [ + -0.11055276542901993, + -0.9938678741455078, + 0.0021977443248033524, + -1.6046373844146729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 887, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_538469791", + "mask_path": "../../mask/hdr_left_00887.png" + }, + { + "file_path": "../../rgb/hdr_left_00888.png", + "transform_matrix": [ + [ + 0.9813467264175415, + -0.11342224478721619, + 0.155222088098526, + 15.4026460647583 + ], + [ + -0.15422143042087555, + 0.01759837009012699, + 0.9878795742988586, + -6.885871887207031 + ], + [ + -0.11477916687726974, + -0.9933910369873047, + -0.0002220363385276869, + -1.6237825155258179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 888, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_638470411", + "mask_path": "../../mask/hdr_left_00888.png" + }, + { + "file_path": "../../rgb/hdr_left_00889.png", + "transform_matrix": [ + [ + 0.9798622131347656, + -0.11121352016925812, + 0.16583606600761414, + 15.461912155151367 + ], + [ + -0.1645541489124298, + 0.02067253738641739, + 0.9861513376235962, + -6.881375312805176 + ], + [ + -0.11310161650180817, + -0.9935815334320068, + 0.001955595798790455, + -1.639751672744751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 889, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_738467693", + "mask_path": "../../mask/hdr_left_00889.png" + }, + { + "file_path": "../../rgb/hdr_left_00890.png", + "transform_matrix": [ + [ + 0.9767017364501953, + -0.11394590139389038, + 0.18185195326805115, + 15.521055221557617 + ], + [ + -0.18038974702358246, + 0.02310210093855858, + 0.983323872089386, + -6.876893520355225 + ], + [ + -0.11624687165021896, + -0.9932184219360352, + 0.0020091922488063574, + -1.6525444984436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 890, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_838469028", + "mask_path": "../../mask/hdr_left_00890.png" + }, + { + "file_path": "../../rgb/hdr_left_00891.png", + "transform_matrix": [ + [ + 0.9709954857826233, + -0.12253556400537491, + 0.2053113430738449, + 15.587587356567383 + ], + [ + -0.203755185008049, + 0.025234855711460114, + 0.9786966443061829, + -6.879948139190674 + ], + [ + -0.12510614097118378, + -0.9921432733535767, + -0.0004643244028557092, + -1.6623033285140991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 891, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_938469648", + "mask_path": "../../mask/hdr_left_00891.png" + }, + { + "file_path": "../../rgb/hdr_left_00892.png", + "transform_matrix": [ + [ + 0.9651042819023132, + -0.11905544996261597, + 0.23323702812194824, + 15.649506568908691 + ], + [ + -0.23160138726234436, + 0.02758990041911602, + 0.9724193811416626, + -6.890262126922607 + ], + [ + -0.12220681458711624, + -0.9925042986869812, + -0.0009462719317525625, + -1.6677916049957275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 892, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_38469314", + "mask_path": "../../mask/hdr_left_00892.png" + }, + { + "file_path": "../../rgb/hdr_left_00893.png", + "transform_matrix": [ + [ + 0.959513783454895, + -0.11358692497015, + 0.25774258375167847, + 15.721048355102539 + ], + [ + -0.25583454966545105, + 0.031319331377744675, + 0.9662131071090698, + -6.892708778381348 + ], + [ + -0.11782148480415344, + -0.9930343627929688, + 0.0009918775176629424, + -1.673356533050537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 893, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_138469457", + "mask_path": "../../mask/hdr_left_00893.png" + }, + { + "file_path": "../../rgb/hdr_left_00894.png", + "transform_matrix": [ + [ + 0.956466794013977, + -0.11312958598136902, + 0.2690217196941376, + 15.804282188415527 + ], + [ + -0.2669079303741455, + 0.03372032940387726, + 0.9631319046020508, + -6.895932197570801 + ], + [ + -0.11803019791841507, + -0.9930078387260437, + 0.0020571965724229813, + -1.6853500604629517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 894, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_238469123", + "mask_path": "../../mask/hdr_left_00894.png" + }, + { + "file_path": "../../rgb/hdr_left_00895.png", + "transform_matrix": [ + [ + 0.9553546905517578, + -0.1096436008810997, + 0.2743638753890991, + 15.86709976196289 + ], + [ + -0.2718333303928375, + 0.03769176825881004, + 0.961605966091156, + -6.896208763122559 + ], + [ + -0.11577519029378891, + -0.9932560920715332, + 0.006204226519912481, + -1.6969246864318848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 895, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_338470220", + "mask_path": "../../mask/hdr_left_00895.png" + }, + { + "file_path": "../../rgb/hdr_left_00896.png", + "transform_matrix": [ + [ + 0.9528989791870117, + -0.10928397625684738, + 0.2829141914844513, + 15.936488151550293 + ], + [ + -0.28032976388931274, + 0.03865310922265053, + 0.9591252207756042, + -6.9033894538879395 + ], + [ + -0.11575251072645187, + -0.9932587742805481, + 0.006196958944201469, + -1.7059071063995361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 896, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_438469648", + "mask_path": "../../mask/hdr_left_00896.png" + }, + { + "file_path": "../../rgb/hdr_left_00897.png", + "transform_matrix": [ + [ + 0.9498738646507263, + -0.11121981590986252, + 0.29218095541000366, + 15.9992036819458 + ], + [ + -0.2897986173629761, + 0.037379100918769836, + 0.9563574194908142, + -6.910660743713379 + ], + [ + -0.11728734523057938, + -0.9930926561355591, + 0.003274085232988, + -1.7098830938339233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 897, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_538467884", + "mask_path": "../../mask/hdr_left_00897.png" + }, + { + "file_path": "../../rgb/hdr_left_00898.png", + "transform_matrix": [ + [ + 0.947435200214386, + -0.1058650091290474, + 0.3019256591796875, + 16.0609073638916 + ], + [ + -0.2993970811367035, + 0.03939811885356903, + 0.9533147811889648, + -6.916522979736328 + ], + [ + -0.11281798034906387, + -0.9935997724533081, + 0.005631493870168924, + -1.7146016359329224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 898, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_638468980", + "mask_path": "../../mask/hdr_left_00898.png" + }, + { + "file_path": "../../rgb/hdr_left_00899.png", + "transform_matrix": [ + [ + 0.9463479518890381, + -0.0998624935746193, + 0.30733203887939453, + 16.13882827758789 + ], + [ + -0.3041972219944, + 0.04561298340559006, + 0.9515164494514465, + -6.919051647186279 + ], + [ + -0.10903912037611008, + -0.9939552545547485, + 0.012787861749529839, + -1.7260512113571167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 899, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_738469600", + "mask_path": "../../mask/hdr_left_00899.png" + }, + { + "file_path": "../../rgb/hdr_left_00900.png", + "transform_matrix": [ + [ + 0.9485912919044495, + -0.09599631279706955, + 0.3015943765640259, + 16.22237777709961 + ], + [ + -0.29808640480041504, + 0.049340762197971344, + 0.9532627463340759, + -6.919376373291016 + ], + [ + -0.10639061033725739, + -0.9941580891609192, + 0.018189022317528725, + -1.7354114055633545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 900, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_838469266", + "mask_path": "../../mask/hdr_left_00900.png" + }, + { + "file_path": "../../rgb/hdr_left_00901.png", + "transform_matrix": [ + [ + 0.9503691792488098, + -0.09090239554643631, + 0.29754841327667236, + 16.29450035095215 + ], + [ + -0.29389557242393494, + 0.051537979394197464, + 0.9544470310211182, + -6.922670841217041 + ], + [ + -0.1020965650677681, + -0.9945253133773804, + 0.02226429618895054, + -1.7433726787567139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 901, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_938471078", + "mask_path": "../../mask/hdr_left_00901.png" + }, + { + "file_path": "../../rgb/hdr_left_00902.png", + "transform_matrix": [ + [ + 0.9492750763893127, + -0.08994515240192413, + 0.301308274269104, + 16.37092399597168 + ], + [ + -0.29756686091423035, + 0.05277300253510475, + 0.9532413482666016, + -6.935176372528076 + ], + [ + -0.10164037346839905, + -0.9945476651191711, + 0.023331396281719208, + -1.744774580001831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 902, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_38469314", + "mask_path": "../../mask/hdr_left_00902.png" + }, + { + "file_path": "../../rgb/hdr_left_00903.png", + "transform_matrix": [ + [ + 0.9460715055465698, + -0.08786923438310623, + 0.3118133842945099, + 16.439558029174805 + ], + [ + -0.30818405747413635, + 0.05256728455424309, + 0.9498733282089233, + -6.948583126068115 + ], + [ + -0.09985582530498505, + -0.994744062423706, + 0.02265251614153385, + -1.7452335357666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 903, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_138470411", + "mask_path": "../../mask/hdr_left_00903.png" + }, + { + "file_path": "../../rgb/hdr_left_00904.png", + "transform_matrix": [ + [ + 0.9435983896255493, + -0.08193498849868774, + 0.32079362869262695, + 16.505067825317383 + ], + [ + -0.31710290908813477, + 0.05501575767993927, + 0.9467940330505371, + -6.956482887268066 + ], + [ + -0.09522426128387451, + -0.9951181411743164, + 0.025930967181921005, + -1.7506717443466187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 904, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_238469839", + "mask_path": "../../mask/hdr_left_00904.png" + }, + { + "file_path": "../../rgb/hdr_left_00905.png", + "transform_matrix": [ + [ + 0.9430065155029297, + -0.08025161176919937, + 0.32295241951942444, + 16.59151840209961 + ], + [ + -0.31947070360183716, + 0.053336720913648605, + 0.9460938572883606, + -6.958711624145508 + ], + [ + -0.0931507796049118, + -0.9953466653823853, + 0.024658847600221634, + -1.7638332843780518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 905, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_338469743", + "mask_path": "../../mask/hdr_left_00905.png" + }, + { + "file_path": "../../rgb/hdr_left_00906.png", + "transform_matrix": [ + [ + 0.9447983503341675, + -0.07848149538040161, + 0.31811416149139404, + 16.669113159179688 + ], + [ + -0.3146595358848572, + 0.05336390808224678, + 0.9477033019065857, + -6.960330963134766 + ], + [ + -0.09135298430919647, + -0.9954863786697388, + 0.02572319097816944, + -1.776052713394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 906, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_438469171", + "mask_path": "../../mask/hdr_left_00906.png" + }, + { + "file_path": "../../rgb/hdr_left_00907.png", + "transform_matrix": [ + [ + 0.9450129270553589, + -0.07532850652933121, + 0.3182390332221985, + 16.736183166503906 + ], + [ + -0.31459876894950867, + 0.05638105422258377, + 0.9475488066673279, + -6.967373371124268 + ], + [ + -0.08932008594274521, + -0.9955636262893677, + 0.029582571238279343, + -1.782051682472229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 907, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_538469552", + "mask_path": "../../mask/hdr_left_00907.png" + }, + { + "file_path": "../../rgb/hdr_left_00908.png", + "transform_matrix": [ + [ + 0.9421089887619019, + -0.08059413731098175, + 0.32547688484191895, + 16.807476043701172 + ], + [ + -0.3211841583251953, + 0.06183783710002899, + 0.9449957013130188, + -6.98614501953125 + ], + [ + -0.09628788381814957, + -0.9948270320892334, + 0.032372426241636276, + -1.7874795198440552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 908, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_638469219", + "mask_path": "../../mask/hdr_left_00908.png" + }, + { + "file_path": "../../rgb/hdr_left_00909.png", + "transform_matrix": [ + [ + 0.9380788207054138, + -0.08055218309164047, + 0.33692631125450134, + 16.866724014282227 + ], + [ + -0.3333211839199066, + 0.05505727231502533, + 0.9412043690681458, + -7.000887393951416 + ], + [ + -0.09436631202697754, + -0.9952287077903748, + 0.02479831501841545, + -1.7871503829956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 909, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_738470077", + "mask_path": "../../mask/hdr_left_00909.png" + }, + { + "file_path": "../../rgb/hdr_left_00911.png", + "transform_matrix": [ + [ + 0.9321507215499878, + -0.08783707022666931, + 0.3512544631958008, + 16.997413635253906 + ], + [ + -0.3485119640827179, + 0.04532719403505325, + 0.9362075924873352, + -7.013538837432861 + ], + [ + -0.09815512597560883, + -0.995103120803833, + 0.011639502830803394, + -1.8051083087921143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 911, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_938471317", + "mask_path": "../../mask/hdr_left_00911.png" + }, + { + "file_path": "../../rgb/hdr_left_00912.png", + "transform_matrix": [ + [ + 0.9328376650810242, + -0.09342101216316223, + 0.3479747772216797, + 17.060361862182617 + ], + [ + -0.3453390896320343, + 0.04355994984507561, + 0.937466561794281, + -7.019766807556152 + ], + [ + -0.10273683816194534, + -0.9946733713150024, + 0.008372439071536064, + -1.820552110671997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 912, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_38468599", + "mask_path": "../../mask/hdr_left_00912.png" + }, + { + "file_path": "../../rgb/hdr_left_00913.png", + "transform_matrix": [ + [ + 0.9340609908103943, + -0.09390658140182495, + 0.34454530477523804, + 17.11947250366211 + ], + [ + -0.34191685914993286, + 0.043285004794597626, + 0.9387327432632446, + -7.02749490737915 + ], + [ + -0.1030668318271637, + -0.9946396350860596, + 0.008322597481310368, + -1.8295451402664185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 913, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_138470172", + "mask_path": "../../mask/hdr_left_00913.png" + }, + { + "file_path": "../../rgb/hdr_left_00914.png", + "transform_matrix": [ + [ + 0.9341315031051636, + -0.10071717947721481, + 0.3424239754676819, + 17.19182777404785 + ], + [ + -0.3396044373512268, + 0.044460222125053406, + 0.9395169615745544, + -7.040035247802734 + ], + [ + -0.10984974354505539, + -0.9939212203025818, + 0.007327697705477476, + -1.8386199474334717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 914, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_238470792", + "mask_path": "../../mask/hdr_left_00914.png" + }, + { + "file_path": "../../rgb/hdr_left_00915.png", + "transform_matrix": [ + [ + 0.9314155578613281, + -0.1102871298789978, + 0.34684544801712036, + 17.254552841186523 + ], + [ + -0.344590961933136, + 0.039500653743743896, + 0.9379214644432068, + -7.052027225494385 + ], + [ + -0.11714129149913788, + -0.9931145906448364, + -0.00121242122258991, + -1.8436957597732544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 915, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_338469743", + "mask_path": "../../mask/hdr_left_00915.png" + }, + { + "file_path": "../../rgb/hdr_left_00917.png", + "transform_matrix": [ + [ + 0.9320581555366516, + -0.10014838725328445, + 0.34819233417510986, + 17.38177490234375 + ], + [ + -0.34631380438804626, + 0.036133959889411926, + 0.9374226331710815, + -7.068848609924316 + ], + [ + -0.10646291822195053, + -0.9943161606788635, + -0.001003815676085651, + -1.855465054512024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 917, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_538469076", + "mask_path": "../../mask/hdr_left_00917.png" + }, + { + "file_path": "../../rgb/hdr_left_00918.png", + "transform_matrix": [ + [ + 0.9392951726913452, + -0.10755212604999542, + 0.3258174955844879, + 17.459632873535156 + ], + [ + -0.32403290271759033, + 0.03416610509157181, + 0.9454286098480225, + -7.07425594329834 + ], + [ + -0.1128147765994072, + -0.9936122298240662, + -0.0027583667542785406, + -1.8706034421920776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 918, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_638468980", + "mask_path": "../../mask/hdr_left_00918.png" + }, + { + "file_path": "../../rgb/hdr_left_00919.png", + "transform_matrix": [ + [ + 0.9479042291641235, + -0.10450208187103271, + 0.30092653632164, + 17.52659034729004 + ], + [ + -0.29912057518959045, + 0.03291919827461243, + 0.9536473155021667, + -7.072107791900635 + ], + [ + -0.10956437885761261, + -0.9939796924591064, + -5.447164585348219e-05, + -1.8843733072280884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 919, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_738469123", + "mask_path": "../../mask/hdr_left_00919.png" + }, + { + "file_path": "../../rgb/hdr_left_00920.png", + "transform_matrix": [ + [ + 0.9557415843009949, + -0.10137517005205154, + 0.2761900722980499, + 17.604427337646484 + ], + [ + -0.2741817235946655, + 0.03351563215255737, + 0.9610937237739563, + -7.07382345199585 + ], + [ + -0.10668771713972092, + -0.9942835569381714, + 0.004237071610987186, + -1.894225835800171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 920, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_838469028", + "mask_path": "../../mask/hdr_left_00920.png" + }, + { + "file_path": "../../rgb/hdr_left_00921.png", + "transform_matrix": [ + [ + 0.9613400101661682, + -0.1012825295329094, + 0.2560608386993408, + 17.682456970214844 + ], + [ + -0.2540932595729828, + 0.03209301084280014, + 0.9666470885276794, + -7.081328868865967 + ], + [ + -0.1061222180724144, + -0.9943399429321289, + 0.005117093678563833, + -1.9007081985473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 921, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_938469409", + "mask_path": "../../mask/hdr_left_00921.png" + }, + { + "file_path": "../../rgb/hdr_left_00922.png", + "transform_matrix": [ + [ + 0.9668922424316406, + -0.09454716742038727, + 0.23702333867549896, + 17.742202758789062 + ], + [ + -0.23501135408878326, + 0.032037824392318726, + 0.9714644551277161, + -7.076330184936523 + ], + [ + -0.09944291412830353, + -0.9950047731399536, + 0.008757469244301319, + -1.9043346643447876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 922, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_38469314", + "mask_path": "../../mask/hdr_left_00922.png" + }, + { + "file_path": "../../rgb/hdr_left_00923.png", + "transform_matrix": [ + [ + 0.9703447818756104, + -0.08731956034898758, + 0.22540229558944702, + 17.809612274169922 + ], + [ + -0.22332333028316498, + 0.03301575779914856, + 0.974185049533844, + -7.070919513702393 + ], + [ + -0.09250722825527191, + -0.9956331253051758, + 0.012536176480352879, + -1.9140454530715942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 923, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_138469696", + "mask_path": "../../mask/hdr_left_00923.png" + }, + { + "file_path": "../../rgb/hdr_left_00924.png", + "transform_matrix": [ + [ + 0.9720539450645447, + -0.09049102663993835, + 0.21661606431007385, + 17.888837814331055 + ], + [ + -0.2150125801563263, + 0.027225311845541, + 0.9762316942214966, + -7.072348594665527 + ], + [ + -0.09423764050006866, + -0.995525062084198, + 0.00700776232406497, + -1.9305877685546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 924, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_238468647", + "mask_path": "../../mask/hdr_left_00924.png" + }, + { + "file_path": "../../rgb/hdr_left_00925.png", + "transform_matrix": [ + [ + 0.9745681881904602, + -0.09101101011037827, + 0.20477734506130219, + 17.955219268798828 + ], + [ + -0.20330289006233215, + 0.025286581367254257, + 0.9787893295288086, + -7.0667619705200195 + ], + [ + -0.09425871074199677, + -0.9955288171768188, + 0.006140701472759247, + -1.9430947303771973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 925, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_338469982", + "mask_path": "../../mask/hdr_left_00925.png" + }, + { + "file_path": "../../rgb/hdr_left_00926.png", + "transform_matrix": [ + [ + 0.9775190353393555, + -0.08652202785015106, + 0.19227701425552368, + 18.016082763671875 + ], + [ + -0.1909954696893692, + 0.022932054474949837, + 0.9813229441642761, + -7.057703971862793 + ], + [ + -0.08931535482406616, + -0.9959859848022461, + 0.005891204811632633, + -1.9533122777938843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 926, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_438469409", + "mask_path": "../../mask/hdr_left_00926.png" + }, + { + "file_path": "../../rgb/hdr_left_00927.png", + "transform_matrix": [ + [ + 0.9793021082878113, + -0.0869283452630043, + 0.18278621137142181, + 18.090484619140625 + ], + [ + -0.1814832091331482, + 0.022730838507413864, + 0.9831312298774719, + -7.0543389320373535 + ], + [ + -0.08961685001850128, + -0.9959552884101868, + 0.006484328303486109, + -1.9658162593841553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 927, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_538468360", + "mask_path": "../../mask/hdr_left_00927.png" + }, + { + "file_path": "../../rgb/hdr_left_00928.png", + "transform_matrix": [ + [ + 0.9795109629631042, + -0.09193652868270874, + 0.17918072640895844, + 18.1626033782959 + ], + [ + -0.17800816893577576, + 0.02086682990193367, + 0.9838076829910278, + -7.0535078048706055 + ], + [ + -0.09418680518865585, + -0.9955462217330933, + 0.004073836840689182, + -1.967174768447876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 928, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_638468027", + "mask_path": "../../mask/hdr_left_00928.png" + }, + { + "file_path": "../../rgb/hdr_left_00929.png", + "transform_matrix": [ + [ + 0.9802385568618774, + -0.08520741015672684, + 0.1785276234149933, + 18.22148895263672 + ], + [ + -0.17723770439624786, + 0.02253231778740883, + 0.983910083770752, + -7.0493855476379395 + ], + [ + -0.08785906434059143, + -0.9961084127426147, + 0.006985082756727934, + -1.9635772705078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 929, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_738470077", + "mask_path": "../../mask/hdr_left_00929.png" + }, + { + "file_path": "../../rgb/hdr_left_00930.png", + "transform_matrix": [ + [ + 0.9810212254524231, + -0.0786871686577797, + 0.17721648514270782, + 18.29275894165039 + ], + [ + -0.1758238971233368, + 0.024342114105820656, + 0.9841206073760986, + -7.0415239334106445 + ], + [ + -0.08175148069858551, + -0.9966021776199341, + 0.010045048780739307, + -1.9671339988708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 930, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_838470220", + "mask_path": "../../mask/hdr_left_00930.png" + }, + { + "file_path": "../../rgb/hdr_left_00931.png", + "transform_matrix": [ + [ + 0.9830589294433594, + -0.08488453924655914, + 0.16244903206825256, + 18.378955841064453 + ], + [ + -0.16140376031398773, + 0.019081195816397667, + 0.9867039322853088, + -7.029074192047119 + ], + [ + -0.08685563504695892, + -0.996208131313324, + 0.005057259928435087, + -1.9830821752548218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 931, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_938469886", + "mask_path": "../../mask/hdr_left_00931.png" + }, + { + "file_path": "../../rgb/hdr_left_00932.png", + "transform_matrix": [ + [ + 0.9867621660232544, + -0.08755653351545334, + 0.1365068256855011, + 18.447154998779297 + ], + [ + -0.13588550686836243, + 0.01304625067859888, + 0.9906387329101562, + -7.015101432800293 + ], + [ + -0.08851778507232666, + -0.9960741400718689, + 0.0009758876403793693, + -1.9957095384597778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 932, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_38469552", + "mask_path": "../../mask/hdr_left_00932.png" + }, + { + "file_path": "../../rgb/hdr_left_00933.png", + "transform_matrix": [ + [ + 0.9899565577507019, + -0.08843722939491272, + 0.11029411107301712, + 18.506324768066406 + ], + [ + -0.10970524698495865, + 0.011506685987114906, + 0.9938976168632507, + -7.000403881072998 + ], + [ + -0.08916664868593216, + -0.9960153698921204, + 0.001689094235189259, + -2.007570266723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 933, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_138469457", + "mask_path": "../../mask/hdr_left_00933.png" + }, + { + "file_path": "../../rgb/hdr_left_00934.png", + "transform_matrix": [ + [ + 0.9917478561401367, + -0.0948571115732193, + 0.08624646067619324, + 18.586349487304688 + ], + [ + -0.08521511405706406, + 0.014877586625516415, + 0.9962514042854309, + -6.988311767578125 + ], + [ + -0.09578467160463333, + -0.9953798055648804, + 0.006671559531241655, + -2.018718957901001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 934, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_238469839", + "mask_path": "../../mask/hdr_left_00934.png" + }, + { + "file_path": "../../rgb/hdr_left_00935.png", + "transform_matrix": [ + [ + 0.9919925928115845, + -0.09935536980628967, + 0.07796953618526459, + 18.656675338745117 + ], + [ + -0.07711169868707657, + 0.012451115064322948, + 0.9969446659088135, + -6.97886323928833 + ], + [ + -0.10002259910106659, + -0.9949741959571838, + 0.004689960274845362, + -2.022094488143921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 935, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_338469982", + "mask_path": "../../mask/hdr_left_00935.png" + }, + { + "file_path": "../../rgb/hdr_left_00937.png", + "transform_matrix": [ + [ + 0.9935446381568909, + -0.0915779247879982, + 0.06695159524679184, + 18.775737762451172 + ], + [ + -0.06646160781383514, + 0.008393297903239727, + 0.9977536797523499, + -6.956448554992676 + ], + [ + -0.09193413704633713, + -0.9957626461982727, + 0.00225270539522171, + -2.03912091255188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 937, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_538469791", + "mask_path": "../../mask/hdr_left_00937.png" + }, + { + "file_path": "../../rgb/hdr_left_00938.png", + "transform_matrix": [ + [ + 0.993925929069519, + -0.09655792266130447, + 0.05279909446835518, + 18.849637985229492 + ], + [ + -0.05326502025127411, + -0.0022520481143146753, + 0.998577892780304, + -6.936328411102295 + ], + [ + -0.09630169719457626, + -0.9953247904777527, + -0.007381523959338665, + -2.052640914916992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 938, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_638469696", + "mask_path": "../../mask/hdr_left_00938.png" + }, + { + "file_path": "../../rgb/hdr_left_00939.png", + "transform_matrix": [ + [ + 0.994289755821228, + -0.0964282900094986, + 0.045710209757089615, + 18.89763832092285 + ], + [ + -0.04716861993074417, + -0.012898080050945282, + 0.9988036155700684, + -6.922489643096924 + ], + [ + -0.09572334587574005, + -0.9952564239501953, + -0.017372814938426018, + -2.06213116645813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 939, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_738469839", + "mask_path": "../../mask/hdr_left_00939.png" + }, + { + "file_path": "../../rgb/hdr_left_00941.png", + "transform_matrix": [ + [ + 0.9935638308525085, + -0.10538464039564133, + 0.04153186455368996, + 19.034238815307617 + ], + [ + -0.043802980333566666, + -0.019327325746417046, + 0.9988532066345215, + -6.900895595550537 + ], + [ + -0.10446108132600784, + -0.9942437410354614, + -0.0238190870732069, + -2.097266912460327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 941, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_938468694", + "mask_path": "../../mask/hdr_left_00941.png" + }, + { + "file_path": "../../rgb/hdr_left_00942.png", + "transform_matrix": [ + [ + 0.9913933277130127, + -0.12018148601055145, + 0.05191706120967865, + 19.106796264648438 + ], + [ + -0.055226534605026245, + -0.024370010942220688, + 0.9981763958930969, + -6.895417213439941 + ], + [ + -0.11869708448648453, + -0.9924528002738953, + -0.03079747036099434, + -2.103935956954956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 942, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_38470268", + "mask_path": "../../mask/hdr_left_00942.png" + }, + { + "file_path": "../../rgb/hdr_left_00943.png", + "transform_matrix": [ + [ + 0.9908726811408997, + -0.1178787425160408, + 0.0653890073299408, + 19.16277503967285 + ], + [ + -0.06897006183862686, + -0.026555830612778664, + 0.9972651600837708, + -6.894586086273193 + ], + [ + -0.11581990867853165, + -0.9926729202270508, + -0.03444354981184006, + -2.1096866130828857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 943, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_138470172", + "mask_path": "../../mask/hdr_left_00943.png" + }, + { + "file_path": "../../rgb/hdr_left_00944.png", + "transform_matrix": [ + [ + 0.9905508160591125, + -0.11096208542585373, + 0.08060074597597122, + 19.222597122192383 + ], + [ + -0.08409056812524796, + -0.02713080868124962, + 0.9960886836051941, + -6.890845775604248 + ], + [ + -0.10834129899740219, + -0.9934543371200562, + -0.03620530664920807, + -2.11944842338562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 944, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_238469839", + "mask_path": "../../mask/hdr_left_00944.png" + }, + { + "file_path": "../../rgb/hdr_left_00945.png", + "transform_matrix": [ + [ + 0.990631639957428, + -0.10739348828792572, + 0.08435341715812683, + 19.30341339111328 + ], + [ + -0.08859819173812866, + -0.0353790782392025, + 0.9954389929771423, + -6.875504493713379 + ], + [ + -0.10391930490732193, + -0.9935869574546814, + -0.04456249624490738, + -2.124042272567749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 945, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_338468551", + "mask_path": "../../mask/hdr_left_00945.png" + }, + { + "file_path": "../../rgb/hdr_left_00946.png", + "transform_matrix": [ + [ + 0.9914523959159851, + -0.10530991852283478, + 0.07701830565929413, + 19.3735408782959 + ], + [ + -0.08186006546020508, + -0.04244786128401756, + 0.9957395195960999, + -6.863619804382324 + ], + [ + -0.10159196704626083, + -0.9935330748558044, + -0.05070571228861809, + -2.1300103664398193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 946, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_438468933", + "mask_path": "../../mask/hdr_left_00946.png" + }, + { + "file_path": "../../rgb/hdr_left_00947.png", + "transform_matrix": [ + [ + 0.992158830165863, + -0.10211316496133804, + 0.07206664234399796, + 19.432086944580078 + ], + [ + -0.07675361633300781, + -0.04273448511958122, + 0.9961338639259338, + -6.855488300323486 + ], + [ + -0.09863864630460739, + -0.9938545227050781, + -0.05023695528507233, + -2.1432149410247803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 947, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_538469552", + "mask_path": "../../mask/hdr_left_00947.png" + }, + { + "file_path": "../../rgb/hdr_left_00948.png", + "transform_matrix": [ + [ + 0.991954505443573, + -0.10466253012418747, + 0.07121694087982178, + 19.50395965576172 + ], + [ + -0.07603874802589417, + -0.04282081127166748, + 0.9961848855018616, + -6.848604202270508 + ], + [ + -0.10121366381645203, + -0.9935855269432068, + -0.05043470859527588, + -2.1535041332244873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 948, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_638469219", + "mask_path": "../../mask/hdr_left_00948.png" + }, + { + "file_path": "../../rgb/hdr_left_00949.png", + "transform_matrix": [ + [ + 0.9901424646377563, + -0.11521404981613159, + 0.07964611798524857, + 19.572303771972656 + ], + [ + -0.08516848832368851, + -0.04382266849279404, + 0.9954023361206055, + -6.844712734222412 + ], + [ + -0.11119402199983597, + -0.9923735857009888, + -0.0532032810151577, + -2.156609296798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 949, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_738469600", + "mask_path": "../../mask/hdr_left_00949.png" + }, + { + "file_path": "../../rgb/hdr_left_00951.png", + "transform_matrix": [ + [ + 0.9891806840896606, + -0.10423342883586884, + 0.10323253273963928, + 19.66622543334961 + ], + [ + -0.10801734030246735, + -0.04133903980255127, + 0.9932891130447388, + -6.84488582611084 + ], + [ + -0.09926638752222061, + -0.9936934113502502, + -0.05215078964829445, + -2.172110080718994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 951, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_938469409", + "mask_path": "../../mask/hdr_left_00951.png" + }, + { + "file_path": "../../rgb/hdr_left_00952.png", + "transform_matrix": [ + [ + 0.9893037676811218, + -0.09255409240722656, + 0.11274608969688416, + 19.745361328125 + ], + [ + -0.11667101085186005, + -0.03813489153981209, + 0.9924382567405701, + -6.835290431976318 + ], + [ + -0.08755465596914291, + -0.9949771761894226, + -0.048525370657444, + -2.176633596420288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 952, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_38469314", + "mask_path": "../../mask/hdr_left_00952.png" + }, + { + "file_path": "../../rgb/hdr_left_00953.png", + "transform_matrix": [ + [ + 0.9897620677947998, + -0.08696921169757843, + 0.1131693497300148, + 19.81431770324707 + ], + [ + -0.117389015853405, + -0.045025914907455444, + 0.9920647740364075, + -6.825169563293457 + ], + [ + -0.0811835303902626, + -0.9951930642127991, + -0.054774168878793716, + -2.1755788326263428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 953, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_138469219", + "mask_path": "../../mask/hdr_left_00953.png" + }, + { + "file_path": "../../rgb/hdr_left_00954.png", + "transform_matrix": [ + [ + 0.9902381896972656, + -0.08101985603570938, + 0.1134198009967804, + 19.873981475830078 + ], + [ + -0.11717633157968521, + -0.04320748522877693, + 0.9921707510948181, + -6.818355560302734 + ], + [ + -0.07548494637012482, + -0.9957756400108337, + -0.052279312163591385, + -2.179814100265503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 954, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_238468408", + "mask_path": "../../mask/hdr_left_00954.png" + }, + { + "file_path": "../../rgb/hdr_left_00955.png", + "transform_matrix": [ + [ + 0.9901788830757141, + -0.07966107875108719, + 0.11489088088274002, + 19.943525314331055 + ], + [ + -0.11824285984039307, + -0.038706302642822266, + 0.9922300577163696, + -6.8180155754089355 + ], + [ + -0.07459510862827301, + -0.9960703253746033, + -0.047745510935783386, + -2.1848440170288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 955, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_338469266", + "mask_path": "../../mask/hdr_left_00955.png" + }, + { + "file_path": "../../rgb/hdr_left_00956.png", + "transform_matrix": [ + [ + 0.9889227151870728, + -0.08316994458436966, + 0.12294114381074905, + 20.0093936920166 + ], + [ + -0.1263197362422943, + -0.03663980960845947, + 0.9913126826286316, + -6.819690704345703 + ], + [ + -0.0779428780078888, + -0.9958615899085999, + -0.04673994705080986, + -2.1906702518463135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 956, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_438469171", + "mask_path": "../../mask/hdr_left_00956.png" + }, + { + "file_path": "../../rgb/hdr_left_00957.png", + "transform_matrix": [ + [ + 0.9874181151390076, + -0.08162899315357208, + 0.1354336440563202, + 20.05905532836914 + ], + [ + -0.1389867663383484, + -0.0395166352391243, + 0.9895055294036865, + -6.821683406829834 + ], + [ + -0.07542045414447784, + -0.9958791732788086, + -0.05036478862166405, + -2.191694736480713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 957, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_538469791", + "mask_path": "../../mask/hdr_left_00957.png" + }, + { + "file_path": "../../rgb/hdr_left_00959.png", + "transform_matrix": [ + [ + 0.9839763641357422, + -0.07532421499490738, + 0.16160710155963898, + 20.184520721435547 + ], + [ + -0.1653006374835968, + -0.04565409570932388, + 0.9851859211921692, + -6.8270158767700195 + ], + [ + -0.06683032959699631, + -0.9961134791374207, + -0.057373687624931335, + -2.2113778591156006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 959, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_738470077", + "mask_path": "../../mask/hdr_left_00959.png" + }, + { + "file_path": "../../rgb/hdr_left_00960.png", + "transform_matrix": [ + [ + 0.9840340614318848, + -0.0791831687092781, + 0.15939569473266602, + 20.265188217163086 + ], + [ + -0.16379141807556152, + -0.05248565599322319, + 0.9850977659225464, + -6.826627731323242 + ], + [ + -0.06963717192411423, + -0.9954774975776672, + -0.06461718678474426, + -2.2204787731170654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 960, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_838469743", + "mask_path": "../../mask/hdr_left_00960.png" + }, + { + "file_path": "../../rgb/hdr_left_00961.png", + "transform_matrix": [ + [ + 0.9846305847167969, + -0.07659200578927994, + 0.15695908665657043, + 20.32986831665039 + ], + [ + -0.1613653004169464, + -0.055166736245155334, + 0.9853515625, + -6.823035717010498 + ], + [ + -0.06681112945079803, + -0.9955351948738098, + -0.06667814403772354, + -2.2307283878326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 961, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_938470125", + "mask_path": "../../mask/hdr_left_00961.png" + }, + { + "file_path": "../../rgb/hdr_left_00962.png", + "transform_matrix": [ + [ + 0.9844940304756165, + -0.0802224650979042, + 0.15599887073040009, + 20.40176010131836 + ], + [ + -0.16041213274002075, + -0.05183836445212364, + 0.9856878519058228, + -6.820947170257568 + ], + [ + -0.07098758220672607, + -0.9954281449317932, + -0.06390321254730225, + -2.240755319595337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 962, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_38471221", + "mask_path": "../../mask/hdr_left_00962.png" + }, + { + "file_path": "../../rgb/hdr_left_00963.png", + "transform_matrix": [ + [ + 0.9825472831726074, + -0.09223108738660812, + 0.16153684258460999, + 20.49077796936035 + ], + [ + -0.1661541908979416, + -0.04474630951881409, + 0.9850839972496033, + -6.8305840492248535 + ], + [ + -0.08362719416618347, + -0.9947317242622375, + -0.059289947152137756, + -2.249127149581909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 963, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_138470649", + "mask_path": "../../mask/hdr_left_00963.png" + }, + { + "file_path": "../../rgb/hdr_left_00964.png", + "transform_matrix": [ + [ + 0.9801231026649475, + -0.09214430302381516, + 0.17569322884082794, + 20.541839599609375 + ], + [ + -0.18029019236564636, + -0.044130515307188034, + 0.9826230406761169, + -6.836637496948242 + ], + [ + -0.08278968185186386, + -0.9947673082351685, + -0.0598660483956337, + -2.24540638923645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 964, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_238469362", + "mask_path": "../../mask/hdr_left_00964.png" + }, + { + "file_path": "../../rgb/hdr_left_00966.png", + "transform_matrix": [ + [ + 0.9752633571624756, + -0.08392740041017532, + 0.20449337363243103, + 20.65239143371582 + ], + [ + -0.20806114375591278, + -0.03613496199250221, + 0.9774481654167175, + -6.838130950927734 + ], + [ + -0.07464532554149628, + -0.9958164691925049, + -0.0527031347155571, + -2.2589120864868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 966, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_438470363", + "mask_path": "../../mask/hdr_left_00966.png" + }, + { + "file_path": "../../rgb/hdr_left_00967.png", + "transform_matrix": [ + [ + 0.9751586318016052, + -0.0821547880768776, + 0.2057088166475296, + 20.729902267456055 + ], + [ + -0.2089475840330124, + -0.032898224890232086, + 0.9773733019828796, + -6.829539775848389 + ], + [ + -0.07352843880653381, + -0.9960764646530151, + -0.049247030168771744, + -2.259943723678589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 967, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_538471698", + "mask_path": "../../mask/hdr_left_00967.png" + }, + { + "file_path": "../../rgb/hdr_left_00971.png", + "transform_matrix": [ + [ + 0.9753996133804321, + -0.10052074491977692, + 0.19619135558605194, + 20.90182113647461 + ], + [ + -0.19998516142368317, + -0.029068397358059883, + 0.9793675541877747, + -6.812265396118164 + ], + [ + -0.09274379163980484, + -0.994510293006897, + -0.04845596104860306, + -2.285233736038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 971, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_938468694", + "mask_path": "../../mask/hdr_left_00971.png" + }, + { + "file_path": "../../rgb/hdr_left_00973.png", + "transform_matrix": [ + [ + 0.9739609360694885, + -0.09310995042324066, + 0.20671364665031433, + 20.975605010986328 + ], + [ + -0.21035385131835938, + -0.031036559492349625, + 0.9771325588226318, + -6.821718692779541 + ], + [ + -0.08456507325172424, + -0.9951720833778381, + -0.04981442168354988, + -2.2906124591827393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 973, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_138471364", + "mask_path": "../../mask/hdr_left_00973.png" + }, + { + "file_path": "../../rgb/hdr_left_00974.png", + "transform_matrix": [ + [ + 0.9738579988479614, + -0.0907425582408905, + 0.20824603736400604, + 21.030128479003906 + ], + [ + -0.21184039115905762, + -0.031858038157224655, + 0.9767848253250122, + -6.822440147399902 + ], + [ + -0.08200164884328842, + -0.9953647255897522, + -0.05024814233183861, + -2.2943191528320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 974, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_238469600", + "mask_path": "../../mask/hdr_left_00974.png" + }, + { + "file_path": "../../rgb/hdr_left_00975.png", + "transform_matrix": [ + [ + 0.9753605723381042, + -0.09510478377342224, + 0.19906456768512726, + 21.086414337158203 + ], + [ + -0.20293067395687103, + -0.032776035368442535, + 0.9786444306373596, + -6.822563648223877 + ], + [ + -0.08654921501874924, + -0.9949275255203247, + -0.05126812681555748, + -2.296246290206909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 975, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_338469505", + "mask_path": "../../mask/hdr_left_00975.png" + }, + { + "file_path": "../../rgb/hdr_left_00976.png", + "transform_matrix": [ + [ + 0.9786196947097778, + -0.09462884068489075, + 0.18261653184890747, + 21.138118743896484 + ], + [ + -0.18671609461307526, + -0.036374274641275406, + 0.9817402362823486, + -6.81882381439209 + ], + [ + -0.08625838905572891, + -0.9948479533195496, + -0.053265299648046494, + -2.305048704147339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 976, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_438470363", + "mask_path": "../../mask/hdr_left_00976.png" + }, + { + "file_path": "../../rgb/hdr_left_00978.png", + "transform_matrix": [ + [ + 0.985142707824707, + -0.09465374797582626, + 0.14329838752746582, + 21.25376319885254 + ], + [ + -0.14643757045269012, + -0.027059797197580338, + 0.9888497591018677, + -6.813072204589844 + ], + [ + -0.089720718562603, + -0.9951424598693848, + -0.040518619120121, + -2.3266310691833496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 978, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_638471364", + "mask_path": "../../mask/hdr_left_00978.png" + }, + { + "file_path": "../../rgb/hdr_left_00982.png", + "transform_matrix": [ + [ + 0.9914713501930237, + -0.09240500628948212, + 0.09190082550048828, + 21.443572998046875 + ], + [ + -0.09460371732711792, + -0.025299295783042908, + 0.9951934218406677, + -6.776010036468506 + ], + [ + -0.08963583409786224, + -0.995400071144104, + -0.033825382590293884, + -2.3532516956329346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 982, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_38469791", + "mask_path": "../../mask/hdr_left_00982.png" + }, + { + "file_path": "../../rgb/hdr_left_00983.png", + "transform_matrix": [ + [ + 0.9913414120674133, + -0.10115916281938553, + 0.08371938765048981, + 21.49862289428711 + ], + [ + -0.08718522638082504, + -0.03033231385052204, + 0.9957302212715149, + -6.7661895751953125 + ], + [ + -0.09818782657384872, + -0.9944078326225281, + -0.03888925909996033, + -2.3617188930511475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 983, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_138470172", + "mask_path": "../../mask/hdr_left_00983.png" + }, + { + "file_path": "../../rgb/hdr_left_00985.png", + "transform_matrix": [ + [ + 0.9919215440750122, + -0.10267522186040878, + 0.07449441403150558, + 21.585477828979492 + ], + [ + -0.07811324298381805, + -0.03168167918920517, + 0.9964408874511719, + -6.737226486206055 + ], + [ + -0.0999496728181839, + -0.9942103028297424, + -0.03944602981209755, + -2.3819572925567627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 985, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_338469505", + "mask_path": "../../mask/hdr_left_00985.png" + }, + { + "file_path": "../../rgb/hdr_left_00986.png", + "transform_matrix": [ + [ + 0.9917357563972473, + -0.10738430917263031, + 0.07020524144172668, + 21.644968032836914 + ], + [ + -0.07364312559366226, + -0.02838655561208725, + 0.9968805313110352, + -6.7190117835998535 + ], + [ + -0.10505644977092743, + -0.9938123226165771, + -0.03606007620692253, + -2.396061897277832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 986, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_438469409", + "mask_path": "../../mask/hdr_left_00986.png" + }, + { + "file_path": "../../rgb/hdr_left_00987.png", + "transform_matrix": [ + [ + 0.9907037615776062, + -0.11456996202468872, + 0.07334627211093903, + 21.70231819152832 + ], + [ + -0.0773744285106659, + -0.031110577285289764, + 0.9965166449546814, + -6.703516960144043 + ], + [ + -0.11188900470733643, + -0.9929279685020447, + -0.03968614712357521, + -2.3984806537628174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 987, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_538469552", + "mask_path": "../../mask/hdr_left_00987.png" + }, + { + "file_path": "../../rgb/hdr_left_00988.png", + "transform_matrix": [ + [ + 0.9903939962387085, + -0.11034955829381943, + 0.0833229124546051, + 21.751760482788086 + ], + [ + -0.087405264377594, + -0.03268074989318848, + 0.9956366419792175, + -6.697522163391113 + ], + [ + -0.10714498907327652, + -0.9933555126190186, + -0.042011938989162445, + -2.397961139678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 988, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_638471364", + "mask_path": "../../mask/hdr_left_00988.png" + }, + { + "file_path": "../../rgb/hdr_left_00990.png", + "transform_matrix": [ + [ + 0.9896169304847717, + -0.09509528428316116, + 0.10777384787797928, + 21.881441116333008 + ], + [ + -0.11166850477457047, + -0.0366157703101635, + 0.9930707216262817, + -6.693454265594482 + ], + [ + -0.09049011766910553, + -0.9947946071624756, + -0.04685473069548607, + -2.4215447902679443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 990, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_838470220", + "mask_path": "../../mask/hdr_left_00990.png" + }, + { + "file_path": "../../rgb/hdr_left_00991.png", + "transform_matrix": [ + [ + 0.9892950654029846, + -0.09826456755399704, + 0.1078854352235794, + 21.953033447265625 + ], + [ + -0.11267686635255814, + -0.04457581415772438, + 0.9926312565803528, + -6.682997703552246 + ], + [ + -0.09273140132427216, + -0.9941615462303162, + -0.055170778185129166, + -2.422776699066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 991, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_938469886", + "mask_path": "../../mask/hdr_left_00991.png" + }, + { + "file_path": "../../rgb/hdr_left_00992.png", + "transform_matrix": [ + [ + 0.9894881248474121, + -0.09903102368116379, + 0.1053846925497055, + 22.00834083557129 + ], + [ + -0.1106368824839592, + -0.0491175651550293, + 0.9926463961601257, + -6.675617694854736 + ], + [ + -0.09312654286623001, + -0.9938714504241943, + -0.059557732194662094, + -2.4340083599090576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 992, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_38470029", + "mask_path": "../../mask/hdr_left_00992.png" + }, + { + "file_path": "../../rgb/hdr_left_00993.png", + "transform_matrix": [ + [ + 0.9897004961967468, + -0.0975089818239212, + 0.1048087328672409, + 22.069496154785156 + ], + [ + -0.10982253402471542, + -0.04754316061735153, + 0.9928135275840759, + -6.673930644989014 + ], + [ + -0.09182529896497726, + -0.994098424911499, + -0.05776217207312584, + -2.4463424682617188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 993, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_138469696", + "mask_path": "../../mask/hdr_left_00993.png" + }, + { + "file_path": "../../rgb/hdr_left_00994.png", + "transform_matrix": [ + [ + 0.9891490936279297, + -0.09943365305662155, + 0.10815231502056122, + 22.14588165283203 + ], + [ + -0.11264077574014664, + -0.04067615047097206, + 0.9928029179573059, + -6.675932884216309 + ], + [ + -0.09431879222393036, + -0.9942125082015991, + -0.051435064524412155, + -2.4558424949645996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 994, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_238470792", + "mask_path": "../../mask/hdr_left_00994.png" + }, + { + "file_path": "../../rgb/hdr_left_00995.png", + "transform_matrix": [ + [ + 0.9873705506324768, + -0.10593825578689575, + 0.11779829859733582, + 22.20635986328125 + ], + [ + -0.1225762739777565, + -0.03975975140929222, + 0.991662323474884, + -6.676416397094727 + ], + [ + -0.100371353328228, + -0.9935775399208069, + -0.05224310979247093, + -2.4501986503601074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 995, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_338469028", + "mask_path": "../../mask/hdr_left_00995.png" + }, + { + "file_path": "../../rgb/hdr_left_00997.png", + "transform_matrix": [ + [ + 0.9849669933319092, + -0.0981738343834877, + 0.14213328063488007, + 22.306163787841797 + ], + [ + -0.14634571969509125, + -0.03709307312965393, + 0.9885377883911133, + -6.683529376983643 + ], + [ + -0.09177637845277786, + -0.9944778084754944, + -0.05090276896953583, + -2.4665799140930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 997, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_538469076", + "mask_path": "../../mask/hdr_left_00997.png" + }, + { + "file_path": "../../rgb/hdr_left_00998.png", + "transform_matrix": [ + [ + 0.9842012524604797, + -0.09699656069278717, + 0.14811977744102478, + 22.38340950012207 + ], + [ + -0.15253277122974396, + -0.03974168375134468, + 0.9874989986419678, + -6.676449298858643 + ], + [ + -0.08989747613668442, + -0.9944909811019897, + -0.05390895530581474, + -2.472301483154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 998, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_638469696", + "mask_path": "../../mask/hdr_left_00998.png" + }, + { + "file_path": "../../rgb/hdr_left_00999.png", + "transform_matrix": [ + [ + 0.9845470786094666, + -0.09794331341981888, + 0.1451692432165146, + 22.452428817749023 + ], + [ + -0.15002478659152985, + -0.04414109140634537, + 0.9876964092254639, + -6.670269012451172 + ], + [ + -0.09033031016588211, + -0.9942126274108887, + -0.058152906596660614, + -2.4758715629577637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 999, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_738468647", + "mask_path": "../../mask/hdr_left_00999.png" + }, + { + "file_path": "../../rgb/hdr_left_01000.png", + "transform_matrix": [ + [ + 0.9852438569068909, + -0.0945281907916069, + 0.14268508553504944, + 22.52028465270996 + ], + [ + -0.1469683200120926, + -0.03998024761676788, + 0.9883328080177307, + -6.663227081298828 + ], + [ + -0.08772073686122894, + -0.9947190880775452, + -0.05328294262290001, + -2.4889767169952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1000, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_838469266", + "mask_path": "../../mask/hdr_left_01000.png" + }, + { + "file_path": "../../rgb/hdr_left_01001.png", + "transform_matrix": [ + [ + 0.985260009765625, + -0.09590817987918854, + 0.1416480541229248, + 22.598031997680664 + ], + [ + -0.14549098908901215, + -0.03430205211043358, + 0.988764762878418, + -6.655297756195068 + ], + [ + -0.08997181057929993, + -0.9947989583015442, + -0.047750212252140045, + -2.5010807514190674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1001, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_938469171", + "mask_path": "../../mask/hdr_left_01001.png" + }, + { + "file_path": "../../rgb/hdr_left_01002.png", + "transform_matrix": [ + [ + 0.9834877252578735, + -0.10282369703054428, + 0.1489260047674179, + 22.678176879882812 + ], + [ + -0.15282779932022095, + -0.031128667294979095, + 0.987762451171875, + -6.652546405792236 + ], + [ + -0.09692951291799545, + -0.9942123889923096, + -0.04632898047566414, + -2.5090386867523193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1002, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_38470268", + "mask_path": "../../mask/hdr_left_01002.png" + }, + { + "file_path": "../../rgb/hdr_left_01003.png", + "transform_matrix": [ + [ + 0.9819581508636475, + -0.10078216344118118, + 0.1600034385919571, + 22.740453720092773 + ], + [ + -0.1638624221086502, + -0.031198853626847267, + 0.9859896898269653, + -6.648231506347656 + ], + [ + -0.09437825530767441, + -0.994419276714325, + -0.0471503771841526, + -2.5099925994873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1003, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_138470411", + "mask_path": "../../mask/hdr_left_01003.png" + }, + { + "file_path": "../../rgb/hdr_left_01005.png", + "transform_matrix": [ + [ + 0.9792041182518005, + -0.08504503220319748, + 0.18419186770915985, + 22.887340545654297 + ], + [ + -0.18737733364105225, + -0.03106199949979782, + 0.9817966818809509, + -6.638920783996582 + ], + [ + -0.07777556031942368, + -0.9958928227424622, + -0.046351540833711624, + -2.5271334648132324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1005, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_338469505", + "mask_path": "../../mask/hdr_left_01005.png" + }, + { + "file_path": "../../rgb/hdr_left_01006.png", + "transform_matrix": [ + [ + 0.9795823097229004, + -0.08692429214715958, + 0.1812802255153656, + 22.96578598022461 + ], + [ + -0.1846553087234497, + -0.032434072345495224, + 0.9822680354118347, + -6.62795352935791 + ], + [ + -0.07950329035520554, + -0.9956868290901184, + -0.04782287776470184, + -2.533512830734253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1006, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_438469171", + "mask_path": "../../mask/hdr_left_01006.png" + }, + { + "file_path": "../../rgb/hdr_left_01007.png", + "transform_matrix": [ + [ + 0.9803360104560852, + -0.08646608144044876, + 0.17738325893878937, + 23.01400375366211 + ], + [ + -0.18056140840053558, + -0.03037419356405735, + 0.9830945730209351, + -6.613162517547607 + ], + [ + -0.07961644977331161, + -0.9957916736602783, + -0.04538934677839279, + -2.5426173210144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1007, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_538468837", + "mask_path": "../../mask/hdr_left_01007.png" + }, + { + "file_path": "../../rgb/hdr_left_01008.png", + "transform_matrix": [ + [ + 0.9808456897735596, + -0.08657197654247284, + 0.17449061572551727, + 23.071313858032227 + ], + [ + -0.17705442011356354, + -0.022817684337496758, + 0.9839365482330322, + -6.608386516571045 + ], + [ + -0.08119984716176987, + -0.9959842562675476, + -0.037708573043346405, + -2.5497889518737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1008, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_638469934", + "mask_path": "../../mask/hdr_left_01008.png" + }, + { + "file_path": "../../rgb/hdr_left_01009.png", + "transform_matrix": [ + [ + 0.9805914759635925, + -0.09012492746114731, + 0.1741199642419815, + 23.13446044921875 + ], + [ + -0.1764397770166397, + -0.01838543824851513, + 0.9841396808624268, + -6.60648250579834 + ], + [ + -0.08549424260854721, + -0.9957607984542847, + -0.0339302234351635, + -2.561117172241211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1009, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_738470077", + "mask_path": "../../mask/hdr_left_01009.png" + }, + { + "file_path": "../../rgb/hdr_left_01010.png", + "transform_matrix": [ + [ + 0.9795454740524292, + -0.09474363178014755, + 0.17752254009246826, + 23.19548797607422 + ], + [ + -0.18031007051467896, + -0.02165115438401699, + 0.9833715558052063, + -6.608090400695801 + ], + [ + -0.08932461589574814, + -0.9952662587165833, + -0.03829152137041092, + -2.5584559440612793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1010, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_838470697", + "mask_path": "../../mask/hdr_left_01010.png" + }, + { + "file_path": "../../rgb/hdr_left_01011.png", + "transform_matrix": [ + [ + 0.9789339303970337, + -0.09161022305488586, + 0.18247200548648834, + 23.245664596557617 + ], + [ + -0.18497970700263977, + -0.01960034854710102, + 0.9825469255447388, + -6.6017022132873535 + ], + [ + -0.08643481135368347, + -0.9956020712852478, + -0.036133475601673126, + -2.5609028339385986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1011, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_938469409", + "mask_path": "../../mask/hdr_left_01011.png" + }, + { + "file_path": "../../rgb/hdr_left_01012.png", + "transform_matrix": [ + [ + 0.9783698320388794, + -0.08606038987636566, + 0.18811160326004028, + 23.302640914916992 + ], + [ + -0.19008436799049377, + -0.015259338542819023, + 0.9816491007804871, + -6.599239826202393 + ], + [ + -0.08161064237356186, + -0.996173083782196, + -0.03128800913691521, + -2.5687906742095947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1012, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_38470506", + "mask_path": "../../mask/hdr_left_01012.png" + }, + { + "file_path": "../../rgb/hdr_left_01013.png", + "transform_matrix": [ + [ + 0.9792463779449463, + -0.08696965128183365, + 0.18306492269039154, + 23.37180519104004 + ], + [ + -0.18506817519664764, + -0.015489174984395504, + 0.9826035499572754, + -6.593184947967529 + ], + [ + -0.08262117207050323, + -0.9960905313491821, + -0.03126303106546402, + -2.5792791843414307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1013, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_138470172", + "mask_path": "../../mask/hdr_left_01013.png" + }, + { + "file_path": "../../rgb/hdr_left_01014.png", + "transform_matrix": [ + [ + 0.9820762276649475, + -0.09389500319957733, + 0.16343189775943756, + 23.4393253326416 + ], + [ + -0.16602709889411926, + -0.020473353564739227, + 0.9859086871147156, + -6.585107326507568 + ], + [ + -0.0892258882522583, + -0.9953716397285461, + -0.035695504397153854, + -2.5874183177948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1014, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_238469123", + "mask_path": "../../mask/hdr_left_01014.png" + }, + { + "file_path": "../../rgb/hdr_left_01015.png", + "transform_matrix": [ + [ + 0.9850128293037415, + -0.09478174149990082, + 0.1441045105457306, + 23.49370002746582 + ], + [ + -0.14651218056678772, + -0.018917035311460495, + 0.9890279769897461, + -6.5747246742248535 + ], + [ + -0.0910157561302185, + -0.9953183531761169, + -0.03252020478248596, + -2.601412296295166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1015, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_338469743", + "mask_path": "../../mask/hdr_left_01015.png" + }, + { + "file_path": "../../rgb/hdr_left_01016.png", + "transform_matrix": [ + [ + 0.987838625907898, + -0.09621252864599228, + 0.12213870882987976, + 23.550403594970703 + ], + [ + -0.12373249232769012, + -0.010754254646599293, + 0.9922573566436768, + -6.563217639923096 + ], + [ + -0.09415406733751297, + -0.9953027367591858, + -0.02252808026969433, + -2.6143999099731445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1016, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_438469171", + "mask_path": "../../mask/hdr_left_01016.png" + }, + { + "file_path": "../../rgb/hdr_left_01017.png", + "transform_matrix": [ + [ + 0.9896396994590759, + -0.09712406992912292, + 0.10573577880859375, + 23.617677688598633 + ], + [ + -0.10679950565099716, + -0.005804852116852999, + 0.9942635297775269, + -6.557032108306885 + ], + [ + -0.09595314413309097, + -0.9952554106712341, + -0.016117511317133904, + -2.6195406913757324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1017, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_538470983", + "mask_path": "../../mask/hdr_left_01017.png" + }, + { + "file_path": "../../rgb/hdr_left_01018.png", + "transform_matrix": [ + [ + 0.9893609285354614, + -0.09933305531740189, + 0.10629092901945114, + 23.675373077392578 + ], + [ + -0.10708026587963104, + -0.002633456839248538, + 0.9942469596862793, + -6.553117752075195 + ], + [ + -0.0984816774725914, + -0.9950507879257202, + -0.013242047280073166, + -2.615797519683838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1018, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_638470649", + "mask_path": "../../mask/hdr_left_01018.png" + }, + { + "file_path": "../../rgb/hdr_left_01019.png", + "transform_matrix": [ + [ + 0.9880830645561218, + -0.09769716113805771, + 0.1189412772655487, + 23.728248596191406 + ], + [ + -0.11929205060005188, + 0.0022640833631157875, + 0.9928566813468933, + -6.551591396331787 + ], + [ + -0.09726856648921967, + -0.9952136874198914, + -0.009417389519512653, + -2.622218608856201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1019, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_738471031", + "mask_path": "../../mask/hdr_left_01019.png" + }, + { + "file_path": "../../rgb/hdr_left_01020.png", + "transform_matrix": [ + [ + 0.9867437481880188, + -0.09393007308244705, + 0.13233977556228638, + 23.79412269592285 + ], + [ + -0.13242611289024353, + 0.005341166630387306, + 0.9911785125732422, + -6.55140495300293 + ], + [ + -0.09380831569433212, + -0.9955645203590393, + -0.007168428506702185, + -2.6314475536346436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1020, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_838470697", + "mask_path": "../../mask/hdr_left_01020.png" + }, + { + "file_path": "../../rgb/hdr_left_01021.png", + "transform_matrix": [ + [ + 0.9855255484580994, + -0.10059385001659393, + 0.13645592331886292, + 23.87017059326172 + ], + [ + -0.137137770652771, + 0.0001382360642310232, + 0.9905519485473633, + -6.542758941650391 + ], + [ + -0.09966229647397995, + -0.9949275851249695, + -0.0136589789763093, + -2.643223285675049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1021, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_938470363", + "mask_path": "../../mask/hdr_left_01021.png" + }, + { + "file_path": "../../rgb/hdr_left_01022.png", + "transform_matrix": [ + [ + 0.9854384660720825, + -0.10276155173778534, + 0.135466530919075, + 23.92409896850586 + ], + [ + -0.13630244135856628, + -0.0011238049482926726, + 0.9906666874885559, + -6.531053066253662 + ], + [ + -0.1016501933336258, + -0.9947054386138916, + -0.01511408668011427, + -2.660975217819214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1022, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_38470029", + "mask_path": "../../mask/hdr_left_01022.png" + }, + { + "file_path": "../../rgb/hdr_left_01023.png", + "transform_matrix": [ + [ + 0.9853895306587219, + -0.1035388857126236, + 0.13522988557815552, + 23.98259162902832 + ], + [ + -0.13561129570007324, + 0.003379720263183117, + 0.9907564520835876, + -6.518585681915283 + ], + [ + -0.10303883254528046, + -0.9946196675300598, + -0.010710697621107101, + -2.6747941970825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_138470172", + "mask_path": "../../mask/hdr_left_01023.png" + }, + { + "file_path": "../../rgb/hdr_left_01024.png", + "transform_matrix": [ + [ + 0.9847425222396851, + -0.10826108604669571, + 0.13624092936515808, + 24.049381256103516 + ], + [ + -0.13625648617744446, + 0.007288773078471422, + 0.9906467795372009, + -6.507207870483398 + ], + [ + -0.10824151337146759, + -0.9940958023071289, + -0.007573707960546017, + -2.684262990951538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1024, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_238470315", + "mask_path": "../../mask/hdr_left_01024.png" + }, + { + "file_path": "../../rgb/hdr_left_01025.png", + "transform_matrix": [ + [ + 0.9834430813789368, + -0.11406373977661133, + 0.14081603288650513, + 24.120296478271484 + ], + [ + -0.14128001034259796, + 0.0040466818027198315, + 0.9899613857269287, + -6.504990100860596 + ], + [ + -0.11348851770162582, + -0.99346524477005, + -0.012135238386690617, + -2.6853506565093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_338469743", + "mask_path": "../../mask/hdr_left_01025.png" + }, + { + "file_path": "../../rgb/hdr_left_01026.png", + "transform_matrix": [ + [ + 0.9834232926368713, + -0.11030995100736618, + 0.14391066133975983, + 24.180133819580078 + ], + [ + -0.14429613947868347, + 0.004522569943219423, + 0.989524245262146, + -6.503514289855957 + ], + [ + -0.10980519652366638, + -0.9938870668411255, + -0.011469692923128605, + -2.686872720718384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1026, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_438470363", + "mask_path": "../../mask/hdr_left_01026.png" + }, + { + "file_path": "../../rgb/hdr_left_01027.png", + "transform_matrix": [ + [ + 0.9841211438179016, + -0.10240647196769714, + 0.1449773907661438, + 24.241697311401367 + ], + [ + -0.1453254222869873, + 0.004093987867236137, + 0.9893754720687866, + -6.49619722366333 + ], + [ + -0.10191196948289871, + -0.9947343468666077, + -0.010853279381990433, + -2.693969488143921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_538470983", + "mask_path": "../../mask/hdr_left_01027.png" + }, + { + "file_path": "../../rgb/hdr_left_01028.png", + "transform_matrix": [ + [ + 0.9851053953170776, + -0.09868991374969482, + 0.14081062376499176, + 24.322189331054688 + ], + [ + -0.14127691090106964, + 0.0022827270440757275, + 0.9899675250053406, + -6.48844051361084 + ], + [ + -0.09802122414112091, + -0.9951156973838806, + -0.011693875305354595, + -2.7055327892303467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1028, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_638470411", + "mask_path": "../../mask/hdr_left_01028.png" + }, + { + "file_path": "../../rgb/hdr_left_01029.png", + "transform_matrix": [ + [ + 0.9867422580718994, + -0.10309478640556335, + 0.12534372508525848, + 24.401763916015625 + ], + [ + -0.1260135918855667, + 1.5455410903086886e-05, + 0.9920284152030945, + -6.476023197174072 + ], + [ + -0.10227489471435547, + -0.9946715831756592, + -0.012976089492440224, + -2.719067096710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1029, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_738470554", + "mask_path": "../../mask/hdr_left_01029.png" + }, + { + "file_path": "../../rgb/hdr_left_01030.png", + "transform_matrix": [ + [ + 0.9885483980178833, + -0.1042652353644371, + 0.10909025371074677, + 24.460784912109375 + ], + [ + -0.1093803197145462, + 0.0029492522589862347, + 0.9939956068992615, + -6.458948135375977 + ], + [ + -0.10396090894937515, + -0.9945451617240906, + -0.00848908256739378, + -2.7309727668762207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_838469743", + "mask_path": "../../mask/hdr_left_01030.png" + }, + { + "file_path": "../../rgb/hdr_left_01031.png", + "transform_matrix": [ + [ + 0.9900099039077759, + -0.10614945739507675, + 0.0928039699792862, + 24.53371810913086 + ], + [ + -0.09244252741336823, + 0.00833105482161045, + 0.9956831336021423, + -6.442935943603516 + ], + [ + -0.10646437108516693, + -0.9943153262138367, + -0.0015648930566385388, + -2.7439146041870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_938470125", + "mask_path": "../../mask/hdr_left_01031.png" + }, + { + "file_path": "../../rgb/hdr_left_01032.png", + "transform_matrix": [ + [ + 0.9908238053321838, + -0.10847300291061401, + 0.08063382655382156, + 24.618579864501953 + ], + [ + -0.08030976355075836, + 0.0073600453324615955, + 0.9967427849769592, + -6.434377670288086 + ], + [ + -0.10871314257383347, + -0.9940721988677979, + -0.0014189305948093534, + -2.7543017864227295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1032, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_38470506", + "mask_path": "../../mask/hdr_left_01032.png" + }, + { + "file_path": "../../rgb/hdr_left_01033.png", + "transform_matrix": [ + [ + 0.9911544322967529, + -0.10954960435628891, + 0.07491107285022736, + 24.68879508972168 + ], + [ + -0.07437549531459808, + 0.008972745388746262, + 0.9971899390220642, + -6.4262237548828125 + ], + [ + -0.1099139079451561, + -0.9939408898353577, + 0.0007455711020156741, + -2.7499277591705322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1033, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_138469696", + "mask_path": "../../mask/hdr_left_01033.png" + }, + { + "file_path": "../../rgb/hdr_left_01034.png", + "transform_matrix": [ + [ + 0.9917227029800415, + -0.10505533963441849, + 0.07382018119096756, + 24.742416381835938 + ], + [ + -0.07273177802562714, + 0.014159145765006542, + 0.997251033782959, + -6.412099838256836 + ], + [ + -0.10581176728010178, + -0.9943656325340271, + 0.006401086691766977, + -2.7541916370391846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1034, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_238471031", + "mask_path": "../../mask/hdr_left_01034.png" + }, + { + "file_path": "../../rgb/hdr_left_01035.png", + "transform_matrix": [ + [ + 0.9918851256370544, + -0.09903546422719955, + 0.07972310483455658, + 24.815696716308594 + ], + [ + -0.07852892577648163, + 0.01590464822947979, + 0.9967849850654602, + -6.400511741638184 + ], + [ + -0.0999850258231163, + -0.9949567914009094, + 0.00799843855202198, + -2.764164924621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_338470220", + "mask_path": "../../mask/hdr_left_01035.png" + }, + { + "file_path": "../../rgb/hdr_left_01036.png", + "transform_matrix": [ + [ + 0.9916510581970215, + -0.10147333145141602, + 0.07956880331039429, + 24.89997100830078 + ], + [ + -0.0790601447224617, + 0.009031221270561218, + 0.9968289136886597, + -6.386026859283447 + ], + [ + -0.10187014937400818, + -0.9947972893714905, + 0.000933329458348453, + -2.777930974960327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1036, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_438470363", + "mask_path": "../../mask/hdr_left_01036.png" + }, + { + "file_path": "../../rgb/hdr_left_01037.png", + "transform_matrix": [ + [ + 0.991651177406311, + -0.10350152850151062, + 0.0769115462899208, + 24.959125518798828 + ], + [ + -0.07663115113973618, + 0.006688703317195177, + 0.9970370531082153, + -6.3712077140808105 + ], + [ + -0.10370929539203644, + -0.9946069121360779, + -0.0012985756620764732, + -2.7902345657348633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1037, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_538471460", + "mask_path": "../../mask/hdr_left_01037.png" + }, + { + "file_path": "../../rgb/hdr_left_01038.png", + "transform_matrix": [ + [ + 0.9916967153549194, + -0.1038893386721611, + 0.0757937952876091, + 25.026979446411133 + ], + [ + -0.0751408040523529, + 0.010190705768764019, + 0.9971207976341248, + -6.3586931228637695 + ], + [ + -0.1043626070022583, + -0.9945367574691772, + 0.002299768151715398, + -2.8024487495422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1038, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_638470411", + "mask_path": "../../mask/hdr_left_01038.png" + }, + { + "file_path": "../../rgb/hdr_left_01039.png", + "transform_matrix": [ + [ + 0.9913389682769775, + -0.10605712234973907, + 0.07745218276977539, + 25.10581398010254 + ], + [ + -0.07672964781522751, + 0.010882427915930748, + 0.9969925284385681, + -6.349216461181641 + ], + [ + -0.10658102482557297, + -0.9943005442619324, + 0.0026504516135901213, + -2.8141465187072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_738470792", + "mask_path": "../../mask/hdr_left_01039.png" + }, + { + "file_path": "../../rgb/hdr_left_01040.png", + "transform_matrix": [ + [ + 0.9906928539276123, + -0.10585544258356094, + 0.08556998521089554, + 25.182945251464844 + ], + [ + -0.08572752773761749, + 0.0030695346649736166, + 0.9963139295578003, + -6.344615459442139 + ], + [ + -0.1057279035449028, + -0.9943768382072449, + -0.006033757235854864, + -2.815247058868408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1040, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_838469982", + "mask_path": "../../mask/hdr_left_01040.png" + }, + { + "file_path": "../../rgb/hdr_left_03269.png", + "transform_matrix": [ + [ + -0.9933058619499207, + -0.08140801638364792, + -0.08195260912179947, + 24.704133987426758 + ], + [ + 0.08298682421445847, + -0.009397037327289581, + -0.9965062737464905, + -5.84535026550293 + ], + [ + 0.08035349100828171, + -0.9966366291046143, + 0.016089927405118942, + -2.7623703479766846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3269, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_738470077", + "mask_path": "../../mask/hdr_left_03269.png" + }, + { + "file_path": "../../rgb/hdr_left_03270.png", + "transform_matrix": [ + [ + -0.9947053790092468, + -0.07848496735095978, + -0.06634223461151123, + 24.651548385620117 + ], + [ + 0.06678971648216248, + -0.0030872065108269453, + -0.9977622628211975, + -5.856595039367676 + ], + [ + 0.07810451835393906, + -0.996910572052002, + 0.008312852121889591, + -2.7618231773376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3270, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_838469743", + "mask_path": "../../mask/hdr_left_03270.png" + }, + { + "file_path": "../../rgb/hdr_left_03272.png", + "transform_matrix": [ + [ + -0.9965559840202332, + -0.07216742634773254, + -0.0408414788544178, + 24.533550262451172 + ], + [ + 0.04131510108709335, + -0.005081860348582268, + -0.9991332292556763, + -5.874415874481201 + ], + [ + 0.07189732044935226, + -0.9973796010017395, + 0.008045963011682034, + -2.749866485595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3272, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_38471221", + "mask_path": "../../mask/hdr_left_03272.png" + }, + { + "file_path": "../../rgb/hdr_left_03273.png", + "transform_matrix": [ + [ + -0.9962570667266846, + -0.07771909981966019, + -0.03783564269542694, + 24.47689437866211 + ], + [ + 0.038694389164447784, + -0.009572785347700119, + -0.9992051720619202, + -5.883168697357178 + ], + [ + 0.07729513198137283, + -0.9969294667243958, + 0.01254425197839737, + -2.738193988800049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3273, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_138470888", + "mask_path": "../../mask/hdr_left_03273.png" + }, + { + "file_path": "../../rgb/hdr_left_03275.png", + "transform_matrix": [ + [ + -0.9962774515151978, + -0.08263275027275085, + -0.024554099887609482, + 24.360544204711914 + ], + [ + 0.02628706395626068, + -0.019949043169617653, + -0.9994553923606873, + -5.912477970123291 + ], + [ + 0.08209789544343948, + -0.9963804483413696, + 0.022046957165002823, + -2.719510793685913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3275, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_338471174", + "mask_path": "../../mask/hdr_left_03275.png" + }, + { + "file_path": "../../rgb/hdr_left_03276.png", + "transform_matrix": [ + [ + -0.9968597292900085, + -0.07853924483060837, + -0.010107538662850857, + 24.30433464050293 + ], + [ + 0.011541897431015968, + -0.017830200493335724, + -0.9997744560241699, + -5.932318687438965 + ], + [ + 0.0783412978053093, + -0.996751606464386, + 0.018680699169635773, + -2.719586133956909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3276, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_438470363", + "mask_path": "../../mask/hdr_left_03276.png" + }, + { + "file_path": "../../rgb/hdr_left_03278.png", + "transform_matrix": [ + [ + -0.9974232316017151, + -0.07147198170423508, + -0.006207653786987066, + 24.213272094726562 + ], + [ + 0.007566781248897314, + -0.018761292099952698, + -0.9997953772544861, + -5.959500312805176 + ], + [ + 0.0713408887386322, + -0.9972661733627319, + 0.019253762438893318, + -2.7169718742370605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3278, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_638469457", + "mask_path": "../../mask/hdr_left_03278.png" + }, + { + "file_path": "../../rgb/hdr_left_03279.png", + "transform_matrix": [ + [ + -0.9977051615715027, + -0.06664476543664932, + -0.011951461434364319, + 24.164852142333984 + ], + [ + 0.013329562731087208, + -0.020271938294172287, + -0.9997056126594543, + -5.966727256774902 + ], + [ + 0.06638286262750626, + -0.9975708723068237, + 0.021113764494657516, + -2.709388017654419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3279, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_738468647", + "mask_path": "../../mask/hdr_left_03279.png" + }, + { + "file_path": "../../rgb/hdr_left_03282.png", + "transform_matrix": [ + [ + -0.9957845211029053, + -0.0843694880604744, + -0.03598594292998314, + 23.999494552612305 + ], + [ + 0.038529518991708755, + -0.02871558628976345, + -0.9988448023796082, + -5.9892401695251465 + ], + [ + 0.08323866128921509, + -0.9960207343101501, + 0.031845252960920334, + -2.68438720703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3282, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_38469076", + "mask_path": "../../mask/hdr_left_03282.png" + }, + { + "file_path": "../../rgb/hdr_left_03283.png", + "transform_matrix": [ + [ + -0.9961625933647156, + -0.08070363104343414, + -0.03386477008461952, + 23.932756423950195 + ], + [ + 0.03562784194946289, + -0.02050674520432949, + -0.9991546273231506, + -5.995151996612549 + ], + [ + 0.07994095981121063, + -0.9965272545814514, + 0.023303352296352386, + -2.6751368045806885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3283, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_138469219", + "mask_path": "../../mask/hdr_left_03283.png" + }, + { + "file_path": "../../rgb/hdr_left_03284.png", + "transform_matrix": [ + [ + -0.99630206823349, + -0.07942800223827362, + -0.0327608622610569, + 23.87735939025879 + ], + [ + 0.03404005616903305, + -0.014804529026150703, + -0.9993107914924622, + -6.003834247589111 + ], + [ + 0.07888824492692947, + -0.9967306852340698, + 0.017453519627451897, + -2.677722692489624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3284, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_238471031", + "mask_path": "../../mask/hdr_left_03284.png" + }, + { + "file_path": "../../rgb/hdr_left_03285.png", + "transform_matrix": [ + [ + -0.9964887499809265, + -0.07739941030740738, + -0.03192688152194023, + 23.82097816467285 + ], + [ + 0.03300738334655762, + -0.01272036787122488, + -0.999374270439148, + -6.009862899780273 + ], + [ + 0.07694483548402786, + -0.9969190955162048, + 0.015230455435812473, + -2.6733267307281494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3285, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_338470220", + "mask_path": "../../mask/hdr_left_03285.png" + }, + { + "file_path": "../../rgb/hdr_left_03286.png", + "transform_matrix": [ + [ + -0.9966045022010803, + -0.07689514756202698, + -0.029436098411679268, + 23.76140785217285 + ], + [ + 0.03038969822227955, + -0.01126051228493452, + -0.9994747042655945, + -6.0171966552734375 + ], + [ + 0.07652328163385391, + -0.9969756603240967, + 0.013559099286794662, + -2.6592071056365967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3286, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_438469648", + "mask_path": "../../mask/hdr_left_03286.png" + }, + { + "file_path": "../../rgb/hdr_left_03287.png", + "transform_matrix": [ + [ + -0.9964143633842468, + -0.08157031238079071, + -0.022460490465164185, + 23.70730972290039 + ], + [ + 0.023856021463871002, + -0.016173522919416428, + -0.9995845556259155, + -6.026722431182861 + ], + [ + 0.08117315173149109, + -0.996536374092102, + 0.018061473965644836, + -2.6483068466186523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3287, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_538470506", + "mask_path": "../../mask/hdr_left_03287.png" + }, + { + "file_path": "../../rgb/hdr_left_03289.png", + "transform_matrix": [ + [ + -0.9962149858474731, + -0.08692385256290436, + 1.6484478692291304e-05, + 23.582677841186523 + ], + [ + 0.0025627415161579847, + -0.029560480266809464, + -0.9995597004890442, + -6.062476634979248 + ], + [ + 0.08688605576753616, + -0.9957762956619263, + 0.029671356081962585, + -2.6329078674316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3289, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_738470315", + "mask_path": "../../mask/hdr_left_03289.png" + }, + { + "file_path": "../../rgb/hdr_left_03290.png", + "transform_matrix": [ + [ + -0.9958030581474304, + -0.08844470977783203, + 0.023531099781394005, + 23.524507522583008 + ], + [ + -0.02099931798875332, + -0.02944766916334629, + -0.9993457198143005, + -6.086516857147217 + ], + [ + 0.08907978236675262, + -0.9956457614898682, + 0.027466801926493645, + -2.6276469230651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3290, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_838469982", + "mask_path": "../../mask/hdr_left_03290.png" + }, + { + "file_path": "../../rgb/hdr_left_03292.png", + "transform_matrix": [ + [ + -0.9940916895866394, + -0.08432289212942123, + 0.06834790855646133, + 23.431142807006836 + ], + [ + -0.06616955250501633, + -0.02836684137582779, + -0.9974050521850586, + -6.1315693855285645 + ], + [ + 0.08604288846254349, + -0.9960346221923828, + 0.02261963114142418, + -2.6213409900665283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3292, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_38469076", + "mask_path": "../../mask/hdr_left_03292.png" + }, + { + "file_path": "../../rgb/hdr_left_03293.png", + "transform_matrix": [ + [ + -0.9933067560195923, + -0.08109616488218307, + 0.08224993944168091, + 23.377511978149414 + ], + [ + -0.07999880611896515, + -0.030633563175797462, + -0.9963241219520569, + -6.151697635650635 + ], + [ + 0.08331766724586487, + -0.9962354302406311, + 0.023940930142998695, + -2.6077911853790283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3293, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_138468980", + "mask_path": "../../mask/hdr_left_03293.png" + }, + { + "file_path": "../../rgb/hdr_left_03294.png", + "transform_matrix": [ + [ + -0.9930998682975769, + -0.0847211703658104, + 0.08108577877283096, + 23.328332901000977 + ], + [ + -0.07811881601810455, + -0.037772372364997864, + -0.9962282776832581, + -6.169205188751221 + ], + [ + 0.08746441453695297, + -0.9956885576248169, + 0.030893422663211823, + -2.594780206680298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3294, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_238469362", + "mask_path": "../../mask/hdr_left_03294.png" + }, + { + "file_path": "../../rgb/hdr_left_03296.png", + "transform_matrix": [ + [ + -0.9930135607719421, + -0.09158706665039062, + 0.07440344989299774, + 23.20724868774414 + ], + [ + -0.0698239728808403, + -0.052233513444662094, + -0.9961909055709839, + -6.211089611053467 + ], + [ + 0.09512454271316528, + -0.9944261908531189, + 0.045473612844944, + -2.5763938426971436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3296, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_438469648", + "mask_path": "../../mask/hdr_left_03296.png" + }, + { + "file_path": "../../rgb/hdr_left_03297.png", + "transform_matrix": [ + [ + -0.9923593401908875, + -0.09268565475940704, + 0.08143883943557739, + 23.14806365966797 + ], + [ + -0.07747858762741089, + -0.045558348298072815, + -0.9959525465965271, + -6.23301362991333 + ], + [ + 0.09602072089910507, + -0.9946526288986206, + 0.03802910074591637, + -2.572932720184326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3297, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_538468837", + "mask_path": "../../mask/hdr_left_03297.png" + }, + { + "file_path": "../../rgb/hdr_left_03298.png", + "transform_matrix": [ + [ + -0.9922087788581848, + -0.09020967036485672, + 0.08592955023050308, + 23.095918655395508 + ], + [ + -0.08227159082889557, + -0.04352002963423729, + -0.9956592917442322, + -6.248276233673096 + ], + [ + 0.09355773776769638, + -0.9949715733528137, + 0.03575926646590233, + -2.574216365814209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3298, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_638469219", + "mask_path": "../../mask/hdr_left_03298.png" + }, + { + "file_path": "../../rgb/hdr_left_03299.png", + "transform_matrix": [ + [ + -0.992521345615387, + -0.0878198891878128, + 0.08478746563196182, + 23.0390567779541 + ], + [ + -0.08136535435914993, + -0.04184611514210701, + -0.9958054423332214, + -6.262202262878418 + ], + [ + 0.0909995436668396, + -0.9952570796012878, + 0.03438767045736313, + -2.5651040077209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3299, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_738469600", + "mask_path": "../../mask/hdr_left_03299.png" + }, + { + "file_path": "../../rgb/hdr_left_03300.png", + "transform_matrix": [ + [ + -0.9933759570121765, + -0.08647850900888443, + 0.07566864788532257, + 22.981460571289062 + ], + [ + -0.07229752093553543, + -0.04147564619779587, + -0.9965203404426575, + -6.27516508102417 + ], + [ + 0.0893159955739975, + -0.9953900575637817, + 0.03494872525334358, + -2.5497329235076904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3300, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_838469743", + "mask_path": "../../mask/hdr_left_03300.png" + }, + { + "file_path": "../../rgb/hdr_left_03301.png", + "transform_matrix": [ + [ + -0.9937337040901184, + -0.0898306667804718, + 0.06651044636964798, + 22.92799186706543 + ], + [ + -0.06265350431203842, + -0.045096542686223984, + -0.9970160126686096, + -6.2915472984313965 + ], + [ + 0.0925619825720787, + -0.9949355721473694, + 0.03918575122952461, + -2.541886329650879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3301, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_938468217", + "mask_path": "../../mask/hdr_left_03301.png" + }, + { + "file_path": "../../rgb/hdr_left_03302.png", + "transform_matrix": [ + [ + -0.9937729239463806, + -0.09305322915315628, + 0.06128871440887451, + 22.865365982055664 + ], + [ + -0.056833770126104355, + -0.04979519173502922, + -0.9971411228179932, + -6.3110761642456055 + ], + [ + 0.09583907574415207, + -0.9944151639938354, + 0.04419654607772827, + -2.5301096439361572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3302, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_38469076", + "mask_path": "../../mask/hdr_left_03302.png" + }, + { + "file_path": "../../rgb/hdr_left_03303.png", + "transform_matrix": [ + [ + -0.9937028288841248, + -0.09271496534347534, + 0.06291817873716354, + 22.79424476623535 + ], + [ + -0.05858249589800835, + -0.048768237233161926, + -0.9970906972885132, + -6.333496570587158 + ], + [ + 0.09551361948251724, + -0.9944976568222046, + 0.04302965849637985, + -2.5196845531463623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3303, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_138469219", + "mask_path": "../../mask/hdr_left_03303.png" + }, + { + "file_path": "../../rgb/hdr_left_03304.png", + "transform_matrix": [ + [ + -0.9937283396720886, + -0.09085486829280853, + 0.06518813222646713, + 22.73809814453125 + ], + [ + -0.06179450824856758, + -0.03968014940619469, + -0.99729984998703, + -6.349464416503906 + ], + [ + 0.09319619834423065, + -0.9950733780860901, + 0.03381695598363876, + -2.5216445922851562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3304, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_238469123", + "mask_path": "../../mask/hdr_left_03304.png" + }, + { + "file_path": "../../rgb/hdr_left_03305.png", + "transform_matrix": [ + [ + -0.9944053888320923, + -0.08484483510255814, + 0.0629209652543068, + 22.6754093170166 + ], + [ + -0.060205429792404175, + -0.03419610485434532, + -0.9976000785827637, + -6.3657073974609375 + ], + [ + 0.08679287135601044, + -0.9958072900772095, + 0.02889668010175228, + -2.5198495388031006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3305, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_338469266", + "mask_path": "../../mask/hdr_left_03305.png" + }, + { + "file_path": "../../rgb/hdr_left_03306.png", + "transform_matrix": [ + [ + -0.995310366153717, + -0.07889388501644135, + 0.05597260221838951, + 22.610824584960938 + ], + [ + -0.05389814078807831, + -0.028184352442622185, + -0.9981486201286316, + -6.377522945404053 + ], + [ + 0.08032537996768951, + -0.9964845776557922, + 0.023799946531653404, + -2.506840705871582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3306, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_438469648", + "mask_path": "../../mask/hdr_left_03306.png" + }, + { + "file_path": "../../rgb/hdr_left_03307.png", + "transform_matrix": [ + [ + -0.9955032467842102, + -0.08283762633800507, + 0.045948129147291183, + 22.55462646484375 + ], + [ + -0.04338694363832474, + -0.03245871514081955, + -0.9985308647155762, + -6.389017105102539 + ], + [ + 0.08420734852552414, + -0.9960343241691589, + 0.02871868573129177, + -2.4960150718688965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3307, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_538469076", + "mask_path": "../../mask/hdr_left_03307.png" + }, + { + "file_path": "../../rgb/hdr_left_03308.png", + "transform_matrix": [ + [ + -0.9956624507904053, + -0.08458144962787628, + 0.03875701129436493, + 22.49114227294922 + ], + [ + -0.035586800426244736, + -0.03867270424962044, + -0.9986180663108826, + -6.402917861938477 + ], + [ + 0.08596339076757431, + -0.9956658482551575, + 0.035494979470968246, + -2.4860668182373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3308, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_638470888", + "mask_path": "../../mask/hdr_left_03308.png" + }, + { + "file_path": "../../rgb/hdr_left_03309.png", + "transform_matrix": [ + [ + -0.9957925081253052, + -0.08310509473085403, + 0.0386083722114563, + 22.416154861450195 + ], + [ + -0.03565226495265961, + -0.03676597401499748, + -0.9986876249313354, + -6.422534465789795 + ], + [ + 0.084415502846241, + -0.9958623647689819, + 0.033648401498794556, + -2.47741961479187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3309, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_738469600", + "mask_path": "../../mask/hdr_left_03309.png" + }, + { + "file_path": "../../rgb/hdr_left_03310.png", + "transform_matrix": [ + [ + -0.9955453276634216, + -0.08211415261030197, + 0.046333007514476776, + 22.35038185119629 + ], + [ + -0.04376311972737312, + -0.03282587602734566, + -0.9985024333000183, + -6.4417595863342285 + ], + [ + 0.08351210504770279, + -0.9960822463035583, + 0.02908608317375183, + -2.4774744510650635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3310, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_838469982", + "mask_path": "../../mask/hdr_left_03310.png" + }, + { + "file_path": "../../rgb/hdr_left_03311.png", + "transform_matrix": [ + [ + -0.9954493641853333, + -0.08047600090503693, + 0.05103288218379021, + 22.2919864654541 + ], + [ + -0.048550717532634735, + -0.03250556066632271, + -0.9982917308807373, + -6.460605621337891 + ], + [ + 0.08199736475944519, + -0.9962264895439148, + 0.02845046855509281, + -2.4771482944488525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3311, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_938468933", + "mask_path": "../../mask/hdr_left_03311.png" + }, + { + "file_path": "../../rgb/hdr_left_03312.png", + "transform_matrix": [ + [ + -0.9955779910087585, + -0.08016503602266312, + 0.04896727576851845, + 22.2268009185791 + ], + [ + -0.04684605449438095, + -0.028131822124123573, + -0.9985058903694153, + -6.475176811218262 + ], + [ + 0.08142277598381042, + -0.9963845610618591, + 0.024252010509371758, + -2.4671897888183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3312, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_38470029", + "mask_path": "../../mask/hdr_left_03312.png" + }, + { + "file_path": "../../rgb/hdr_left_03313.png", + "transform_matrix": [ + [ + -0.9958999156951904, + -0.08211342990398407, + 0.03795640915632248, + 22.162046432495117 + ], + [ + -0.035926658660173416, + -0.02605711854994297, + -0.999014675617218, + -6.485454082489014 + ], + [ + 0.08302155137062073, + -0.9962823390960693, + 0.023000219836831093, + -2.450897693634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3313, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_138469219", + "mask_path": "../../mask/hdr_left_03313.png" + }, + { + "file_path": "../../rgb/hdr_left_03314.png", + "transform_matrix": [ + [ + -0.9956696033477783, + -0.08839059621095657, + 0.028790203854441643, + 22.105348587036133 + ], + [ + -0.02582383155822754, + -0.03452202305197716, + -0.9990702867507935, + -6.499820232391357 + ], + [ + 0.08930230885744095, + -0.9954875111579895, + 0.032089948654174805, + -2.4397590160369873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3314, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_238470077", + "mask_path": "../../mask/hdr_left_03314.png" + }, + { + "file_path": "../../rgb/hdr_left_03315.png", + "transform_matrix": [ + [ + -0.9955993294715881, + -0.09038208425045013, + 0.02475719340145588, + 22.041061401367188 + ], + [ + -0.021435245871543884, + -0.037542108446359634, + -0.9990651607513428, + -6.516387462615967 + ], + [ + 0.09122702479362488, + -0.9951993227005005, + 0.03543953597545624, + -2.428635835647583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3315, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_338469743", + "mask_path": "../../mask/hdr_left_03315.png" + }, + { + "file_path": "../../rgb/hdr_left_03316.png", + "transform_matrix": [ + [ + -0.9958092570304871, + -0.08714839816093445, + 0.027731776237487793, + 21.977359771728516 + ], + [ + -0.025155823677778244, + -0.03051922470331192, + -0.9992175102233887, + -6.5315093994140625 + ], + [ + 0.08792655169963837, + -0.9957277774810791, + 0.02819903753697872, + -2.424039840698242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3316, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_438469886", + "mask_path": "../../mask/hdr_left_03316.png" + }, + { + "file_path": "../../rgb/hdr_left_03317.png", + "transform_matrix": [ + [ + -0.9957754611968994, + -0.08675640821456909, + 0.030076703056693077, + 21.926956176757812 + ], + [ + -0.0276633333414793, + -0.028887402266263962, + -0.9991998076438904, + -6.545721054077148 + ], + [ + 0.08755581825971603, + -0.9958106875419617, + 0.02636539377272129, + -2.42773699760437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3317, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_538470029", + "mask_path": "../../mask/hdr_left_03317.png" + }, + { + "file_path": "../../rgb/hdr_left_03318.png", + "transform_matrix": [ + [ + -0.9959486126899719, + -0.08575525879859924, + 0.027060789987444878, + 21.87201690673828 + ], + [ + -0.024872150272130966, + -0.026488177478313446, + -0.9993396401405334, + -6.557471752166748 + ], + [ + 0.08641542494297028, + -0.9959641098976135, + 0.024247948080301285, + -2.4214437007904053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3318, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_638469934", + "mask_path": "../../mask/hdr_left_03318.png" + }, + { + "file_path": "../../rgb/hdr_left_03319.png", + "transform_matrix": [ + [ + -0.9963900446891785, + -0.08303529024124146, + 0.017665555700659752, + 21.823745727539062 + ], + [ + -0.01564549095928669, + -0.024915562942624092, + -0.9995671510696411, + -6.565946102142334 + ], + [ + 0.08343948423862457, + -0.9962351322174072, + 0.02352648787200451, + -2.4068868160247803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3319, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_738469123", + "mask_path": "../../mask/hdr_left_03319.png" + }, + { + "file_path": "../../rgb/hdr_left_03321.png", + "transform_matrix": [ + [ + -0.995925784111023, + -0.09007266908884048, + 0.0043130721896886826, + 21.72498321533203 + ], + [ + -0.0006599478074349463, + -0.04054779186844826, + -0.9991773962974548, + -6.584373474121094 + ], + [ + 0.09017344564199448, + -0.995109498500824, + 0.04032314941287041, + -2.385944128036499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3321, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_938468933", + "mask_path": "../../mask/hdr_left_03321.png" + }, + { + "file_path": "../../rgb/hdr_left_03322.png", + "transform_matrix": [ + [ + -0.9958744049072266, + -0.09064606577157974, + 0.004161355085670948, + 21.662986755371094 + ], + [ + -0.00032230044598691165, + -0.04232556372880936, + -0.9991039037704468, + -6.600107192993164 + ], + [ + 0.09074094891548157, + -0.9949834942817688, + 0.042121730744838715, + -2.3735482692718506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3322, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_38469552", + "mask_path": "../../mask/hdr_left_03322.png" + }, + { + "file_path": "../../rgb/hdr_left_03323.png", + "transform_matrix": [ + [ + -0.9958564639091492, + -0.09056399762630463, + 0.008236664347350597, + 21.602909088134766 + ], + [ + -0.005233206786215305, + -0.033351339399814606, + -0.9994300007820129, + -6.616092205047607 + ], + [ + 0.09078706800937653, + -0.9953321218490601, + 0.03273920714855194, + -2.3655500411987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3323, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_138468503", + "mask_path": "../../mask/hdr_left_03323.png" + }, + { + "file_path": "../../rgb/hdr_left_03324.png", + "transform_matrix": [ + [ + -0.9962648153305054, + -0.08585439622402191, + 0.009245529770851135, + 21.54401206970215 + ], + [ + -0.0069689503870904446, + -0.026778602972626686, + -0.9996170997619629, + -6.6277689933776855 + ], + [ + 0.08606909215450287, + -0.9959478378295898, + 0.026080261915922165, + -2.3693201541900635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3324, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_238468408", + "mask_path": "../../mask/hdr_left_03324.png" + }, + { + "file_path": "../../rgb/hdr_left_03325.png", + "transform_matrix": [ + [ + -0.9964063167572021, + -0.0845644474029541, + 0.004820275120437145, + 21.4791202545166 + ], + [ + -0.0030223571229726076, + -0.02137591503560543, + -0.999767005443573, + -6.6378560066223145 + ], + [ + 0.0846477746963501, + -0.996188759803772, + 0.02104351483285427, + -2.3544671535491943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3325, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_338470935", + "mask_path": "../../mask/hdr_left_03325.png" + }, + { + "file_path": "../../rgb/hdr_left_03326.png", + "transform_matrix": [ + [ + -0.9960508346557617, + -0.08861922472715378, + -0.005409640725702047, + 21.41617774963379 + ], + [ + 0.007942207157611847, + -0.02825009450316429, + -0.9995693564414978, + -6.649487495422363 + ], + [ + 0.08842822164297104, + -0.9956650137901306, + 0.028842365369200706, + -2.3417253494262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3326, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_438470602", + "mask_path": "../../mask/hdr_left_03326.png" + }, + { + "file_path": "../../rgb/hdr_left_03327.png", + "transform_matrix": [ + [ + -0.9957638382911682, + -0.09116826951503754, + -0.011951367370784283, + 21.345895767211914 + ], + [ + 0.015255258418619633, + -0.0356292687356472, + -0.9992486238479614, + -6.666987895965576 + ], + [ + 0.09067394584417343, + -0.9951979517936707, + 0.03686913102865219, + -2.33060622215271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3327, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_538470029", + "mask_path": "../../mask/hdr_left_03327.png" + }, + { + "file_path": "../../rgb/hdr_left_03328.png", + "transform_matrix": [ + [ + -0.9960446357727051, + -0.0879627913236618, + -0.012554369866847992, + 21.2668399810791 + ], + [ + 0.01581352762877941, + -0.036453019827604294, + -0.9992102980613708, + -6.686330795288086 + ], + [ + 0.08743567019701004, + -0.9954565763473511, + 0.03769983723759651, + -2.3285815715789795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3328, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_638470649", + "mask_path": "../../mask/hdr_left_03328.png" + }, + { + "file_path": "../../rgb/hdr_left_03329.png", + "transform_matrix": [ + [ + -0.9960373640060425, + -0.0885915532708168, + -0.00781490933150053, + 21.199647903442383 + ], + [ + 0.010585099458694458, + -0.03084227442741394, + -0.9994681477546692, + -6.701894760131836 + ], + [ + 0.08830340206623077, + -0.9955903887748718, + 0.031657807528972626, + -2.3311197757720947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3329, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_738470077", + "mask_path": "../../mask/hdr_left_03329.png" + }, + { + "file_path": "../../rgb/hdr_left_03330.png", + "transform_matrix": [ + [ + -0.9962215423583984, + -0.08645004779100418, + -0.008302001282572746, + 21.138330459594727 + ], + [ + 0.010794732719659805, + -0.028406841680407524, + -0.9995380640029907, + -6.7151618003845215 + ], + [ + 0.08617427200078964, + -0.9958511590957642, + 0.02923271618783474, + -2.3284997940063477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3330, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_838469982", + "mask_path": "../../mask/hdr_left_03330.png" + }, + { + "file_path": "../../rgb/hdr_left_03331.png", + "transform_matrix": [ + [ + -0.9964118003845215, + -0.08343562483787537, + -0.01421118900179863, + 21.074064254760742 + ], + [ + 0.01597178354859352, + -0.020471686497330666, + -0.9996628761291504, + -6.726521968841553 + ], + [ + 0.0831165611743927, + -0.9963029623031616, + 0.021730845794081688, + -2.3156933784484863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3331, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_938469886", + "mask_path": "../../mask/hdr_left_03331.png" + }, + { + "file_path": "../../rgb/hdr_left_03332.png", + "transform_matrix": [ + [ + -0.9957720637321472, + -0.08845000714063644, + -0.02478734590113163, + 21.01519775390625 + ], + [ + 0.026416681706905365, + -0.017297692596912384, + -0.9995012879371643, + -6.734197616577148 + ], + [ + 0.08797714114189148, + -0.9959304928779602, + 0.019561119377613068, + -2.305015802383423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3332, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_38471221", + "mask_path": "../../mask/hdr_left_03332.png" + }, + { + "file_path": "../../rgb/hdr_left_03333.png", + "transform_matrix": [ + [ + -0.9952681660652161, + -0.09176880866289139, + -0.03193164989352226, + 20.95180320739746 + ], + [ + 0.034101273864507675, + -0.022172031924128532, + -0.9991723299026489, + -6.744368076324463 + ], + [ + 0.09098485857248306, + -0.9955335259437561, + 0.025196556001901627, + -2.2952303886413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3333, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_138470172", + "mask_path": "../../mask/hdr_left_03333.png" + }, + { + "file_path": "../../rgb/hdr_left_03334.png", + "transform_matrix": [ + [ + -0.9955831170082092, + -0.087150938808918, + -0.03491267189383507, + 20.876995086669922 + ], + [ + 0.03703693673014641, + -0.022877056151628494, + -0.9990520477294922, + -6.761152744293213 + ], + [ + 0.08626960963010788, + -0.9959324598312378, + 0.026003817096352577, + -2.291374921798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3334, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_238470077", + "mask_path": "../../mask/hdr_left_03334.png" + }, + { + "file_path": "../../rgb/hdr_left_03335.png", + "transform_matrix": [ + [ + -0.9961884617805481, + -0.08151397109031677, + -0.0310469139367342, + 20.805723190307617 + ], + [ + 0.03246467933058739, + -0.016124997287988663, + -0.9993428587913513, + -6.774692535400391 + ], + [ + 0.0809597596526146, + -0.9965417981147766, + 0.018709862604737282, + -2.293076753616333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3335, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_338470220", + "mask_path": "../../mask/hdr_left_03335.png" + }, + { + "file_path": "../../rgb/hdr_left_03336.png", + "transform_matrix": [ + [ + -0.9961249828338623, + -0.08284193277359009, + -0.029529999941587448, + 20.739286422729492 + ], + [ + 0.030678264796733856, + -0.012621626257896423, + -0.999449610710144, + -6.78702974319458 + ], + [ + 0.0824236050248146, + -0.996482789516449, + 0.015114163979887962, + -2.2942588329315186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3336, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_438469886", + "mask_path": "../../mask/hdr_left_03336.png" + }, + { + "file_path": "../../rgb/hdr_left_03337.png", + "transform_matrix": [ + [ + -0.9960665702819824, + -0.08273542672395706, + -0.03172183036804199, + 20.66535758972168 + ], + [ + 0.032743871212005615, + -0.011025573126971722, + -0.9994029402732849, + -6.799192428588867 + ], + [ + 0.08233626931905746, + -0.9965106248855591, + 0.013691284693777561, + -2.2857980728149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3337, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_538469314", + "mask_path": "../../mask/hdr_left_03337.png" + }, + { + "file_path": "../../rgb/hdr_left_03338.png", + "transform_matrix": [ + [ + -0.9957736134529114, + -0.08156919479370117, + -0.04220585152506828, + 20.596960067749023 + ], + [ + 0.0430215485394001, + -0.008267801254987717, + -0.999039888381958, + -6.809331893920898 + ], + [ + 0.08114192634820938, + -0.9966334700584412, + 0.01174209639430046, + -2.267895460128784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3338, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_638468265", + "mask_path": "../../mask/hdr_left_03338.png" + }, + { + "file_path": "../../rgb/hdr_left_03339.png", + "transform_matrix": [ + [ + -0.9946767091751099, + -0.08841273933649063, + -0.05292721465229988, + 20.535215377807617 + ], + [ + 0.05437963083386421, + -0.014099094085395336, + -0.998420774936676, + -6.814536094665527 + ], + [ + 0.08752688765525818, + -0.9959842562675476, + 0.018831895664334297, + -2.2568068504333496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3339, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_738468647", + "mask_path": "../../mask/hdr_left_03339.png" + }, + { + "file_path": "../../rgb/hdr_left_03340.png", + "transform_matrix": [ + [ + -0.9940984845161438, + -0.09079176932573318, + -0.05937080457806587, + 20.464691162109375 + ], + [ + 0.061476320028305054, + -0.02057008072733879, + -0.9978964924812317, + -6.820428848266602 + ], + [ + 0.08937951922416687, + -0.9956575036048889, + 0.02603023126721382, + -2.2451822757720947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3340, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_838468551", + "mask_path": "../../mask/hdr_left_03340.png" + }, + { + "file_path": "../../rgb/hdr_left_03341.png", + "transform_matrix": [ + [ + -0.9944250583648682, + -0.08600547164678574, + -0.06100795045495033, + 20.388046264648438 + ], + [ + 0.0629645437002182, + -0.02022099494934082, + -0.9978109002113342, + -6.834213733673096 + ], + [ + 0.08458355069160461, + -0.996089518070221, + 0.025523558259010315, + -2.233567237854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3341, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_938468456", + "mask_path": "../../mask/hdr_left_03341.png" + }, + { + "file_path": "../../rgb/hdr_left_03342.png", + "transform_matrix": [ + [ + -0.9945165514945984, + -0.08695341646671295, + -0.058100998401641846, + 20.32451820373535 + ], + [ + 0.05958255007863045, + -0.014538777992129326, + -0.9981174468994141, + -6.8442840576171875 + ], + [ + 0.0859449952840805, + -0.9961063265800476, + 0.019639963284134865, + -2.230017900466919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3342, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_38471460", + "mask_path": "../../mask/hdr_left_03342.png" + }, + { + "file_path": "../../rgb/hdr_left_03343.png", + "transform_matrix": [ + [ + -0.9944676160812378, + -0.08687670528888702, + -0.0590466745197773, + 20.264291763305664 + ], + [ + 0.060354527086019516, + -0.012502815574407578, + -0.9980986714363098, + -6.851801872253418 + ], + [ + 0.08597327023744583, + -0.9961406588554382, + 0.017677048221230507, + -2.2287890911102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3343, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_138469934", + "mask_path": "../../mask/hdr_left_03343.png" + }, + { + "file_path": "../../rgb/hdr_left_03344.png", + "transform_matrix": [ + [ + -0.9939704537391663, + -0.08934617042541504, + -0.06355977803468704, + 20.198474884033203 + ], + [ + 0.06483020633459091, + -0.011386704631149769, + -0.9978314638137817, + -6.858262062072754 + ], + [ + 0.08842866122722626, + -0.9959356188774109, + 0.017110375687479973, + -2.2189652919769287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3344, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_238469600", + "mask_path": "../../mask/hdr_left_03344.png" + }, + { + "file_path": "../../rgb/hdr_left_03345.png", + "transform_matrix": [ + [ + -0.992881715297699, + -0.09342580288648605, + -0.07387488335371017, + 20.135974884033203 + ], + [ + 0.07488764822483063, + -0.00737660052254796, + -0.9971646666526794, + -6.862504482269287 + ], + [ + 0.09261595457792282, + -0.9955989718437195, + 0.01432053279131651, + -2.2038302421569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3345, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_338469743", + "mask_path": "../../mask/hdr_left_03345.png" + }, + { + "file_path": "../../rgb/hdr_left_03346.png", + "transform_matrix": [ + [ + -0.991873025894165, + -0.0975835770368576, + -0.0816403478384018, + 20.079845428466797 + ], + [ + 0.08320164680480957, + -0.012031936086714268, + -0.9964600801467896, + -6.866232872009277 + ], + [ + 0.0962558388710022, + -0.9951546788215637, + 0.02005326747894287, + -2.195430278778076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3346, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_438468933", + "mask_path": "../../mask/hdr_left_03346.png" + }, + { + "file_path": "../../rgb/hdr_left_03347.png", + "transform_matrix": [ + [ + -0.9914931058883667, + -0.09628204256296158, + -0.08758450299501419, + 20.014591217041016 + ], + [ + 0.089494988322258, + -0.015697935596108437, + -0.9958634972572327, + -6.870758056640625 + ], + [ + 0.09450888633728027, + -0.9952303171157837, + 0.024181155487895012, + -2.187346935272217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3347, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_538469076", + "mask_path": "../../mask/hdr_left_03347.png" + }, + { + "file_path": "../../rgb/hdr_left_03348.png", + "transform_matrix": [ + [ + -0.9921059608459473, + -0.08607467263936996, + -0.0911962017416954, + 19.940948486328125 + ], + [ + 0.09222929179668427, + -0.008094469085335732, + -0.9957048892974854, + -6.878925800323486 + ], + [ + 0.08496677875518799, + -0.9962558150291443, + 0.015969179570674896, + -2.1838743686676025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3348, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_638469934", + "mask_path": "../../mask/hdr_left_03348.png" + }, + { + "file_path": "../../rgb/hdr_left_03349.png", + "transform_matrix": [ + [ + -0.9921629428863525, + -0.08488927781581879, + -0.09168761223554611, + 19.881641387939453 + ], + [ + 0.09226351976394653, + -0.0028776265680789948, + -0.995730459690094, + -6.887050151824951 + ], + [ + 0.08426299691200256, + -0.9963864088058472, + 0.010687259957194328, + -2.1856327056884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3349, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_738468408", + "mask_path": "../../mask/hdr_left_03349.png" + }, + { + "file_path": "../../rgb/hdr_left_03350.png", + "transform_matrix": [ + [ + -0.9921932220458984, + -0.08121222257614136, + -0.09464195370674133, + 19.821664810180664 + ], + [ + 0.09523119777441025, + -0.0034043840132653713, + -0.9954493641853333, + -6.893492221832275 + ], + [ + 0.08052045106887817, + -0.996691107749939, + 0.011111746542155743, + -2.1835789680480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3350, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_838470935", + "mask_path": "../../mask/hdr_left_03350.png" + }, + { + "file_path": "../../rgb/hdr_left_03351.png", + "transform_matrix": [ + [ + -0.9921272993087769, + -0.07603470236063004, + -0.09950922429561615, + 19.75677490234375 + ], + [ + 0.10016235709190369, + -0.004815463908016682, + -0.9949594736099243, + -6.898884296417236 + ], + [ + 0.07517226040363312, + -0.9970935583114624, + 0.012393368408083916, + -2.179527759552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3351, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_938469409", + "mask_path": "../../mask/hdr_left_03351.png" + }, + { + "file_path": "../../rgb/hdr_left_03352.png", + "transform_matrix": [ + [ + -0.9908962249755859, + -0.07812383025884628, + -0.10964138060808182, + 19.69230842590332 + ], + [ + 0.11000184714794159, + -0.0003122440248262137, + -0.9939314126968384, + -6.90201997756958 + ], + [ + 0.07761547714471817, + -0.9969437122344971, + 0.008903168141841888, + -2.167386054992676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3352, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_38469314", + "mask_path": "../../mask/hdr_left_03352.png" + }, + { + "file_path": "../../rgb/hdr_left_03353.png", + "transform_matrix": [ + [ + -0.9893182516098022, + -0.08162316679954529, + -0.12077699601650238, + 19.62894630432129 + ], + [ + 0.12164483219385147, + -0.005725786555558443, + -0.9925572276115417, + -6.904872894287109 + ], + [ + 0.08032411336898804, + -0.9966468214988708, + 0.015593660064041615, + -2.1586358547210693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3353, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_138468980", + "mask_path": "../../mask/hdr_left_03353.png" + }, + { + "file_path": "../../rgb/hdr_left_03354.png", + "transform_matrix": [ + [ + -0.9882344007492065, + -0.07931899279356003, + -0.13077150285243988, + 19.55397605895996 + ], + [ + 0.13196517527103424, + -0.00997594278305769, + -0.9912040829658508, + -6.909954071044922 + ], + [ + 0.07731673866510391, + -0.9967994689941406, + 0.020325917750597, + -2.151082992553711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3354, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_238468408", + "mask_path": "../../mask/hdr_left_03354.png" + }, + { + "file_path": "../../rgb/hdr_left_03355.png", + "transform_matrix": [ + [ + -0.988055944442749, + -0.0722973570227623, + -0.13608211278915405, + 19.47970199584961 + ], + [ + 0.13663862645626068, + -0.0027851650957018137, + -0.990617036819458, + -6.914383411407471 + ], + [ + 0.07123997807502747, + -0.9973792433738708, + 0.01263051200658083, + -2.1480159759521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3355, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_338469743", + "mask_path": "../../mask/hdr_left_03355.png" + }, + { + "file_path": "../../rgb/hdr_left_03356.png", + "transform_matrix": [ + [ + -0.9873341917991638, + -0.0733596608042717, + -0.14067527651786804, + 19.42056655883789 + ], + [ + 0.14094053208827972, + 0.0015740031376481056, + -0.990016758441925, + -6.919773101806641 + ], + [ + 0.07284871488809586, + -0.9973043203353882, + 0.008785285986959934, + -2.147141456604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3356, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_438469648", + "mask_path": "../../mask/hdr_left_03356.png" + }, + { + "file_path": "../../rgb/hdr_left_03357.png", + "transform_matrix": [ + [ + -0.9863072037696838, + -0.07238679379224777, + -0.14818286895751953, + 19.3507022857666 + ], + [ + 0.14834916591644287, + 0.003103723982349038, + -0.9889301657676697, + -6.922159194946289 + ], + [ + 0.07204540818929672, + -0.9973717927932739, + 0.007677299436181784, + -2.139718532562256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3357, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_538469314", + "mask_path": "../../mask/hdr_left_03357.png" + }, + { + "file_path": "../../rgb/hdr_left_03358.png", + "transform_matrix": [ + [ + -0.9841525554656982, + -0.06865476816892624, + -0.16349373757839203, + 19.278303146362305 + ], + [ + 0.16353026032447815, + 0.005126251373440027, + -0.9865249991416931, + -6.920507907867432 + ], + [ + 0.06856774538755417, + -0.9976273775100708, + 0.006182120647281408, + -2.1239235401153564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3358, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_638470411", + "mask_path": "../../mask/hdr_left_03358.png" + }, + { + "file_path": "../../rgb/hdr_left_03359.png", + "transform_matrix": [ + [ + -0.9807711243629456, + -0.07582566887140274, + -0.17982885241508484, + 19.214487075805664 + ], + [ + 0.18021298944950104, + 0.0018019090639427304, + -0.9836260080337524, + -6.919315338134766 + ], + [ + 0.07490812242031097, + -0.9971194863319397, + 0.011897510848939419, + -2.1113760471343994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3359, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_738469362", + "mask_path": "../../mask/hdr_left_03359.png" + }, + { + "file_path": "../../rgb/hdr_left_03360.png", + "transform_matrix": [ + [ + -0.9780116677284241, + -0.08045327663421631, + -0.19240644574165344, + 19.139667510986328 + ], + [ + 0.19335408508777618, + -0.004084861371666193, + -0.9811205267906189, + -6.920507907867432 + ], + [ + 0.07814840972423553, + -0.9967500567436218, + 0.01955101266503334, + -2.0982065200805664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3360, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_838468551", + "mask_path": "../../mask/hdr_left_03360.png" + }, + { + "file_path": "../../rgb/hdr_left_03361.png", + "transform_matrix": [ + [ + -0.9768493175506592, + -0.07763513922691345, + -0.19934417307376862, + 19.05668067932129 + ], + [ + 0.2001173347234726, + -0.0022305131424218416, + -0.9797693490982056, + -6.921533584594727 + ], + [ + 0.0756198838353157, + -0.9969793558120728, + 0.017715012654662132, + -2.089780330657959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3361, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_938469648", + "mask_path": "../../mask/hdr_left_03361.png" + }, + { + "file_path": "../../rgb/hdr_left_03362.png", + "transform_matrix": [ + [ + -0.9763884544372559, + -0.0785268247127533, + -0.201243594288826, + 18.990921020507812 + ], + [ + 0.2017156481742859, + 0.0019563797395676374, + -0.9794421195983887, + -6.919185638427734 + ], + [ + 0.07730618864297867, + -0.9969100952148438, + 0.013929902575910091, + -2.09033465385437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3362, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_38469552", + "mask_path": "../../mask/hdr_left_03362.png" + }, + { + "file_path": "../../rgb/hdr_left_03363.png", + "transform_matrix": [ + [ + -0.9752289056777954, + -0.08010261505842209, + -0.20618437230587006, + 18.917760848999023 + ], + [ + 0.20655611157417297, + 0.0037076729349792004, + -0.9784277677536011, + -6.916531085968018 + ], + [ + 0.07913906872272491, + -0.9967797994613647, + 0.012929855845868587, + -2.0809621810913086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3363, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_138469457", + "mask_path": "../../mask/hdr_left_03363.png" + }, + { + "file_path": "../../rgb/hdr_left_03364.png", + "transform_matrix": [ + [ + -0.9731131196022034, + -0.083688884973526, + -0.21458570659160614, + 18.840003967285156 + ], + [ + 0.21448993682861328, + 0.010240364819765091, + -0.9766725301742554, + -6.906989574432373 + ], + [ + 0.08393406867980957, + -0.9964393377304077, + 0.007985390722751617, + -2.064319372177124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3364, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_238469600", + "mask_path": "../../mask/hdr_left_03364.png" + }, + { + "file_path": "../../rgb/hdr_left_03365.png", + "transform_matrix": [ + [ + -0.970329999923706, + -0.0936896875500679, + -0.2228943407535553, + 18.764869689941406 + ], + [ + 0.22291043400764465, + 0.010427680797874928, + -0.9747831225395203, + -6.89888858795166 + ], + [ + 0.09365139156579971, + -0.995546817779541, + 0.010766119696199894, + -2.0487191677093506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3365, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_338469266", + "mask_path": "../../mask/hdr_left_03365.png" + }, + { + "file_path": "../../rgb/hdr_left_03366.png", + "transform_matrix": [ + [ + -0.9690216779708862, + -0.09805357456207275, + -0.22667713463306427, + 18.684484481811523 + ], + [ + 0.2273559719324112, + 0.004342405125498772, + -0.9738020896911621, + -6.896814346313477 + ], + [ + 0.09646909683942795, + -0.9951716661453247, + 0.018085183575749397, + -2.0366973876953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3366, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_438469409", + "mask_path": "../../mask/hdr_left_03366.png" + }, + { + "file_path": "../../rgb/hdr_left_03367.png", + "transform_matrix": [ + [ + -0.9698672890663147, + -0.09485916048288345, + -0.22440865635871887, + 18.603290557861328 + ], + [ + 0.22487251460552216, + 0.005910189356654882, + -0.9743702411651611, + -6.896106719970703 + ], + [ + 0.09375421702861786, + -0.9954732060432434, + 0.015599112957715988, + -2.0263819694519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3367, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_538469791", + "mask_path": "../../mask/hdr_left_03367.png" + }, + { + "file_path": "../../rgb/hdr_left_03368.png", + "transform_matrix": [ + [ + -0.9705894589424133, + -0.09796345978975296, + -0.21990731358528137, + 18.530427932739258 + ], + [ + 0.22028504312038422, + 0.007078380789607763, + -0.9754098653793335, + -6.895096778869629 + ], + [ + 0.09711110591888428, + -0.9951648712158203, + 0.014709681272506714, + -2.0221216678619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3368, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_638468503", + "mask_path": "../../mask/hdr_left_03368.png" + }, + { + "file_path": "../../rgb/hdr_left_03369.png", + "transform_matrix": [ + [ + -0.9698156118392944, + -0.10146787017583847, + -0.22172489762306213, + 18.456995010375977 + ], + [ + 0.2219877690076828, + 0.008837023749947548, + -0.9750094413757324, + -6.889001369476318 + ], + [ + 0.10089150071144104, + -0.9947996139526367, + 0.013954340480268002, + -2.011772632598877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3369, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_738469123", + "mask_path": "../../mask/hdr_left_03369.png" + }, + { + "file_path": "../../rgb/hdr_left_03370.png", + "transform_matrix": [ + [ + -0.9672949910163879, + -0.1036873459815979, + -0.23149360716342926, + 18.386947631835938 + ], + [ + 0.23136232793331146, + 0.013458390720188618, + -0.9727745056152344, + -6.886562824249268 + ], + [ + 0.10397994518280029, + -0.9945189356803894, + 0.010971116833388805, + -1.9930282831192017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3370, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_838468790", + "mask_path": "../../mask/hdr_left_03370.png" + }, + { + "file_path": "../../rgb/hdr_left_03371.png", + "transform_matrix": [ + [ + -0.9643299579620361, + -0.10963578522205353, + -0.24093075096607208, + 18.313915252685547 + ], + [ + 0.24173758924007416, + 0.006072381976991892, + -0.9703226685523987, + -6.886815547943115 + ], + [ + 0.10784509778022766, + -0.9939533472061157, + 0.020647307857871056, + -1.9798407554626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3371, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_938468456", + "mask_path": "../../mask/hdr_left_03371.png" + }, + { + "file_path": "../../rgb/hdr_left_03372.png", + "transform_matrix": [ + [ + -0.9637874960899353, + -0.11037233471870422, + -0.2427583932876587, + 18.235275268554688 + ], + [ + 0.24409089982509613, + 0.0014811924193054438, + -0.969751238822937, + -6.885494709014893 + ], + [ + 0.10739327222108841, + -0.9938892126083374, + 0.02551332861185074, + -1.9721148014068604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3372, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_38468599", + "mask_path": "../../mask/hdr_left_03372.png" + }, + { + "file_path": "../../rgb/hdr_left_03373.png", + "transform_matrix": [ + [ + -0.9647049307823181, + -0.10978397727012634, + -0.239357128739357, + 18.15869903564453 + ], + [ + 0.24020449817180634, + 0.0056375861167907715, + -0.9707059264183044, + -6.881969928741455 + ], + [ + 0.10791735351085663, + -0.9939396381378174, + 0.020932001993060112, + -1.9693561792373657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3373, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_138467073", + "mask_path": "../../mask/hdr_left_03373.png" + }, + { + "file_path": "../../rgb/hdr_left_03374.png", + "transform_matrix": [ + [ + -0.9647487998008728, + -0.10714203864336014, + -0.24037522077560425, + 18.09352684020996 + ], + [ + 0.24119585752487183, + 0.005426906514912844, + -0.9704613089561462, + -6.87780237197876 + ], + [ + 0.10528168082237244, + -0.9942289590835571, + 0.020606614649295807, + -1.9615498781204224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3374, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_238468885", + "mask_path": "../../mask/hdr_left_03374.png" + }, + { + "file_path": "../../rgb/hdr_left_03375.png", + "transform_matrix": [ + [ + -0.9635042548179626, + -0.1006430983543396, + -0.2480534017086029, + 18.02630043029785 + ], + [ + 0.24860744178295135, + 0.007199900224804878, + -0.96857750415802, + -6.868826389312744 + ], + [ + 0.09926659613847733, + -0.9948965907096863, + 0.018083486706018448, + -1.951056718826294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3375, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_338468790", + "mask_path": "../../mask/hdr_left_03375.png" + }, + { + "file_path": "../../rgb/hdr_left_03376.png", + "transform_matrix": [ + [ + -0.9599862098693848, + -0.104556605219841, + -0.2597966194152832, + 17.9681339263916 + ], + [ + 0.2604391574859619, + 0.007700510323047638, + -0.9654596447944641, + -6.860043525695801 + ], + [ + 0.10294574499130249, + -0.9944891929626465, + 0.019838249310851097, + -1.9410213232040405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3376, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_438469648", + "mask_path": "../../mask/hdr_left_03376.png" + }, + { + "file_path": "../../rgb/hdr_left_03377.png", + "transform_matrix": [ + [ + -0.9581969380378723, + -0.10613391548395157, + -0.2656957805156708, + 17.89913558959961 + ], + [ + 0.2671390175819397, + 0.0006405622116290033, + -0.9636577367782593, + -6.854893684387207 + ], + [ + 0.10244696587324142, + -0.9943516850471497, + 0.027738729491829872, + -1.9312844276428223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3377, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_538470029", + "mask_path": "../../mask/hdr_left_03377.png" + }, + { + "file_path": "../../rgb/hdr_left_03378.png", + "transform_matrix": [ + [ + -0.9592049717903137, + -0.09829657524824142, + -0.2650723457336426, + 17.819774627685547 + ], + [ + 0.26653534173965454, + -0.001822110265493393, + -0.9638233780860901, + -6.852685451507568 + ], + [ + 0.09425753355026245, + -0.9951555728912354, + 0.027947286143898964, + -1.9250788688659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3378, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_638468980", + "mask_path": "../../mask/hdr_left_03378.png" + }, + { + "file_path": "../../rgb/hdr_left_03379.png", + "transform_matrix": [ + [ + -0.9607576727867126, + -0.09470436722040176, + -0.26072174310684204, + 17.75205421447754 + ], + [ + 0.2616545855998993, + 0.002650660229846835, + -0.9651579260826111, + -6.8473076820373535 + ], + [ + 0.0920957550406456, + -0.9955019354820251, + 0.02223319001495838, + -1.926361322402954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3379, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_738468885", + "mask_path": "../../mask/hdr_left_03379.png" + }, + { + "file_path": "../../rgb/hdr_left_03380.png", + "transform_matrix": [ + [ + -0.9606242179870605, + -0.09138773381710052, + -0.26239174604415894, + 17.6838436126709 + ], + [ + 0.2629300057888031, + 0.006314863916486502, + -0.9647941589355469, + -6.839718818664551 + ], + [ + 0.08982732146978378, + -0.9957954287528992, + 0.017962371930480003, + -1.9213320016860962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3380, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_838469028", + "mask_path": "../../mask/hdr_left_03380.png" + }, + { + "file_path": "../../rgb/hdr_left_03381.png", + "transform_matrix": [ + [ + -0.9589845538139343, + -0.08658648282289505, + -0.2699098587036133, + 17.61357307434082 + ], + [ + 0.27004826068878174, + 0.010333769023418427, + -0.962791383266449, + -6.829327583312988 + ], + [ + 0.08615390956401825, + -0.9961907863616943, + 0.013472607359290123, + -1.9049803018569946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3381, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_938469171", + "mask_path": "../../mask/hdr_left_03381.png" + }, + { + "file_path": "../../rgb/hdr_left_03382.png", + "transform_matrix": [ + [ + -0.9552806615829468, + -0.09271116554737091, + -0.28079068660736084, + 17.552234649658203 + ], + [ + 0.2811565697193146, + 0.00936045777052641, + -0.9596161842346191, + -6.816847801208496 + ], + [ + 0.09159545600414276, + -0.9956490397453308, + 0.017124494537711143, + -1.8910284042358398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3382, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_38468837", + "mask_path": "../../mask/hdr_left_03382.png" + }, + { + "file_path": "../../rgb/hdr_left_03383.png", + "transform_matrix": [ + [ + -0.9527910947799683, + -0.09641876071691513, + -0.2879105806350708, + 17.48881721496582 + ], + [ + 0.2888750731945038, + 0.004105919972062111, + -0.9573580026626587, + -6.806394100189209 + ], + [ + 0.0934893935918808, + -0.9953324198722839, + 0.02394089102745056, + -1.8819371461868286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3383, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_138469457", + "mask_path": "../../mask/hdr_left_03383.png" + }, + { + "file_path": "../../rgb/hdr_left_03384.png", + "transform_matrix": [ + [ + -0.9520847201347351, + -0.09413447231054306, + -0.29098689556121826, + 17.41529083251953 + ], + [ + 0.2919451892375946, + 0.0037325872108340263, + -0.9564277529716492, + -6.798769474029541 + ], + [ + 0.0911189392209053, + -0.9955524802207947, + 0.023928366601467133, + -1.8764094114303589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3384, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_238469362", + "mask_path": "../../mask/hdr_left_03384.png" + }, + { + "file_path": "../../rgb/hdr_left_03385.png", + "transform_matrix": [ + [ + -0.9536325931549072, + -0.09209029376506805, + -0.286538302898407, + 17.34286117553711 + ], + [ + 0.28686270117759705, + 0.00998015608638525, + -0.9579198360443115, + -6.791805267333984 + ], + [ + 0.09107479453086853, + -0.9957006573677063, + 0.016899866983294487, + -1.8738524913787842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3385, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_338469266", + "mask_path": "../../mask/hdr_left_03385.png" + }, + { + "file_path": "../../rgb/hdr_left_03386.png", + "transform_matrix": [ + [ + -0.9542369842529297, + -0.09267803281545639, + -0.28432828187942505, + 17.269643783569336 + ], + [ + 0.28435322642326355, + 0.013215710408985615, + -0.9586284756660461, + -6.780025005340576 + ], + [ + 0.09260140359401703, + -0.9956085085868835, + 0.013742377981543541, + -1.8711833953857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3386, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_438469886", + "mask_path": "../../mask/hdr_left_03386.png" + }, + { + "file_path": "../../rgb/hdr_left_03387.png", + "transform_matrix": [ + [ + -0.9530730247497559, + -0.09437631815671921, + -0.2876541018486023, + 17.191484451293945 + ], + [ + 0.28746670484542847, + 0.015870459377765656, + -0.9576591849327087, + -6.76731014251709 + ], + [ + 0.09494553506374359, + -0.9954100847244263, + 0.012004347518086433, + -1.8559383153915405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3387, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_538469076", + "mask_path": "../../mask/hdr_left_03387.png" + }, + { + "file_path": "../../rgb/hdr_left_03388.png", + "transform_matrix": [ + [ + -0.9491652250289917, + -0.097841776907444, + -0.29918619990348816, + 17.12151527404785 + ], + [ + 0.29908400774002075, + 0.016055746003985405, + -0.9540916681289673, + -6.75532865524292 + ], + [ + 0.09815367311239243, + -0.9950724840164185, + 0.014023355208337307, + -1.834920048713684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3388, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_638469457", + "mask_path": "../../mask/hdr_left_03388.png" + }, + { + "file_path": "../../rgb/hdr_left_03389.png", + "transform_matrix": [ + [ + -0.9453223347663879, + -0.10501717031002045, + -0.3087669909000397, + 17.053647994995117 + ], + [ + 0.309850811958313, + 0.006245308090001345, + -0.9507646560668945, + -6.746694087982178 + ], + [ + 0.10177493840456009, + -0.9944508671760559, + 0.026635820046067238, + -1.8200665712356567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3389, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_738469839", + "mask_path": "../../mask/hdr_left_03389.png" + }, + { + "file_path": "../../rgb/hdr_left_03390.png", + "transform_matrix": [ + [ + -0.9441168308258057, + -0.10821177810430527, + -0.31134164333343506, + 16.972198486328125 + ], + [ + 0.3130248785018921, + 0.001503907609730959, + -0.9497437477111816, + -6.743622779846191 + ], + [ + 0.10324167460203171, + -0.9941267967224121, + 0.03245311602950096, + -1.8087888956069946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3390, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_838469266", + "mask_path": "../../mask/hdr_left_03390.png" + }, + { + "file_path": "../../rgb/hdr_left_03391.png", + "transform_matrix": [ + [ + -0.9456984400749207, + -0.10628951340913773, + -0.3071756958961487, + 16.89542007446289 + ], + [ + 0.30801257491111755, + 0.008861122652888298, + -0.9513410329818726, + -6.740355491638184 + ], + [ + 0.10383948683738708, + -0.9942957758903503, + 0.024358559399843216, + -1.8049390316009521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3391, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_938469171", + "mask_path": "../../mask/hdr_left_03391.png" + }, + { + "file_path": "../../rgb/hdr_left_03392.png", + "transform_matrix": [ + [ + -0.9459763169288635, + -0.10493390262126923, + -0.30678591132164, + 16.830129623413086 + ], + [ + 0.3070935606956482, + 0.013615282252430916, + -0.9515818953514099, + -6.728607177734375 + ], + [ + 0.10403017699718475, + -0.9943860173225403, + 0.019344791769981384, + -1.7998336553573608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3392, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_38469791", + "mask_path": "../../mask/hdr_left_03392.png" + }, + { + "file_path": "../../rgb/hdr_left_03393.png", + "transform_matrix": [ + [ + -0.9437779188156128, + -0.10679911077022552, + -0.3128531873226166, + 16.75908660888672 + ], + [ + 0.31240928173065186, + 0.021296460181474686, + -0.949708878993988, + -6.712301731109619 + ], + [ + 0.10809071362018585, + -0.994052529335022, + 0.013265899382531643, + -1.7812473773956299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3393, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_138469219", + "mask_path": "../../mask/hdr_left_03393.png" + }, + { + "file_path": "../../rgb/hdr_left_03394.png", + "transform_matrix": [ + [ + -0.9380002617835999, + -0.11597512662410736, + -0.32665783166885376, + 16.69919776916504 + ], + [ + 0.32631054520606995, + 0.022509271278977394, + -0.9449945688247681, + -6.69936990737915 + ], + [ + 0.1169486865401268, + -0.9929971098899841, + 0.016730207949876785, + -1.7595244646072388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3394, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_238469839", + "mask_path": "../../mask/hdr_left_03394.png" + }, + { + "file_path": "../../rgb/hdr_left_03395.png", + "transform_matrix": [ + [ + -0.9349220991134644, + -0.1199045181274414, + -0.3339812159538269, + 16.642879486083984 + ], + [ + 0.33428582549095154, + 0.018165944144129753, + -0.9422966837882996, + -6.6920390129089355 + ], + [ + 0.1190527006983757, + -0.9926192164421082, + 0.023098645731806755, + -1.7442251443862915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3395, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_338469505", + "mask_path": "../../mask/hdr_left_03395.png" + }, + { + "file_path": "../../rgb/hdr_left_03396.png", + "transform_matrix": [ + [ + -0.9351216554641724, + -0.11791372299194336, + -0.3341313302516937, + 16.578134536743164 + ], + [ + 0.33438706398010254, + 0.018200155347585678, + -0.942260205745697, + -6.688122749328613 + ], + [ + 0.11718662083148956, + -0.9928571581840515, + 0.022409461438655853, + -1.7351876497268677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3396, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_438468933", + "mask_path": "../../mask/hdr_left_03396.png" + }, + { + "file_path": "../../rgb/hdr_left_03397.png", + "transform_matrix": [ + [ + -0.9371106028556824, + -0.11600448936223984, + -0.32919079065322876, + 16.520111083984375 + ], + [ + 0.3289736807346344, + 0.021567534655332565, + -0.9440926909446716, + -6.682918071746826 + ], + [ + 0.116618812084198, + -0.9930145144462585, + 0.017951257526874542, + -1.7306994199752808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3397, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_538470506", + "mask_path": "../../mask/hdr_left_03397.png" + }, + { + "file_path": "../../rgb/hdr_left_03398.png", + "transform_matrix": [ + [ + -0.9383552670478821, + -0.11126551032066345, + -0.32727548480033875, + 16.459428787231445 + ], + [ + 0.32691681385040283, + 0.021974127739667892, + -0.9447975754737854, + -6.672902584075928 + ], + [ + 0.11231496185064316, + -0.993547797203064, + 0.015755027532577515, + -1.7278048992156982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3398, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_638468265", + "mask_path": "../../mask/hdr_left_03398.png" + }, + { + "file_path": "../../rgb/hdr_left_03399.png", + "transform_matrix": [ + [ + -0.9364396929740906, + -0.11245658248662949, + -0.33231648802757263, + 16.395532608032227 + ], + [ + 0.33129069209098816, + 0.028241442516446114, + -0.9431059956550598, + -6.660394191741943 + ], + [ + 0.11544356495141983, + -0.9932552576065063, + 0.010809418745338917, + -1.7095929384231567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3399, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_738469839", + "mask_path": "../../mask/hdr_left_03399.png" + }, + { + "file_path": "../../rgb/hdr_left_03400.png", + "transform_matrix": [ + [ + -0.9312400817871094, + -0.1198599711060524, + -0.34413012862205505, + 16.336246490478516 + ], + [ + 0.343472421169281, + 0.02676147222518921, + -0.9387813210487366, + -6.647475242614746 + ], + [ + 0.12173175066709518, + -0.9924300312995911, + 0.016247248277068138, + -1.6906777620315552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3400, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_838470220", + "mask_path": "../../mask/hdr_left_03400.png" + }, + { + "file_path": "../../rgb/hdr_left_03401.png", + "transform_matrix": [ + [ + -0.9292001128196716, + -0.12045102566480637, + -0.3493975102901459, + 16.272573471069336 + ], + [ + 0.3487018942832947, + 0.027499480172991753, + -0.9368302226066589, + -6.639401435852051 + ], + [ + 0.12245039641857147, + -0.9923383593559265, + 0.0164489783346653, + -1.679605484008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3401, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_938471555", + "mask_path": "../../mask/hdr_left_03401.png" + }, + { + "file_path": "../../rgb/hdr_left_03402.png", + "transform_matrix": [ + [ + -0.9306216835975647, + -0.11519771069288254, + -0.34737974405288696, + 16.200220108032227 + ], + [ + 0.34587645530700684, + 0.03344039246439934, + -0.9376838803291321, + -6.628222465515137 + ], + [ + 0.11963554471731186, + -0.992779552936554, + 0.00872382428497076, + -1.6798917055130005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3402, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_38469552", + "mask_path": "../../mask/hdr_left_03402.png" + }, + { + "file_path": "../../rgb/hdr_left_03403.png", + "transform_matrix": [ + [ + -0.9312672019004822, + -0.11008745431900024, + -0.3473068177700043, + 16.143489837646484 + ], + [ + 0.3457667827606201, + 0.033403102308511734, + -0.9377256631851196, + -6.612770080566406 + ], + [ + 0.11483295261859894, + -0.9933605194091797, + 0.006957376375794411, + -1.6837520599365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3403, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_138469696", + "mask_path": "../../mask/hdr_left_03403.png" + }, + { + "file_path": "../../rgb/hdr_left_03404.png", + "transform_matrix": [ + [ + -0.9302459955215454, + -0.10686668753623962, + -0.35102975368499756, + 16.08369255065918 + ], + [ + 0.34978654980659485, + 0.030784623697400093, + -0.9363234639167786, + -6.59740686416626 + ], + [ + 0.11086809635162354, + -0.993796706199646, + 0.008743259124457836, + -1.6782389879226685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3404, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_238469600", + "mask_path": "../../mask/hdr_left_03404.png" + }, + { + "file_path": "../../rgb/hdr_left_03405.png", + "transform_matrix": [ + [ + -0.9268336892127991, + -0.10549524426460266, + -0.36034712195396423, + 16.029874801635742 + ], + [ + 0.3593598008155823, + 0.02888929285109043, + -0.9327517747879028, + -6.581709861755371 + ], + [ + 0.10881104320287704, + -0.9940001368522644, + 0.011135180480778217, + -1.6648945808410645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3405, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_338470458", + "mask_path": "../../mask/hdr_left_03405.png" + }, + { + "file_path": "../../rgb/hdr_left_03407.png", + "transform_matrix": [ + [ + -0.9228062629699707, + -0.0957580953836441, + -0.3731740415096283, + 15.91962718963623 + ], + [ + 0.3725909888744354, + 0.02457408234477043, + -0.9276703000068665, + -6.565072059631348 + ], + [ + 0.09800232946872711, + -0.9951013326644897, + 0.013001482002437115, + -1.6576769351959229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3407, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_538469791", + "mask_path": "../../mask/hdr_left_03407.png" + }, + { + "file_path": "../../rgb/hdr_left_03408.png", + "transform_matrix": [ + [ + -0.9256494641304016, + -0.08868212252855301, + -0.3678430914878845, + 15.860906600952148 + ], + [ + 0.36675363779067993, + 0.028876706957817078, + -0.9298697710037231, + -6.557721138000488 + ], + [ + 0.093084916472435, + -0.9956413507461548, + 0.005794785916805267, + -1.657747745513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3408, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_638469457", + "mask_path": "../../mask/hdr_left_03408.png" + }, + { + "file_path": "../../rgb/hdr_left_03410.png", + "transform_matrix": [ + [ + -0.9263790249824524, + -0.0759466290473938, + -0.36885473132133484, + 15.773941040039062 + ], + [ + 0.3677406907081604, + 0.028678709641098976, + -0.929486095905304, + -6.531636714935303 + ], + [ + 0.08116959780454636, + -0.9966993927955627, + 0.0013613125775009394, + -1.655835747718811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3410, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_838468790", + "mask_path": "../../mask/hdr_left_03410.png" + }, + { + "file_path": "../../rgb/hdr_left_03412.png", + "transform_matrix": [ + [ + -0.9183415770530701, + -0.077266626060009, + -0.3881734013557434, + 15.688643455505371 + ], + [ + 0.38819020986557007, + 0.01541842520236969, + -0.9214503169059753, + -6.512096881866455 + ], + [ + 0.07718237489461899, + -0.9968912601470947, + 0.015834763646125793, + -1.63261079788208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3412, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_38469791", + "mask_path": "../../mask/hdr_left_03412.png" + }, + { + "file_path": "../../rgb/hdr_left_03413.png", + "transform_matrix": [ + [ + -0.9177496433258057, + -0.07562247663736343, + -0.3898932635784149, + 15.632034301757812 + ], + [ + 0.39004451036453247, + 0.013370533473789692, + -0.9206989407539368, + -6.5037922859191895 + ], + [ + 0.07483860850334167, + -0.9970468878746033, + 0.01722533069550991, + -1.6281347274780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3413, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_138471126", + "mask_path": "../../mask/hdr_left_03413.png" + }, + { + "file_path": "../../rgb/hdr_left_03414.png", + "transform_matrix": [ + [ + -0.9210091829299927, + -0.07283452898263931, + -0.38267096877098083, + 15.580134391784668 + ], + [ + 0.3822921812534332, + 0.019626285880804062, + -0.9238330125808716, + -6.495683670043945 + ], + [ + 0.07479735463857651, + -0.9971508979797363, + 0.009768081828951836, + -1.62595796585083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3414, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_238469839", + "mask_path": "../../mask/hdr_left_03414.png" + }, + { + "file_path": "../../rgb/hdr_left_03416.png", + "transform_matrix": [ + [ + -0.9205690026283264, + -0.061837274581193924, + -0.3856537938117981, + 15.497514724731445 + ], + [ + 0.384825736284256, + 0.02526518888771534, + -0.9226433634757996, + -6.46796989440918 + ], + [ + 0.06679736822843552, + -0.9977664947509766, + 0.000538225460331887, + -1.6170952320098877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3416, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_438469171", + "mask_path": "../../mask/hdr_left_03416.png" + }, + { + "file_path": "../../rgb/hdr_left_03418.png", + "transform_matrix": [ + [ + -0.9141586422920227, + -0.0684809535741806, + -0.3995300531387329, + 15.416604995727539 + ], + [ + 0.3989676535129547, + 0.022297706454992294, + -0.9166938066482544, + -6.4413676261901855 + ], + [ + 0.07168466597795486, + -0.9974032640457153, + 0.006938048638403416, + -1.604616403579712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3418, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_638469457", + "mask_path": "../../mask/hdr_left_03418.png" + }, + { + "file_path": "../../rgb/hdr_left_03420.png", + "transform_matrix": [ + [ + -0.9232311248779297, + -0.07025078684091568, + -0.3777686059474945, + 15.324012756347656 + ], + [ + 0.37691348791122437, + 0.025565525516867638, + -0.9258955121040344, + -6.425241947174072 + ], + [ + 0.07470273971557617, + -0.997201681137085, + 0.0028755837120115757, + -1.5926861763000488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3420, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_838469982", + "mask_path": "../../mask/hdr_left_03420.png" + }, + { + "file_path": "../../rgb/hdr_left_03422.png", + "transform_matrix": [ + [ + -0.9338101148605347, + -0.07173305749893188, + -0.3505038321018219, + 15.237022399902344 + ], + [ + 0.3487970232963562, + 0.035490065813064575, + -0.9365260601043701, + -6.411989688873291 + ], + [ + 0.07961928844451904, + -0.9967923164367676, + -0.00812070444226265, + -1.5796740055084229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3422, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_38470268", + "mask_path": "../../mask/hdr_left_03422.png" + }, + { + "file_path": "../../rgb/hdr_left_03424.png", + "transform_matrix": [ + [ + -0.9332054257392883, + -0.08015057444572449, + -0.3502906262874603, + 15.154356956481934 + ], + [ + 0.3490619957447052, + 0.029319163411855698, + -0.9366407990455627, + -6.398170471191406 + ], + [ + 0.08534251898527145, + -0.9963515400886536, + 0.0006167216342873871, + -1.563563585281372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3424, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_238470554", + "mask_path": "../../mask/hdr_left_03424.png" + }, + { + "file_path": "../../rgb/hdr_left_03425.png", + "transform_matrix": [ + [ + -0.9354336261749268, + -0.08704612404108047, + -0.34261757135391235, + 15.097339630126953 + ], + [ + 0.34170910716056824, + 0.025598838925361633, + -0.9394570589065552, + -6.394511699676514 + ], + [ + 0.09054669737815857, + -0.9958754181861877, + 0.005798439495265484, + -1.5556845664978027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3425, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_338469266", + "mask_path": "../../mask/hdr_left_03425.png" + }, + { + "file_path": "../../rgb/hdr_left_03426.png", + "transform_matrix": [ + [ + -0.9392675757408142, + -0.0894550159573555, + -0.33132174611091614, + 15.041091918945312 + ], + [ + 0.3300817012786865, + 0.028749674558639526, + -0.9435144662857056, + -6.392138481140137 + ], + [ + 0.09392748028039932, + -0.9955759048461914, + 0.002523832255974412, + -1.5530191659927368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3426, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_438469409", + "mask_path": "../../mask/hdr_left_03426.png" + }, + { + "file_path": "../../rgb/hdr_left_03427.png", + "transform_matrix": [ + [ + -0.9412539601325989, + -0.09181925654411316, + -0.3249771296977997, + 14.987932205200195 + ], + [ + 0.32365867495536804, + 0.02932048961520195, + -0.9457195401191711, + -6.389951705932617 + ], + [ + 0.09636374562978745, + -0.9953439235687256, + 0.00212007574737072, + -1.5536088943481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3427, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_538469791", + "mask_path": "../../mask/hdr_left_03427.png" + }, + { + "file_path": "../../rgb/hdr_left_03428.png", + "transform_matrix": [ + [ + -0.9404739737510681, + -0.09575110673904419, + -0.3260985314846039, + 14.93415641784668 + ], + [ + 0.3242046535015106, + 0.03515245392918587, + -0.9453336000442505, + -6.381608009338379 + ], + [ + 0.10197989642620087, + -0.9947845339775085, + -0.00201701233163476, + -1.539279580116272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3428, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_638469457", + "mask_path": "../../mask/hdr_left_03428.png" + }, + { + "file_path": "../../rgb/hdr_left_03430.png", + "transform_matrix": [ + [ + -0.9357233047485352, + -0.11013752967119217, + -0.33509933948516846, + 14.831186294555664 + ], + [ + 0.3343714773654938, + 0.025568680837750435, + -0.9420944452285767, + -6.364718914031982 + ], + [ + 0.11232800036668777, + -0.9935874342918396, + 0.012901638634502888, + -1.5132359266281128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3430, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_838469743", + "mask_path": "../../mask/hdr_left_03430.png" + }, + { + "file_path": "../../rgb/hdr_left_03431.png", + "transform_matrix": [ + [ + -0.9375581741333008, + -0.1170247346162796, + -0.3275512456893921, + 14.772318840026855 + ], + [ + 0.3270726501941681, + 0.023820975795388222, + -0.9446988701820374, + -6.359305381774902 + ], + [ + 0.11835572123527527, + -0.9928433895111084, + 0.01594204269349575, + -1.502502679824829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3431, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_938468456", + "mask_path": "../../mask/hdr_left_03431.png" + }, + { + "file_path": "../../rgb/hdr_right_00873.png", + "transform_matrix": [ + [ + -0.9685271978378296, + -0.1040869876742363, + 0.22609952092170715, + 15.262897491455078 + ], + [ + -0.22783206403255463, + 0.004910685122013092, + -0.9736880660057068, + -6.688135147094727 + ], + [ + 0.10023795813322067, + -0.9945560693740845, + -0.028470486402511597, + -1.5922242403030396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 873, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_438470363", + "mask_path": "../../mask/hdr_right_00873.png" + }, + { + "file_path": "../../rgb/hdr_right_00874.png", + "transform_matrix": [ + [ + -0.9736878871917725, + -0.1040031835436821, + 0.20276890695095062, + 15.324258804321289 + ], + [ + -0.20473793148994446, + 0.008506467565894127, + -0.9787798523902893, + -6.681670665740967 + ], + [ + 0.10007137805223465, + -0.9945405721664429, + -0.029576044529676437, + -1.6013537645339966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 874, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_538469791", + "mask_path": "../../mask/hdr_right_00874.png" + }, + { + "file_path": "../../rgb/hdr_right_00875.png", + "transform_matrix": [ + [ + -0.975770890712738, + -0.10843642055988312, + 0.19003300368785858, + 15.399896621704102 + ], + [ + -0.19202351570129395, + 0.008122678846120834, + -0.9813567996025085, + -6.6787800788879395 + ], + [ + 0.1048712357878685, + -0.9940701723098755, + -0.02874821610748768, + -1.6208446025848389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 875, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_638470411", + "mask_path": "../../mask/hdr_right_00875.png" + }, + { + "file_path": "../../rgb/hdr_right_00876.png", + "transform_matrix": [ + [ + -0.9779898524284363, + -0.10632850974798203, + 0.1795271933078766, + 15.461384773254395 + ], + [ + -0.1817115992307663, + 0.011145048774778843, + -0.9832887053489685, + -6.674271583557129 + ], + [ + 0.10255078971385956, + -0.9942685961723328, + -0.030220871791243553, + -1.6364281177520752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 876, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_738467693", + "mask_path": "../../mask/hdr_right_00876.png" + }, + { + "file_path": "../../rgb/hdr_right_00877.png", + "transform_matrix": [ + [ + -0.9804919362068176, + -0.10921858996152878, + 0.1634228527545929, + 15.523904800415039 + ], + [ + -0.16585400700569153, + 0.01349689345806837, + -0.9860579967498779, + -6.669811248779297 + ], + [ + 0.10549015551805496, + -0.9939261674880981, + -0.031347934156656265, + -1.649099588394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 877, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_838469028", + "mask_path": "../../mask/hdr_right_00877.png" + }, + { + "file_path": "../../rgb/hdr_right_00878.png", + "transform_matrix": [ + [ + -0.9831587672233582, + -0.11804590374231339, + 0.13951356709003448, + 15.595417022705078 + ], + [ + -0.14230531454086304, + 0.015518967993557453, + -0.9897012710571289, + -6.672990798950195 + ], + [ + 0.11466506868600845, + -0.9928868412971497, + -0.03205616772174835, + -1.6590523719787598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 878, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594254_938469648", + "mask_path": "../../mask/hdr_right_00878.png" + }, + { + "file_path": "../../rgb/hdr_right_00879.png", + "transform_matrix": [ + [ + -0.9871379137039185, + -0.11484366655349731, + 0.11121916025876999, + 15.663247108459473 + ], + [ + -0.11398106813430786, + 0.017748668789863586, + -0.993324339389801, + -6.683610439300537 + ], + [ + 0.11210302263498306, + -0.9932250380516052, + -0.03061039000749588, + -1.6647409200668335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 879, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_38469314", + "mask_path": "../../mask/hdr_right_00879.png" + }, + { + "file_path": "../../rgb/hdr_right_00880.png", + "transform_matrix": [ + [ + -0.9902266263961792, + -0.10962183773517609, + 0.08622170984745026, + 15.73999309539795 + ], + [ + -0.08907297253608704, + 0.02137530781328678, + -0.995795726776123, + -6.686472415924072 + ], + [ + 0.10731793940067291, + -0.9937435388565063, + -0.030930742621421814, + -1.6700639724731445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 880, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_138469457", + "mask_path": "../../mask/hdr_right_00880.png" + }, + { + "file_path": "../../rgb/hdr_right_00881.png", + "transform_matrix": [ + [ + -0.9912094473838806, + -0.10928097367286682, + 0.07457569241523743, + 15.82563591003418 + ], + [ + -0.07760535180568695, + 0.023731397464871407, + -0.996701717376709, + -6.689935207366943 + ], + [ + 0.10715074092149734, + -0.9937275052070618, + -0.03200357407331467, + -1.6818327903747559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 881, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_238469123", + "mask_path": "../../mask/hdr_right_00881.png" + }, + { + "file_path": "../../rgb/hdr_right_00882.png", + "transform_matrix": [ + [ + -0.9919757843017578, + -0.10584822297096252, + 0.06913909316062927, + 15.88958740234375 + ], + [ + -0.07244250178337097, + 0.027684031054377556, + -0.9969883561134338, + -6.690346717834473 + ], + [ + 0.10361539572477341, + -0.9939968585968018, + -0.03512980043888092, + -1.6926398277282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 882, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_338470220", + "mask_path": "../../mask/hdr_right_00882.png" + }, + { + "file_path": "../../rgb/hdr_right_00883.png", + "transform_matrix": [ + [ + -0.9925835132598877, + -0.10557783395051956, + 0.060260746628046036, + 15.960807800292969 + ], + [ + -0.06360655277967453, + 0.028611967340111732, + -0.9975648522377014, + -6.697735786437988 + ], + [ + 0.10359654575586319, + -0.9939993023872375, + -0.03511520475149155, + -1.7016245126724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 883, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_438469648", + "mask_path": "../../mask/hdr_right_00883.png" + }, + { + "file_path": "../../rgb/hdr_right_00884.png", + "transform_matrix": [ + [ + -0.9929075837135315, + -0.10761258751153946, + 0.05053824931383133, + 16.0255184173584 + ], + [ + -0.05376555025577545, + 0.027300892397761345, + -0.9981803894042969, + -6.705242156982422 + ], + [ + 0.10603702068328857, + -0.9938179850578308, + -0.032893113791942596, + -1.7061433792114258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 884, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_538467884", + "mask_path": "../../mask/hdr_right_00884.png" + }, + { + "file_path": "../../rgb/hdr_right_00885.png", + "transform_matrix": [ + [ + -0.9939232468605042, + -0.10235745459794998, + 0.04049175605177879, + 16.08930206298828 + ], + [ + -0.04369870200753212, + 0.02928418479859829, + -0.9986154437065125, + -6.711388111114502 + ], + [ + 0.10102997720241547, + -0.9943165183067322, + -0.03357911854982376, + -1.7105375528335571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 885, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_638468980", + "mask_path": "../../mask/hdr_right_00885.png" + }, + { + "file_path": "../../rgb/hdr_right_00886.png", + "transform_matrix": [ + [ + -0.9947270750999451, + -0.09640869498252869, + 0.0349774993956089, + 16.168373107910156 + ], + [ + -0.03855365887284279, + 0.03548325598239899, + -0.9986264109611511, + -6.714109897613525 + ], + [ + 0.09503515064716339, + -0.9947091341018677, + -0.03901306167244911, + -1.720658540725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 886, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_738469600", + "mask_path": "../../mask/hdr_right_00886.png" + }, + { + "file_path": "../../rgb/hdr_right_00887.png", + "transform_matrix": [ + [ + -0.9948661923408508, + -0.09247905015945435, + 0.041096195578575134, + 16.25067710876465 + ], + [ + -0.04488196596503258, + 0.039235129952430725, + -0.9982215762138367, + -6.714287757873535 + ], + [ + 0.09070216864347458, + -0.9949412941932678, + -0.043184347450733185, + -1.7290089130401611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 887, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_838469266", + "mask_path": "../../mask/hdr_right_00887.png" + }, + { + "file_path": "../../rgb/hdr_right_00888.png", + "transform_matrix": [ + [ + -0.9951410889625549, + -0.08733924478292465, + 0.045453447848558426, + 16.321914672851562 + ], + [ + -0.04921853169798851, + 0.041449010372161865, + -0.9979276061058044, + -6.717484474182129 + ], + [ + 0.08527424931526184, + -0.9953159093856812, + -0.04554632306098938, + -1.7362887859344482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 888, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594255_938471078", + "mask_path": "../../mask/hdr_right_00888.png" + }, + { + "file_path": "../../rgb/hdr_right_00889.png", + "transform_matrix": [ + [ + -0.9953924417495728, + -0.08642137795686722, + 0.04153628274798393, + 16.399145126342773 + ], + [ + -0.045352328568696976, + 0.04267070069909096, + -0.9980593919754028, + -6.730106353759766 + ], + [ + 0.08448128402233124, + -0.9953444600105286, + -0.0463934950530529, + -1.7374887466430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 889, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_38469314", + "mask_path": "../../mask/hdr_right_00889.png" + }, + { + "file_path": "../../rgb/hdr_right_00890.png", + "transform_matrix": [ + [ + -0.9959588050842285, + -0.08445639163255692, + 0.030547764152288437, + 16.47003746032715 + ], + [ + -0.03422381356358528, + 0.042425621300935745, + -0.9985133409500122, + -6.743829727172852 + ], + [ + 0.08303482085466385, + -0.9955235719680786, + -0.045144591480493546, + -1.7381490468978882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 890, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_138470411", + "mask_path": "../../mask/hdr_right_00890.png" + }, + { + "file_path": "../../rgb/hdr_right_00891.png", + "transform_matrix": [ + [ + -0.996679425239563, + -0.07861550152301788, + 0.021202119067311287, + 16.537473678588867 + ], + [ + -0.02478192374110222, + 0.044843029230833054, + -0.998686671257019, + -6.752043724060059 + ], + [ + 0.07756148278713226, + -0.9958959817886353, + -0.046642374247312546, + -1.7430802583694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 891, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_238469839", + "mask_path": "../../mask/hdr_right_00891.png" + }, + { + "file_path": "../../rgb/hdr_right_00892.png", + "transform_matrix": [ + [ + -0.9968544244766235, + -0.07695456594228745, + 0.018953759223222733, + 16.624387741088867 + ], + [ + -0.022322556003928185, + 0.043154872953891754, + -0.9988189935684204, + -6.754334449768066 + ], + [ + 0.07604573667049408, + -0.9961001873016357, + -0.04473695531487465, + -1.756574273109436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 892, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_338469743", + "mask_path": "../../mask/hdr_right_00892.png" + }, + { + "file_path": "../../rgb/hdr_right_00893.png", + "transform_matrix": [ + [ + -0.996882438659668, + -0.07513148337602615, + 0.024094562977552414, + 16.7009334564209 + ], + [ + -0.027394039556384087, + 0.04319918528199196, + -0.9986908435821533, + -6.75579309463501 + ], + [ + 0.07399225234985352, + -0.9962375164031982, + -0.045122671872377396, + -1.7686394453048706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 893, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_438469171", + "mask_path": "../../mask/hdr_right_00893.png" + }, + { + "file_path": "../../rgb/hdr_right_00894.png", + "transform_matrix": [ + [ + -0.9971169829368591, + -0.0719783678650856, + 0.024018045514822006, + 16.768024444580078 + ], + [ + -0.027389056980609894, + 0.046217869967222214, + -0.9985558390617371, + -6.762866020202637 + ], + [ + 0.07076435536146164, + -0.9963347911834717, + -0.048056039959192276, + -1.7739217281341553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 894, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_538469552", + "mask_path": "../../mask/hdr_right_00894.png" + }, + { + "file_path": "../../rgb/hdr_right_00895.png", + "transform_matrix": [ + [ + -0.9968730807304382, + -0.0773245245218277, + 0.016278192400932312, + 16.840892791748047 + ], + [ + -0.020310746505856514, + 0.0516539067029953, + -0.9984585046768188, + -6.781923294067383 + ], + [ + 0.07636448740959167, + -0.995667040348053, + -0.053062908351421356, + -1.7785354852676392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 895, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_638469219", + "mask_path": "../../mask/hdr_right_00895.png" + }, + { + "file_path": "../../rgb/hdr_right_00896.png", + "transform_matrix": [ + [ + -0.9969909191131592, + -0.07740680873394012, + 0.00414095725864172, + 16.902618408203125 + ], + [ + -0.007629643194377422, + 0.04482821747660637, + -0.9989656209945679, + -6.797021865844727 + ], + [ + 0.07714110612869263, + -0.9959912896156311, + -0.04528392106294632, + -1.779820203781128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 896, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_738470077", + "mask_path": "../../mask/hdr_right_00896.png" + }, + { + "file_path": "../../rgb/hdr_right_00898.png", + "transform_matrix": [ + [ + -0.9963297247886658, + -0.0848524421453476, + -0.011274412274360657, + 17.03643226623535 + ], + [ + 0.00832406710833311, + 0.03504389896988869, + -0.9993510842323303, + -6.8101725578308105 + ], + [ + 0.0851924866437912, + -0.9957770705223083, + -0.034208960831165314, + -1.800331950187683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 898, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594256_938471317", + "mask_path": "../../mask/hdr_right_00898.png" + }, + { + "file_path": "../../rgb/hdr_right_00899.png", + "transform_matrix": [ + [ + -0.9958738684654236, + -0.0904034748673439, + -0.007899995893239975, + 17.098682403564453 + ], + [ + 0.004906526301056147, + 0.033286355435848236, + -0.9994338750839233, + -6.816256046295166 + ], + [ + 0.09061525762081146, + -0.9953488111495972, + -0.03270544484257698, + -1.8162821531295776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 899, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_38468599", + "mask_path": "../../mask/hdr_right_00899.png" + }, + { + "file_path": "../../rgb/hdr_right_00900.png", + "transform_matrix": [ + [ + -0.9958553314208984, + -0.09085170179605484, + -0.004254091996699572, + 17.15704917907715 + ], + [ + 0.0012568114325404167, + 0.03302256762981415, + -0.9994538426399231, + -6.823845863342285 + ], + [ + 0.09094256162643433, + -0.9953168034553528, + -0.0327715203166008, + -1.8252737522125244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 900, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_138470172", + "mask_path": "../../mask/hdr_right_00900.png" + }, + { + "file_path": "../../rgb/hdr_right_00901.png", + "transform_matrix": [ + [ + -0.9952191114425659, + -0.09764324128627777, + -0.002166164107620716, + 17.228961944580078 + ], + [ + -0.001180745312012732, + 0.034205857664346695, + -0.9994141459465027, + -6.836306095123291 + ], + [ + 0.097660131752491, + -0.9946334362030029, + -0.034157611429691315, + -1.8343136310577393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 901, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_238470792", + "mask_path": "../../mask/hdr_right_00901.png" + }, + { + "file_path": "../../rgb/hdr_right_00902.png", + "transform_matrix": [ + [ + -0.9942044615745544, + -0.1072680726647377, + -0.00715041346848011, + 17.292675018310547 + ], + [ + 0.004035437013953924, + 0.029228197410702705, + -0.9995645880699158, + -6.848454475402832 + ], + [ + 0.10743037611246109, + -0.9938004016876221, + -0.028625933453440666, + -1.8408771753311157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 902, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_338469743", + "mask_path": "../../mask/hdr_right_00902.png" + }, + { + "file_path": "../../rgb/hdr_right_00904.png", + "transform_matrix": [ + [ + -0.995236337184906, + -0.09713734686374664, + -0.008301328867673874, + 17.42015838623047 + ], + [ + 0.005814597476273775, + 0.025854898616671562, + -0.9996488690376282, + -6.865320682525635 + ], + [ + 0.09731786698102951, + -0.9949350953102112, + -0.025166919454932213, + -1.8529784679412842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 904, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_538469076", + "mask_path": "../../mask/hdr_right_00904.png" + }, + { + "file_path": "../../rgb/hdr_right_00905.png", + "transform_matrix": [ + [ + -0.9944283962249756, + -0.10430198162794113, + 0.015274887904524803, + 17.493188858032227 + ], + [ + -0.01786688342690468, + 0.023961728438735008, + -0.9995532035827637, + -6.869874954223633 + ], + [ + 0.10388936847448349, + -0.9942569732666016, + -0.025691775605082512, + -1.8682522773742676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 905, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_638468980", + "mask_path": "../../mask/hdr_right_00905.png" + }, + { + "file_path": "../../rgb/hdr_right_00906.png", + "transform_matrix": [ + [ + -0.9940190315246582, + -0.10098300874233246, + 0.041576895862817764, + 17.554765701293945 + ], + [ + -0.04409225657582283, + 0.022804560139775276, + -0.9987671971321106, + -6.866921424865723 + ], + [ + 0.09991036355495453, + -0.9946267008781433, + -0.02712073363363743, + -1.8815841674804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 906, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_738469123", + "mask_path": "../../mask/hdr_right_00906.png" + }, + { + "file_path": "../../rgb/hdr_right_00907.png", + "transform_matrix": [ + [ + -0.9929367899894714, + -0.09759345650672913, + 0.06746967136859894, + 17.627281188964844 + ], + [ + -0.07007331401109695, + 0.023497428745031357, + -0.997265100479126, + -6.867988586425781 + ], + [ + 0.09574118256568909, + -0.9949489235877991, + -0.030170157551765442, + -1.8906614780426025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 907, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_838469028", + "mask_path": "../../mask/hdr_right_00907.png" + }, + { + "file_path": "../../rgb/hdr_right_00908.png", + "transform_matrix": [ + [ + -0.991331160068512, + -0.0972919687628746, + 0.08829914033412933, + 17.701005935668945 + ], + [ + -0.0908554419875145, + 0.02215641364455223, + -0.9956175684928894, + -6.875063896179199 + ], + [ + 0.0949091985821724, + -0.995009183883667, + -0.030803851783275604, + -1.8969839811325073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 908, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594257_938469409", + "mask_path": "../../mask/hdr_right_00908.png" + }, + { + "file_path": "../../rgb/hdr_right_00909.png", + "transform_matrix": [ + [ + -0.9900340437889099, + -0.09035781025886536, + 0.10801853239536285, + 17.75667953491211 + ], + [ + -0.11043606698513031, + 0.02218260057270527, + -0.9936356544494629, + -6.869749069213867 + ], + [ + 0.0873866006731987, + -0.995662271976471, + -0.031940292567014694, + -1.9001015424728394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 909, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_38469314", + "mask_path": "../../mask/hdr_right_00909.png" + }, + { + "file_path": "../../rgb/hdr_right_00910.png", + "transform_matrix": [ + [ + -0.9892920255661011, + -0.08300862461328506, + 0.12004541605710983, + 17.821603775024414 + ], + [ + -0.122347891330719, + 0.02321229688823223, + -0.9922158122062683, + -6.864190578460693 + ], + [ + 0.07957593351602554, + -0.9962784051895142, + -0.03311966732144356, + -1.9092841148376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 910, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_138469696", + "mask_path": "../../mask/hdr_right_00910.png" + }, + { + "file_path": "../../rgb/hdr_right_00911.png", + "transform_matrix": [ + [ + -0.987910807132721, + -0.086093470454216, + 0.12891970574855804, + 17.898971557617188 + ], + [ + -0.13087622821331024, + 0.01745806820690632, + -0.9912450313568115, + -6.865499019622803 + ], + [ + 0.08308903872966766, + -0.9961340427398682, + -0.028514601290225983, + -1.9268944263458252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 911, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_238468647", + "mask_path": "../../mask/hdr_right_00911.png" + }, + { + "file_path": "../../rgb/hdr_right_00912.png", + "transform_matrix": [ + [ + -0.9862366318702698, + -0.08649560064077377, + 0.14091065526008606, + 17.962848663330078 + ], + [ + -0.1427619308233261, + 0.01557280495762825, + -0.98963463306427, + -6.859801769256592 + ], + [ + 0.08340465277433395, + -0.9961304664611816, + -0.027706749737262726, + -1.9395776987075806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 912, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_338469982", + "mask_path": "../../mask/hdr_right_00912.png" + }, + { + "file_path": "../../rgb/hdr_right_00913.png", + "transform_matrix": [ + [ + -0.9847315549850464, + -0.08188055455684662, + 0.15362098813056946, + 18.021060943603516 + ], + [ + -0.15520255267620087, + 0.013275820761919022, + -0.9877934455871582, + -6.850659370422363 + ], + [ + 0.07884163409471512, + -0.9965537190437317, + -0.025781191885471344, + -1.9500194787979126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 913, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_438469409", + "mask_path": "../../mask/hdr_right_00913.png" + }, + { + "file_path": "../../rgb/hdr_right_00914.png", + "transform_matrix": [ + [ + -0.983170747756958, + -0.08219388127326965, + 0.16315439343452454, + 18.093461990356445 + ], + [ + -0.16476161777973175, + 0.013120274059474468, + -0.9862461686134338, + -6.8472580909729 + ], + [ + 0.07892277091741562, + -0.9965300559997559, + -0.026441866531968117, + -1.9623918533325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 914, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_538468360", + "mask_path": "../../mask/hdr_right_00914.png" + }, + { + "file_path": "../../rgb/hdr_right_00915.png", + "transform_matrix": [ + [ + -0.9821526408195496, + -0.08716947585344315, + 0.16666604578495026, + 18.164833068847656 + ], + [ + -0.168264701962471, + 0.011272914707660675, + -0.9856773614883423, + -6.846412181854248 + ], + [ + 0.08404218405485153, + -0.9961296916007996, + -0.025739271193742752, + -1.9640822410583496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 915, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_638468027", + "mask_path": "../../mask/hdr_right_00915.png" + }, + { + "file_path": "../../rgb/hdr_right_00916.png", + "transform_matrix": [ + [ + -0.9825927019119263, + -0.08043045550584793, + 0.16745905578136444, + 18.22356605529785 + ], + [ + -0.1690187007188797, + 0.012942383997142315, + -0.9855278730392456, + -6.842294216156006 + ], + [ + 0.07709913700819016, + -0.9966761469841003, + -0.026311343535780907, + -1.96011221408844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 916, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_738470077", + "mask_path": "../../mask/hdr_right_00916.png" + }, + { + "file_path": "../../rgb/hdr_right_00917.png", + "transform_matrix": [ + [ + -0.9828608632087708, + -0.07389429956674576, + 0.1688915342092514, + 18.29454803466797 + ], + [ + -0.1704138219356537, + 0.014759362675249577, + -0.9852620363235474, + -6.834436893463135 + ], + [ + 0.0703125149011612, + -0.9971568584442139, + -0.027099009603261948, + -1.9632583856582642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 917, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_838470220", + "mask_path": "../../mask/hdr_right_00917.png" + }, + { + "file_path": "../../rgb/hdr_right_00918.png", + "transform_matrix": [ + [ + -0.9797571897506714, + -0.07995140552520752, + 0.18353109061717987, + 18.377653121948242 + ], + [ + -0.18486644327640533, + 0.009569317102432251, + -0.9827170372009277, + -6.821969509124756 + ], + [ + 0.07681333273649216, + -0.9967527985572815, + -0.024155937135219574, + -1.9800459146499634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 918, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594258_938469886", + "mask_path": "../../mask/hdr_right_00918.png" + }, + { + "file_path": "../../rgb/hdr_right_00919.png", + "transform_matrix": [ + [ + -0.9743956327438354, + -0.08237665891647339, + 0.20920643210411072, + 18.4404239654541 + ], + [ + -0.21021470427513123, + 0.0036650693509727716, + -0.9776484966278076, + -6.80809211730957 + ], + [ + 0.07976865023374557, + -0.9965945482254028, + -0.020888011902570724, + -1.993448257446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 919, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_38469552", + "mask_path": "../../mask/hdr_right_00919.png" + }, + { + "file_path": "../../rgb/hdr_right_00920.png", + "transform_matrix": [ + [ + -0.9684577584266663, + -0.0830116719007492, + 0.23494407534599304, + 18.494129180908203 + ], + [ + -0.2359406054019928, + 0.0022660051472485065, + -0.9717649221420288, + -6.793646812438965 + ], + [ + 0.08013543486595154, + -0.9965460300445557, + -0.02178035117685795, + -2.005140781402588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 920, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_138469457", + "mask_path": "../../mask/hdr_right_00920.png" + }, + { + "file_path": "../../rgb/hdr_right_00921.png", + "transform_matrix": [ + [ + -0.9619568586349487, + -0.08921317756175995, + 0.25822481513023376, + 18.56917381286621 + ], + [ + -0.2597537636756897, + 0.0057740225456655025, + -0.965657651424408, + -6.781927108764648 + ], + [ + 0.08465838432312012, + -0.995995819568634, + -0.02872781828045845, + -2.0150399208068848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 921, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_238469839", + "mask_path": "../../mask/hdr_right_00921.png" + }, + { + "file_path": "../../rgb/hdr_right_00922.png", + "transform_matrix": [ + [ + -0.9593770503997803, + -0.09363853186368942, + 0.26613444089889526, + 18.637798309326172 + ], + [ + -0.2676149904727936, + 0.003393859602510929, + -0.9635199904441833, + -6.772622585296631 + ], + [ + 0.08931935578584671, + -0.9956005215644836, + -0.028315063565969467, + -2.0186715126037598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 922, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_338469982", + "mask_path": "../../mask/hdr_right_00922.png" + }, + { + "file_path": "../../rgb/hdr_right_00924.png", + "transform_matrix": [ + [ + -0.9570526480674744, + -0.08575693517923355, + 0.2769404947757721, + 18.75456428527832 + ], + [ + -0.2779146432876587, + -0.0006021666340529919, + -0.9606056809425354, + -6.750420093536377 + ], + [ + 0.08254535496234894, + -0.9963159561157227, + -0.023256801068782806, + -2.0364792346954346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 924, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_538469791", + "mask_path": "../../mask/hdr_right_00924.png" + }, + { + "file_path": "../../rgb/hdr_right_00925.png", + "transform_matrix": [ + [ + -0.952597975730896, + -0.09061267971992493, + 0.2904244363307953, + 18.825557708740234 + ], + [ + -0.2906337082386017, + -0.011169093661010265, + -0.9567692875862122, + -6.7306036949157715 + ], + [ + 0.08993919938802719, + -0.9958235025405884, + -0.015695441514253616, + -2.0518128871917725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 925, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_638469696", + "mask_path": "../../mask/hdr_right_00925.png" + }, + { + "file_path": "../../rgb/hdr_right_00926.png", + "transform_matrix": [ + [ + -0.9505209922790527, + -0.09041983634233475, + 0.2972104549407959, + 18.872098922729492 + ], + [ + -0.29647448658943176, + -0.021777238696813583, + -0.9547924995422363, + -6.716943264007568 + ], + [ + 0.09280459582805634, + -0.9956656098365784, + -0.006107448600232601, + -2.0633630752563477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 926, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_738469839", + "mask_path": "../../mask/hdr_right_00926.png" + }, + { + "file_path": "../../rgb/hdr_right_00928.png", + "transform_matrix": [ + [ + -0.9484410285949707, + -0.09934446215629578, + 0.3009822368621826, + 19.007862091064453 + ], + [ + -0.2996751368045807, + -0.028184890747070312, + -0.953624963760376, + -6.69546365737915 + ], + [ + 0.10322050750255585, + -0.9946538805961609, + -0.0030393581837415695, + -2.099508047103882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 928, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594259_938468694", + "mask_path": "../../mask/hdr_right_00928.png" + }, + { + "file_path": "../../rgb/hdr_right_00929.png", + "transform_matrix": [ + [ + -0.9499901533126831, + -0.11424358934164047, + 0.29063209891319275, + 19.082599639892578 + ], + [ + -0.28872182965278625, + -0.03329494968056679, + -0.9568340182304382, + -6.6897292137146 + ], + [ + 0.11898872256278992, + -0.9928946495056152, + -0.001354740816168487, + -2.1071019172668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 929, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_38470268", + "mask_path": "../../mask/hdr_right_00929.png" + }, + { + "file_path": "../../rgb/hdr_right_00930.png", + "transform_matrix": [ + [ + -0.954089879989624, + -0.11206001043319702, + 0.27776777744293213, + 19.14134979248047 + ], + [ + -0.2754989564418793, + -0.035561222583055496, + -0.9606433510780334, + -6.688605308532715 + ], + [ + 0.11752747744321823, + -0.9930649399757385, + 0.0030561904422938824, + -2.1136980056762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 930, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_138470172", + "mask_path": "../../mask/hdr_right_00930.png" + }, + { + "file_path": "../../rgb/hdr_right_00931.png", + "transform_matrix": [ + [ + -0.9589557647705078, + -0.1052764430642128, + 0.26328855752944946, + 19.204294204711914 + ], + [ + -0.26088619232177734, + -0.03622332215309143, + -0.9646897315979004, + -6.684576988220215 + ], + [ + 0.11109628528356552, + -0.9937831163406372, + 0.007271394599229097, + -2.12408185005188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 931, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_238469839", + "mask_path": "../../mask/hdr_right_00931.png" + }, + { + "file_path": "../../rgb/hdr_right_00932.png", + "transform_matrix": [ + [ + -0.9603009819984436, + -0.10173974931240082, + 0.2597521245479584, + 19.285877227783203 + ], + [ + -0.25645312666893005, + -0.04449453204870224, + -0.965532124042511, + -6.669219493865967 + ], + [ + 0.10979054868221283, + -0.993815541267395, + 0.016636665910482407, + -2.1305367946624756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 932, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_338468551", + "mask_path": "../../mask/hdr_right_00932.png" + }, + { + "file_path": "../../rgb/hdr_right_00933.png", + "transform_matrix": [ + [ + -0.9585633277893066, + -0.09958803653717041, + 0.26690545678138733, + 19.354480743408203 + ], + [ + -0.26291143894195557, + -0.0515221506357193, + -0.963443398475647, + -6.6575164794921875 + ], + [ + 0.10969896614551544, + -0.9936939477920532, + 0.023204414173960686, + -2.1378402709960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 933, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_438468933", + "mask_path": "../../mask/hdr_right_00933.png" + }, + { + "file_path": "../../rgb/hdr_right_00934.png", + "transform_matrix": [ + [ + -0.9575279951095581, + -0.09634440392255783, + 0.2717679738998413, + 19.411996841430664 + ], + [ + -0.2678469121456146, + -0.05177929624915123, + -0.9620691537857056, + -6.649483680725098 + ], + [ + 0.10676194727420807, + -0.9940003156661987, + 0.02377457730472088, + -2.151052713394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 934, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_538469552", + "mask_path": "../../mask/hdr_right_00934.png" + }, + { + "file_path": "../../rgb/hdr_right_00935.png", + "transform_matrix": [ + [ + -0.9570539593696594, + -0.09888764470815659, + 0.2725231349468231, + 19.483699798583984 + ], + [ + -0.2685365676879883, + -0.05186145752668381, + -0.961872398853302, + -6.642613887786865 + ], + [ + 0.1092507466673851, + -0.9937462210655212, + 0.023079274222254753, + -2.1612918376922607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 935, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_638469219", + "mask_path": "../../mask/hdr_right_00935.png" + }, + { + "file_path": "../../rgb/hdr_right_00936.png", + "transform_matrix": [ + [ + -0.9582594037055969, + -0.10952258855104446, + 0.2640902101993561, + 19.553815841674805 + ], + [ + -0.2596908211708069, + -0.05291526019573212, + -0.9642410278320312, + -6.638563632965088 + ], + [ + 0.11958056688308716, + -0.9925748109817505, + 0.02226453460752964, + -2.164612054824829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 936, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_738469600", + "mask_path": "../../mask/hdr_right_00936.png" + }, + { + "file_path": "../../rgb/hdr_right_00938.png", + "transform_matrix": [ + [ + -0.9653683304786682, + -0.09875132143497467, + 0.24147912859916687, + 19.652597427368164 + ], + [ + -0.23748433589935303, + -0.050560593605041504, + -0.9700746536254883, + -6.63836669921875 + ], + [ + 0.10800547152757645, + -0.9938268661499023, + 0.02535771019756794, + -2.18031644821167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 938, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594260_938469409", + "mask_path": "../../mask/hdr_right_00938.png" + }, + { + "file_path": "../../rgb/hdr_right_00939.png", + "transform_matrix": [ + [ + -0.9686934947967529, + -0.08715356141328812, + 0.23245887458324432, + 19.73368263244629 + ], + [ + -0.2290496528148651, + -0.04740498960018158, + -0.9722598195075989, + -6.628639221191406 + ], + [ + 0.09575561434030533, + -0.9950663447380066, + 0.025958415120840073, + -2.1845107078552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 939, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_38469314", + "mask_path": "../../mask/hdr_right_00939.png" + }, + { + "file_path": "../../rgb/hdr_right_00940.png", + "transform_matrix": [ + [ + -0.9692513346672058, + -0.08156968653202057, + 0.2321600317955017, + 19.802717208862305 + ], + [ + -0.2282687872648239, + -0.05429702252149582, + -0.9720829129219055, + -6.618576526641846 + ], + [ + 0.09189809858798981, + -0.9951875805854797, + 0.03400765359401703, + -2.1849546432495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 940, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_138469219", + "mask_path": "../../mask/hdr_right_00940.png" + }, + { + "file_path": "../../rgb/hdr_right_00941.png", + "transform_matrix": [ + [ + -0.9697657823562622, + -0.07561976462602615, + 0.23202595114707947, + 19.8624210357666 + ], + [ + -0.22849921882152557, + -0.05247823894023895, + -0.972128689289093, + -6.611746311187744 + ], + [ + 0.08568845689296722, + -0.9957548975944519, + 0.033612556755542755, + -2.188880443572998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 941, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_238468408", + "mask_path": "../../mask/hdr_right_00941.png" + }, + { + "file_path": "../../rgb/hdr_right_00942.png", + "transform_matrix": [ + [ + -0.9702076315879822, + -0.07427407056093216, + 0.2306089997291565, + 19.932268142700195 + ], + [ + -0.22750286757946014, + -0.047984689474105835, + -0.9725944399833679, + -6.611352443695068 + ], + [ + 0.08330424875020981, + -0.9960827827453613, + 0.029657550156116486, + -2.193016290664673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 942, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_338469266", + "mask_path": "../../mask/hdr_right_00942.png" + }, + { + "file_path": "../../rgb/hdr_right_00943.png", + "transform_matrix": [ + [ + -0.9717844128608704, + -0.07785993814468384, + 0.22264961898326874, + 19.99982261657715 + ], + [ + -0.21959125995635986, + -0.045962389558553696, + -0.9745087027549744, + -6.6129302978515625 + ], + [ + 0.08610869944095612, + -0.995904266834259, + 0.02756817825138569, + -2.1985199451446533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 943, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_438469171", + "mask_path": "../../mask/hdr_right_00943.png" + }, + { + "file_path": "../../rgb/hdr_right_00944.png", + "transform_matrix": [ + [ + -0.9746274352073669, + -0.07643602788448334, + 0.21037808060646057, + 20.052087783813477 + ], + [ + -0.20707672834396362, + -0.04890500754117966, + -0.9771016836166382, + -6.614851951599121 + ], + [ + 0.08497431129217148, + -0.9958744049072266, + 0.031836044043302536, + -2.2003726959228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 944, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_538469791", + "mask_path": "../../mask/hdr_right_00944.png" + }, + { + "file_path": "../../rgb/hdr_right_00946.png", + "transform_matrix": [ + [ + -0.9803025126457214, + -0.07037848979234695, + 0.18453729152679443, + 20.183021545410156 + ], + [ + -0.18088726699352264, + -0.05517427995800972, + -0.9819550514221191, + -6.620151996612549 + ], + [ + 0.0792902261018753, + -0.9959932565689087, + 0.04135691002011299, + -2.221787452697754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 946, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_738470077", + "mask_path": "../../mask/hdr_right_00946.png" + }, + { + "file_path": "../../rgb/hdr_right_00947.png", + "transform_matrix": [ + [ + -0.9796142578125, + -0.07421786338090897, + 0.18667522072792053, + 20.263233184814453 + ], + [ + -0.18229714035987854, + -0.06199497729539871, + -0.9812871813774109, + -6.619842052459717 + ], + [ + 0.08440196514129639, + -0.9953132271766663, + 0.04720145836472511, + -2.2322683334350586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 947, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_838469743", + "mask_path": "../../mask/hdr_right_00947.png" + }, + { + "file_path": "../../rgb/hdr_right_00948.png", + "transform_matrix": [ + [ + -0.9793356657028198, + -0.07160209864377975, + 0.18914243578910828, + 20.3273983001709 + ], + [ + -0.18467260897159576, + -0.06466247886419296, + -0.9806705713272095, + -6.616285800933838 + ], + [ + 0.08244848251342773, + -0.995335042476654, + 0.0501033253967762, + -2.243037462234497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 948, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594261_938470125", + "mask_path": "../../mask/hdr_right_00948.png" + }, + { + "file_path": "../../rgb/hdr_right_00949.png", + "transform_matrix": [ + [ + -0.9788909554481506, + -0.07522498071193695, + 0.19003570079803467, + 20.399093627929688 + ], + [ + -0.18567293882369995, + -0.06133105605840683, + -0.9806956648826599, + -6.6141581535339355 + ], + [ + 0.0854278951883316, + -0.9952787160873413, + 0.046069175004959106, + -2.252351760864258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 949, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_38471221", + "mask_path": "../../mask/hdr_right_00949.png" + }, + { + "file_path": "../../rgb/hdr_right_00950.png", + "transform_matrix": [ + [ + -0.9789878726005554, + -0.08729297667741776, + 0.18428941071033478, + 20.489299774169922 + ], + [ + -0.18004730343818665, + -0.0542711578309536, + -0.9821596741676331, + -6.6237101554870605 + ], + [ + 0.09573724865913391, + -0.9947032332420349, + 0.03741395100951195, + -2.2593390941619873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 950, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_138470649", + "mask_path": "../../mask/hdr_right_00950.png" + }, + { + "file_path": "../../rgb/hdr_right_00951.png", + "transform_matrix": [ + [ + -0.9815387725830078, + -0.08734335750341415, + 0.1701551228761673, + 20.5433349609375 + ], + [ + -0.1659180074930191, + -0.053725190460681915, + -0.9846749901771545, + -6.6297712326049805 + ], + [ + 0.09514643996953964, + -0.9947284460067749, + 0.03824152424931526, + -2.255765199661255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 951, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_238469362", + "mask_path": "../../mask/hdr_right_00951.png" + }, + { + "file_path": "../../rgb/hdr_right_00953.png", + "transform_matrix": [ + [ + -0.9867710471153259, + -0.07940548658370972, + 0.1413419544696808, + 20.659944534301758 + ], + [ + -0.13802304863929749, + -0.0458642914891243, + -0.9893665909767151, + -6.631341457366943 + ], + [ + 0.08504369109869003, + -0.9957866668701172, + 0.034297771751880646, + -2.268094539642334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 953, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_438470363", + "mask_path": "../../mask/hdr_right_00953.png" + }, + { + "file_path": "../../rgb/hdr_right_00954.png", + "transform_matrix": [ + [ + -0.9870818257331848, + -0.07764407992362976, + 0.14014559984207153, + 20.737709045410156 + ], + [ + -0.13715416193008423, + -0.042632799595594406, + -0.9896318912506104, + -6.6227312088012695 + ], + [ + 0.08281386643648148, + -0.9960691928863525, + 0.031432852149009705, + -2.2684597969055176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 954, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_538471698", + "mask_path": "../../mask/hdr_right_00954.png" + }, + { + "file_path": "../../rgb/hdr_right_00958.png", + "transform_matrix": [ + [ + -0.9841184020042419, + -0.0959257110953331, + 0.14936235547065735, + 20.907657623291016 + ], + [ + -0.1462472677230835, + -0.038762666285037994, + -0.9884883165359497, + -6.6053595542907715 + ], + [ + 0.1006111279129982, + -0.9946334362030029, + 0.02411818318068981, + -2.292914628982544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 958, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594262_938468694", + "mask_path": "../../mask/hdr_right_00958.png" + }, + { + "file_path": "../../rgb/hdr_right_00960.png", + "transform_matrix": [ + [ + -0.9863330125808716, + -0.08861494809389114, + 0.13890500366687775, + 20.9836483001709 + ], + [ + -0.13574433326721191, + -0.04077821597456932, + -0.9899044036865234, + -6.614908218383789 + ], + [ + 0.09338462352752686, + -0.9952309131622314, + 0.02819192223250866, + -2.2988576889038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 960, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_138471364", + "mask_path": "../../mask/hdr_right_00960.png" + }, + { + "file_path": "../../rgb/hdr_right_00961.png", + "transform_matrix": [ + [ + -0.9867516756057739, + -0.08626151829957962, + 0.1374051719903946, + 21.038490295410156 + ], + [ + -0.13423092663288116, + -0.041606225073337555, + -0.9900762438774109, + -6.615649700164795 + ], + [ + 0.09112238883972168, + -0.9954034090042114, + 0.029476048424839973, + -2.3027424812316895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 961, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_238469600", + "mask_path": "../../mask/hdr_right_00961.png" + }, + { + "file_path": "../../rgb/hdr_right_00962.png", + "transform_matrix": [ + [ + -0.9850451350212097, + -0.0905349850654602, + 0.14659275114536285, + 21.092844009399414 + ], + [ + -0.14324332773685455, + -0.042482830584049225, + -0.988775372505188, + -6.615705966949463 + ], + [ + 0.09574643522500992, + -0.9949867129325867, + 0.02887897565960884, + -2.304718494415283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 962, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_338469505", + "mask_path": "../../mask/hdr_right_00962.png" + }, + { + "file_path": "../../rgb/hdr_right_00963.png", + "transform_matrix": [ + [ + -0.9824954271316528, + -0.08989687263965607, + 0.16316014528274536, + 21.14107894897461 + ], + [ + -0.15955235064029694, + -0.04600314795970917, + -0.9861169457435608, + -6.611905097961426 + ], + [ + 0.09615470468997955, + -0.9948880672454834, + 0.03085462562739849, + -2.313938856124878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 963, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_438470363", + "mask_path": "../../mask/hdr_right_00963.png" + }, + { + "file_path": "../../rgb/hdr_right_00965.png", + "transform_matrix": [ + [ + -0.9752125144004822, + -0.0895422026515007, + 0.20234303176403046, + 21.24846839904785 + ], + [ + -0.1998104751110077, + -0.03649117797613144, + -0.9791549444198608, + -6.606101036071777 + ], + [ + 0.09505942463874817, + -0.9953143000602722, + 0.01769518107175827, + -2.3327980041503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 965, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594263_638471364", + "mask_path": "../../mask/hdr_right_00965.png" + }, + { + "file_path": "../../rgb/hdr_right_00969.png", + "transform_matrix": [ + [ + -0.9636185169219971, + -0.08681154251098633, + 0.2527904510498047, + 21.42756462097168 + ], + [ + -0.25069278478622437, + -0.03445184975862503, + -0.9674534797668457, + -6.569554805755615 + ], + [ + 0.09269523620605469, + -0.995628833770752, + 0.011435418389737606, + -2.358055591583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 969, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_38469791", + "mask_path": "../../mask/hdr_right_00969.png" + }, + { + "file_path": "../../rgb/hdr_right_00970.png", + "transform_matrix": [ + [ + -0.9607323408126831, + -0.09549577534198761, + 0.26052621006965637, + 21.480937957763672 + ], + [ + -0.25786495208740234, + -0.03944147005677223, + -0.9653756618499756, + -6.559889316558838 + ], + [ + 0.10246483236551285, + -0.9946482181549072, + 0.013267687521874905, + -2.3672564029693604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 970, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_138470172", + "mask_path": "../../mask/hdr_right_00970.png" + }, + { + "file_path": "../../rgb/hdr_right_00972.png", + "transform_matrix": [ + [ + -0.9581350088119507, + -0.09692880511283875, + 0.26941075921058655, + 21.565889358520508 + ], + [ + -0.26663920283317566, + -0.040738511830568314, + -0.9629350900650024, + -6.531099796295166 + ], + [ + 0.10431152582168579, + -0.9944572448730469, + 0.013187974691390991, + -2.3875465393066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 972, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_338469505", + "mask_path": "../../mask/hdr_right_00972.png" + }, + { + "file_path": "../../rgb/hdr_right_00973.png", + "transform_matrix": [ + [ + -0.9565116763114929, + -0.1016019806265831, + 0.27342739701271057, + 21.6245059967041 + ], + [ + -0.2709808051586151, + -0.03741860017180443, + -0.961857259273529, + -6.512948513031006 + ], + [ + 0.1079578772187233, + -0.9941211938858032, + 0.008259137161076069, + -2.4007809162139893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 973, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_438469409", + "mask_path": "../../mask/hdr_right_00973.png" + }, + { + "file_path": "../../rgb/hdr_right_00974.png", + "transform_matrix": [ + [ + -0.9566356539726257, + -0.1088208332657814, + 0.27019667625427246, + 21.682525634765625 + ], + [ + -0.267357736825943, + -0.04016333818435669, + -0.9627600312232971, + -6.497400283813477 + ], + [ + 0.11562033742666245, + -0.9932497143745422, + 0.009327592328190804, + -2.403700113296509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 974, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_538469552", + "mask_path": "../../mask/hdr_right_00974.png" + }, + { + "file_path": "../../rgb/hdr_right_00975.png", + "transform_matrix": [ + [ + -0.9597351551055908, + -0.10468833148479462, + 0.2606700360774994, + 21.734020233154297 + ], + [ + -0.2576335072517395, + -0.04179038107395172, + -0.9653386473655701, + -6.491235733032227 + ], + [ + 0.11195318400859833, + -0.9936267137527466, + 0.013136478140950203, + -2.4038217067718506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 975, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_638471364", + "mask_path": "../../mask/hdr_right_00975.png" + }, + { + "file_path": "../../rgb/hdr_right_00977.png", + "transform_matrix": [ + [ + -0.9672993421554565, + -0.08964989334344864, + 0.237265482544899, + 21.868736267089844 + ], + [ + -0.2339630275964737, + -0.045859210193157196, + -0.9711633324623108, + -6.486846923828125 + ], + [ + 0.09794550389051437, + -0.9949170351028442, + 0.02338482066988945, + -2.4289779663085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 977, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_838470220", + "mask_path": "../../mask/hdr_right_00977.png" + }, + { + "file_path": "../../rgb/hdr_right_00978.png", + "transform_matrix": [ + [ + -0.9670447707176208, + -0.09282201528549194, + 0.23708336055278778, + 21.940359115600586 + ], + [ + -0.2328900545835495, + -0.05382150411605835, + -0.9710125923156738, + -6.4764533042907715 + ], + [ + 0.10289153456687927, + -0.9942270517349243, + 0.030430486425757408, + -2.431828737258911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 978, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594264_938469886", + "mask_path": "../../mask/hdr_right_00978.png" + }, + { + "file_path": "../../rgb/hdr_right_00979.png", + "transform_matrix": [ + [ + -0.9663753509521484, + -0.09356571733951569, + 0.23950766026973724, + 21.995147705078125 + ], + [ + -0.2348269373178482, + -0.05835000053048134, + -0.9702842235565186, + -6.469146251678467 + ], + [ + 0.10476062446832657, + -0.993901789188385, + 0.034416262060403824, + -2.443941831588745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 979, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_38470029", + "mask_path": "../../mask/hdr_right_00979.png" + }, + { + "file_path": "../../rgb/hdr_right_00980.png", + "transform_matrix": [ + [ + -0.966373860836029, + -0.09203745424747467, + 0.24010586738586426, + 22.05617904663086 + ], + [ + -0.23564453423023224, + -0.056771885603666306, + -0.9701797366142273, + -6.467452049255371 + ], + [ + 0.10292414575815201, + -0.9941357970237732, + 0.03317474201321602, + -2.4559552669525146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 980, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_138469696", + "mask_path": "../../mask/hdr_right_00980.png" + }, + { + "file_path": "../../rgb/hdr_right_00981.png", + "transform_matrix": [ + [ + -0.967002272605896, + -0.09399426728487015, + 0.23679469525814056, + 22.13326644897461 + ], + [ + -0.23297038674354553, + -0.049923308193683624, + -0.9712016582489014, + -6.469350814819336 + ], + [ + 0.1031089648604393, + -0.9943202137947083, + 0.026378074660897255, + -2.464076280593872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 981, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_238470792", + "mask_path": "../../mask/hdr_right_00981.png" + }, + { + "file_path": "../../rgb/hdr_right_00982.png", + "transform_matrix": [ + [ + -0.9686417579650879, + -0.10059276968240738, + 0.22718793153762817, + 22.195768356323242 + ], + [ + -0.22323909401893616, + -0.04906107485294342, + -0.973528265953064, + -6.469718933105469 + ], + [ + 0.10907599329948425, + -0.9937173128128052, + 0.025066358968615532, + -2.4583852291107178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 982, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_338469028", + "mask_path": "../../mask/hdr_right_00982.png" + }, + { + "file_path": "../../rgb/hdr_right_00984.png", + "transform_matrix": [ + [ + -0.9746608138084412, + -0.09305321425199509, + 0.20341438055038452, + 22.30063247680664 + ], + [ + -0.19982165098190308, + -0.04652060568332672, + -0.9787272810935974, + -6.476635456085205 + ], + [ + 0.10053668171167374, + -0.9945737719535828, + 0.026747770607471466, + -2.474794387817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 984, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_538469076", + "mask_path": "../../mask/hdr_right_00984.png" + }, + { + "file_path": "../../rgb/hdr_right_00985.png", + "transform_matrix": [ + [ + -0.9759798049926758, + -0.09193233400583267, + 0.19751401245594025, + 22.379127502441406 + ], + [ + -0.193659707903862, + -0.049199942499399185, + -0.9798343181610107, + -6.4695539474487305 + ], + [ + 0.09979613870382309, + -0.994549036026001, + 0.03021455742418766, + -2.4811952114105225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 985, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_638469696", + "mask_path": "../../mask/hdr_right_00985.png" + }, + { + "file_path": "../../rgb/hdr_right_00986.png", + "transform_matrix": [ + [ + -0.9753011465072632, + -0.09285147488117218, + 0.20041508972644806, + 22.447532653808594 + ], + [ + -0.19609825313091278, + -0.053584661334753036, + -0.9791191220283508, + -6.463425636291504 + ], + [ + 0.10165181756019592, + -0.9942370653152466, + 0.03405318036675453, + -2.4856162071228027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 986, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_738468647", + "mask_path": "../../mask/hdr_right_00986.png" + }, + { + "file_path": "../../rgb/hdr_right_00987.png", + "transform_matrix": [ + [ + -0.9750979542732239, + -0.08941072970628738, + 0.20295272767543793, + 22.514860153198242 + ], + [ + -0.19917549192905426, + -0.049409862607717514, + -0.9787174463272095, + -6.456356525421143 + ], + [ + 0.09753572195768356, + -0.994768500328064, + 0.030371028929948807, + -2.497818946838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 987, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_838469266", + "mask_path": "../../mask/hdr_right_00987.png" + }, + { + "file_path": "../../rgb/hdr_right_00988.png", + "transform_matrix": [ + [ + -0.9747636914253235, + -0.09078163653612137, + 0.20394720137119293, + 22.59239387512207 + ], + [ + -0.20069381594657898, + -0.04372619837522507, + -0.9786776900291443, + -6.448384761810303 + ], + [ + 0.0977637991309166, + -0.9949103593826294, + 0.024403391405940056, + -2.5087149143218994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 988, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594265_938469171", + "mask_path": "../../mask/hdr_right_00988.png" + }, + { + "file_path": "../../rgb/hdr_right_00989.png", + "transform_matrix": [ + [ + -0.975602388381958, + -0.09777064621448517, + 0.19657263159751892, + 22.6740779876709 + ], + [ + -0.19344541430473328, + -0.04059158265590668, + -0.9802709817886353, + -6.445577621459961 + ], + [ + 0.10382092744112015, + -0.9943807721138, + 0.02068796195089817, + -2.516138792037964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 989, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_38470268", + "mask_path": "../../mask/hdr_right_00989.png" + }, + { + "file_path": "../../rgb/hdr_right_00990.png", + "transform_matrix": [ + [ + -0.977937638759613, + -0.09583419561386108, + 0.18561753630638123, + 22.738672256469727 + ], + [ + -0.18246833980083466, + -0.04071751981973648, + -0.9823682904243469, + -6.441238880157471 + ], + [ + 0.10170235484838486, + -0.9945641756057739, + 0.022332487627863884, + -2.5173497200012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 990, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_138470411", + "mask_path": "../../mask/hdr_right_00990.png" + }, + { + "file_path": "../../rgb/hdr_right_00992.png", + "transform_matrix": [ + [ + -0.9835524559020996, + -0.08032338321208954, + 0.16178035736083984, + 22.89061164855957 + ], + [ + -0.15893350541591644, + -0.0406959168612957, + -0.9864501357078552, + -6.431962013244629 + ], + [ + 0.085818812251091, + -0.995937705039978, + 0.027260489761829376, + -2.534909725189209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 992, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_338469505", + "mask_path": "../../mask/hdr_right_00992.png" + }, + { + "file_path": "../../rgb/hdr_right_00993.png", + "transform_matrix": [ + [ + -0.9829204082489014, + -0.08217509835958481, + 0.16466550529003143, + 22.968446731567383 + ], + [ + -0.16165727376937866, + -0.04205445200204849, + -0.9859505295753479, + -6.420994758605957 + ], + [ + 0.08794549107551575, + -0.9957302212715149, + 0.02805197983980179, + -2.5415289402008057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 993, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_438469171", + "mask_path": "../../mask/hdr_right_00993.png" + }, + { + "file_path": "../../rgb/hdr_right_00994.png", + "transform_matrix": [ + [ + -0.9822978377342224, + -0.081678606569767, + 0.16858088970184326, + 23.01584243774414 + ], + [ + -0.16578108072280884, + -0.03997545689344406, + -0.9853520393371582, + -6.406176567077637 + ], + [ + 0.08722127228975296, + -0.9958567023277283, + 0.025727039203047752, + -2.5501327514648438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 994, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_538468837", + "mask_path": "../../mask/hdr_right_00994.png" + }, + { + "file_path": "../../rgb/hdr_right_00995.png", + "transform_matrix": [ + [ + -0.9817903637886047, + -0.08175636827945709, + 0.17147481441497803, + 23.072546005249023 + ], + [ + -0.1693413406610489, + -0.03240405395627022, + -0.9850246906280518, + -6.40134334564209 + ], + [ + 0.08608852326869965, + -0.9961254000663757, + 0.017969254404306412, + -2.5556812286376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 995, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_638469934", + "mask_path": "../../mask/hdr_right_00995.png" + }, + { + "file_path": "../../rgb/hdr_right_00996.png", + "transform_matrix": [ + [ + -0.981436014175415, + -0.08530757576227188, + 0.17177297174930573, + 23.1356201171875 + ], + [ + -0.16997458040714264, + -0.027969855815172195, + -0.9850513935089111, + -6.399414539337158 + ], + [ + 0.08883681148290634, + -0.9959620237350464, + 0.012950504198670387, + -2.5660877227783203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 996, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_738470077", + "mask_path": "../../mask/hdr_right_00996.png" + }, + { + "file_path": "../../rgb/hdr_right_00997.png", + "transform_matrix": [ + [ + -0.9816280603408813, + -0.0899619534611702, + 0.16826529800891876, + 23.19737434387207 + ], + [ + -0.1660846620798111, + -0.03125368058681488, + -0.9856162071228027, + -6.401047229766846 + ], + [ + 0.09392686933279037, + -0.9954546689987183, + 0.015738191083073616, + -2.5641820430755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 997, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_838470697", + "mask_path": "../../mask/hdr_right_00997.png" + }, + { + "file_path": "../../rgb/hdr_right_00998.png", + "transform_matrix": [ + [ + -0.9827321171760559, + -0.08687516301870346, + 0.1633721888065338, + 23.248586654663086 + ], + [ + -0.1614075005054474, + -0.029225949198007584, + -0.9864550828933716, + -6.394661903381348 + ], + [ + 0.09047314524650574, + -0.995790421962738, + 0.014698979444801807, + -2.5662899017333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 998, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594266_938469409", + "mask_path": "../../mask/hdr_right_00998.png" + }, + { + "file_path": "../../rgb/hdr_right_00999.png", + "transform_matrix": [ + [ + -0.9841087460517883, + -0.08137769997119904, + 0.15782180428504944, + 23.306737899780273 + ], + [ + -0.15628929436206818, + -0.02491031214594841, + -0.9873971343040466, + -6.392199993133545 + ], + [ + 0.0842835009098053, + -0.9963719248771667, + 0.01179599016904831, + -2.5733580589294434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 999, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_38470506", + "mask_path": "../../mask/hdr_right_00999.png" + }, + { + "file_path": "../../rgb/hdr_right_01000.png", + "transform_matrix": [ + [ + -0.9832136631011963, + -0.08223794400691986, + 0.16287381947040558, + 23.374841690063477 + ], + [ + -0.16133084893226624, + -0.02511606737971306, + -0.9865806698799133, + -6.3861260414123535 + ], + [ + 0.08522512018680573, + -0.9962961673736572, + 0.011426941491663456, + -2.583806037902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1000, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_138470172", + "mask_path": "../../mask/hdr_right_01000.png" + }, + { + "file_path": "../../rgb/hdr_right_01001.png", + "transform_matrix": [ + [ + -0.9791968464851379, + -0.08897610008716583, + 0.18236450850963593, + 23.438247680664062 + ], + [ + -0.1803724765777588, + -0.030005862936377525, + -0.9831406474113464, + -6.378044605255127 + ], + [ + 0.09294802695512772, + -0.9955817461013794, + 0.013332806527614594, + -2.592618227005005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1001, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_238469123", + "mask_path": "../../mask/hdr_right_01001.png" + }, + { + "file_path": "../../rgb/hdr_right_01002.png", + "transform_matrix": [ + [ + -0.9753658771514893, + -0.08967794477939606, + 0.20154233276844025, + 23.48857307434082 + ], + [ + -0.19977575540542603, + -0.028350897133350372, + -0.9794314503669739, + -6.367705821990967 + ], + [ + 0.09354730695486069, + -0.9955672025680542, + 0.00973702222108841, + -2.6059012413024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1002, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_338469743", + "mask_path": "../../mask/hdr_right_01002.png" + }, + { + "file_path": "../../rgb/hdr_right_01003.png", + "transform_matrix": [ + [ + -0.9705322980880737, + -0.09090185165405273, + 0.22316794097423553, + 23.540693283081055 + ], + [ + -0.2222648561000824, + -0.020069792866706848, + -0.9747797846794128, + -6.356328010559082 + ], + [ + 0.09308821707963943, + -0.9956576228141785, + -0.0007259074482135475, + -2.616739273071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1003, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_438469171", + "mask_path": "../../mask/hdr_right_01003.png" + }, + { + "file_path": "../../rgb/hdr_right_01004.png", + "transform_matrix": [ + [ + -0.9666317105293274, + -0.09166090935468674, + 0.23920978605747223, + 23.60455322265625 + ], + [ + -0.23885080218315125, + -0.01502898894250393, + -0.9709399938583374, + -6.350319862365723 + ], + [ + 0.09259232878684998, + -0.9956768155097961, + -0.007365785539150238, + -2.6205081939697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1004, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_538470983", + "mask_path": "../../mask/hdr_right_01004.png" + }, + { + "file_path": "../../rgb/hdr_right_01005.png", + "transform_matrix": [ + [ + -0.9665659666061401, + -0.09387633204460144, + 0.23861554265022278, + 23.662368774414062 + ], + [ + -0.23857133090496063, + -0.011859440244734287, + -0.9710526466369629, + -6.346395969390869 + ], + [ + 0.09398871660232544, + -0.9955132007598877, + -0.01093327347189188, + -2.616089344024658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1005, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_638470649", + "mask_path": "../../mask/hdr_right_01005.png" + }, + { + "file_path": "../../rgb/hdr_right_01006.png", + "transform_matrix": [ + [ + -0.9696757793426514, + -0.09235738217830658, + 0.22627203166484833, + 23.71787452697754 + ], + [ + -0.22660276293754578, + -0.007028792053461075, + -0.9739620089530945, + -6.344720840454102 + ], + [ + 0.09154299646615982, + -0.9957011342048645, + -0.014112787321209908, + -2.621772289276123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1006, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_738471031", + "mask_path": "../../mask/hdr_right_01006.png" + }, + { + "file_path": "../../rgb/hdr_right_01007.png", + "transform_matrix": [ + [ + -0.9729763865470886, + -0.08871417492628098, + 0.2131824493408203, + 23.78653335571289 + ], + [ + -0.21367467939853668, + -0.0040219551883637905, + -0.9768966436386108, + -6.344414710998535 + ], + [ + 0.0875219851732254, + -0.9960489869117737, + -0.015042703598737717, + -2.6306633949279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1007, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_838470697", + "mask_path": "../../mask/hdr_right_01007.png" + }, + { + "file_path": "../../rgb/hdr_right_01008.png", + "transform_matrix": [ + [ + -0.9732564091682434, + -0.09542074799537659, + 0.20896625518798828, + 23.86345672607422 + ], + [ + -0.20904819667339325, + -0.009249511174857616, + -0.9778615832328796, + -6.335737228393555 + ], + [ + 0.09524112194776535, + -0.9953940510749817, + -0.010945388115942478, + -2.643558979034424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1008, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594267_938470363", + "mask_path": "../../mask/hdr_right_01008.png" + }, + { + "file_path": "../../rgb/hdr_right_01009.png", + "transform_matrix": [ + [ + -0.9728436470031738, + -0.09758038073778152, + 0.2098887711763382, + 23.917184829711914 + ], + [ + -0.20987647771835327, + -0.010507091879844666, + -0.9776715636253357, + -6.324038505554199 + ], + [ + 0.09760687500238419, + -0.9951722025871277, + -0.010258068330585957, + -2.6615381240844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1009, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_38470029", + "mask_path": "../../mask/hdr_right_01009.png" + }, + { + "file_path": "../../rgb/hdr_right_01010.png", + "transform_matrix": [ + [ + -0.9727194309234619, + -0.09835595637559891, + 0.21010252833366394, + 23.975629806518555 + ], + [ + -0.2105427384376526, + -0.006000152323395014, + -0.9775663614273071, + -6.311572074890137 + ], + [ + 0.09741010516881943, + -0.9951331615447998, + -0.01487166341394186, + -2.6744093894958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1010, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_138470172", + "mask_path": "../../mask/hdr_right_01010.png" + }, + { + "file_path": "../../rgb/hdr_right_01011.png", + "transform_matrix": [ + [ + -0.9724708795547485, + -0.10309072583913803, + 0.20897991955280304, + 24.042644500732422 + ], + [ + -0.20988665521144867, + -0.002094533061608672, + -0.9777234792709351, + -6.300189971923828 + ], + [ + 0.10123194009065628, + -0.9946697354316711, + -0.01960049383342266, + -2.6830551624298096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1011, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_238470315", + "mask_path": "../../mask/hdr_right_01011.png" + }, + { + "file_path": "../../rgb/hdr_right_01012.png", + "transform_matrix": [ + [ + -0.9728284478187561, + -0.10894069075584412, + 0.2042958289384842, + 24.114532470703125 + ], + [ + -0.20494087040424347, + -0.00536286411806941, + -0.9787597060203552, + -6.297940254211426 + ], + [ + 0.10772235691547394, + -0.9940338134765625, + -0.017109250649809837, + -2.684890031814575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1012, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_338469743", + "mask_path": "../../mask/hdr_right_01012.png" + }, + { + "file_path": "../../rgb/hdr_right_01013.png", + "transform_matrix": [ + [ + -0.9738540649414062, + -0.10521381348371506, + 0.20134173333644867, + 24.175004959106445 + ], + [ + -0.20195508003234863, + -0.004902648739516735, + -0.9793825745582581, + -6.29644775390625 + ], + [ + 0.10403167456388474, + -0.994437575340271, + -0.01647399738430977, + -2.6864054203033447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_438470363", + "mask_path": "../../mask/hdr_right_01013.png" + }, + { + "file_path": "../../rgb/hdr_right_01014.png", + "transform_matrix": [ + [ + -0.9748492240905762, + -0.0973154678940773, + 0.20049595832824707, + 24.236770629882812 + ], + [ + -0.2009381502866745, + -0.005336550995707512, + -0.9795895218849182, + -6.289125442504883 + ], + [ + 0.09639915078878403, + -0.9952393770217896, + -0.01435205340385437, + -2.6936535835266113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1014, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_538470983", + "mask_path": "../../mask/hdr_right_01014.png" + }, + { + "file_path": "../../rgb/hdr_right_01015.png", + "transform_matrix": [ + [ + -0.9743412137031555, + -0.09355701506137848, + 0.20471014082431793, + 24.316381454467773 + ], + [ + -0.20495134592056274, + -0.007126749958842993, + -0.978746235370636, + -6.281391143798828 + ], + [ + 0.09302748739719391, + -0.995588481426239, + -0.012230748310685158, + -2.7055246829986572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1015, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_638470411", + "mask_path": "../../mask/hdr_right_01015.png" + }, + { + "file_path": "../../rgb/hdr_right_01016.png", + "transform_matrix": [ + [ + -0.9706166386604309, + -0.0978182926774025, + 0.2198520004749298, + 24.392738342285156 + ], + [ + -0.220008984208107, + -0.009313412010669708, + -0.9754533767700195, + -6.269089221954346 + ], + [ + 0.09746475517749786, + -0.995160698890686, + -0.012481150217354298, + -2.7191715240478516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1016, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_738470554", + "mask_path": "../../mask/hdr_right_01016.png" + }, + { + "file_path": "../../rgb/hdr_right_01017.png", + "transform_matrix": [ + [ + -0.9667726159095764, + -0.0988374873995781, + 0.2357577383518219, + 24.448375701904297 + ], + [ + -0.23630614578723907, + -0.006289687938988209, + -0.9716584086418152, + -6.252191066741943 + ], + [ + 0.09751910716295242, + -0.9950836896896362, + -0.01727520488202572, + -2.730102062225342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_838469743", + "mask_path": "../../mask/hdr_right_01017.png" + }, + { + "file_path": "../../rgb/hdr_right_01018.png", + "transform_matrix": [ + [ + -0.9625957608222961, + -0.10057235509157181, + 0.25158411264419556, + 24.51793098449707 + ], + [ + -0.2527865171432495, + -0.0008137405966408551, + -0.9675217866897583, + -6.23642110824585 + ], + [ + 0.09751066565513611, + -0.9949294328689575, + -0.024640033021569252, + -2.7415425777435303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594268_938470125", + "mask_path": "../../mask/hdr_right_01018.png" + }, + { + "file_path": "../../rgb/hdr_right_01019.png", + "transform_matrix": [ + [ + -0.9592158198356628, + -0.10278602689504623, + 0.2633250057697296, + 24.600276947021484 + ], + [ + -0.26455581188201904, + -0.0017157522961497307, + -0.9643689393997192, + -6.228071689605713 + ], + [ + 0.0995754525065422, + -0.9947020411491394, + -0.025546859949827194, + -2.7518210411071777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1019, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_38470506", + "mask_path": "../../mask/hdr_right_01019.png" + }, + { + "file_path": "../../rgb/hdr_right_01020.png", + "transform_matrix": [ + [ + -0.9575775265693665, + -0.10381130129098892, + 0.26882803440093994, + 24.6693115234375 + ], + [ + -0.27028152346611023, + -6.881723675178364e-05, + -0.9627814292907715, + -6.220032691955566 + ], + [ + 0.09996607899665833, + -0.9945970177650452, + -0.027992375195026398, + -2.7469630241394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_138469696", + "mask_path": "../../mask/hdr_right_01020.png" + }, + { + "file_path": "../../rgb/hdr_right_01021.png", + "transform_matrix": [ + [ + -0.9577255249023438, + -0.09930427372455597, + 0.2700011432170868, + 24.722694396972656 + ], + [ + -0.2718312740325928, + 0.005127334967255592, + -0.9623313546180725, + -6.205948352813721 + ], + [ + 0.09417922794818878, + -0.995043933391571, + -0.03190458193421364, + -2.750216245651245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1021, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_238471031", + "mask_path": "../../mask/hdr_right_01021.png" + }, + { + "file_path": "../../rgb/hdr_right_01022.png", + "transform_matrix": [ + [ + -0.959873378276825, + -0.0933343917131424, + 0.2644462287425995, + 24.79718017578125 + ], + [ + -0.26621755957603455, + 0.00683945044875145, + -0.9638888239860535, + -6.19425106048584 + ], + [ + 0.08815529197454453, + -0.995611310005188, + -0.03141225501894951, + -2.7600677013397217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_338470220", + "mask_path": "../../mask/hdr_right_01022.png" + }, + { + "file_path": "../../rgb/hdr_right_01023.png", + "transform_matrix": [ + [ + -0.959608256816864, + -0.09577229619026184, + 0.26453644037246704, + 24.88142967224121 + ], + [ + -0.2657546103000641, + -3.73757429770194e-05, + -0.9640408158302307, + -6.179745674133301 + ], + [ + 0.09233828634023666, + -0.9954032301902771, + -0.025416065007448196, + -2.77521014213562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1023, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_438470363", + "mask_path": "../../mask/hdr_right_01023.png" + }, + { + "file_path": "../../rgb/hdr_right_01024.png", + "transform_matrix": [ + [ + -0.9587081670761108, + -0.09777755290269852, + 0.26705503463745117, + 24.940038681030273 + ], + [ + -0.26811617612838745, + -0.0023659225553274155, + -0.9633837342262268, + -6.164971351623535 + ], + [ + 0.09482913464307785, + -0.9952055215835571, + -0.023947516456246376, + -2.787904739379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_538471460", + "mask_path": "../../mask/hdr_right_01024.png" + }, + { + "file_path": "../../rgb/hdr_right_01025.png", + "transform_matrix": [ + [ + -0.9583707451820374, + -0.09815545380115509, + 0.26812514662742615, + 25.007661819458008 + ], + [ + -0.26953476667404175, + 0.0011447458527982235, + -0.9629900455474854, + -6.1524882316589355 + ], + [ + 0.09421578794717789, + -0.9951704740524292, + -0.02755339816212654, + -2.79936146736145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1025, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_638470411", + "mask_path": "../../mask/hdr_right_01025.png" + }, + { + "file_path": "../../rgb/hdr_right_01026.png", + "transform_matrix": [ + [ + -0.9586070775985718, + -0.10033965855836868, + 0.26646658778190613, + 25.08684730529785 + ], + [ + -0.26799532771110535, + 0.001827309955842793, + -0.9634185433387756, + -6.142981052398682 + ], + [ + 0.09618216753005981, + -0.9949515461921692, + -0.028642229735851288, + -2.8109099864959717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_738470792", + "mask_path": "../../mask/hdr_right_01026.png" + }, + { + "file_path": "../../rgb/hdr_right_01027.png", + "transform_matrix": [ + [ + -0.9607686996459961, + -0.10021185129880905, + 0.2586137056350708, + 25.16565704345703 + ], + [ + -0.25933021306991577, + -0.0060371821746230125, + -0.9657699465751648, + -6.13821268081665 + ], + [ + 0.0983428955078125, + -0.9949477910995483, + -0.02018762193620205, + -2.8138132095336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1027, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_838469982", + "mask_path": "../../mask/hdr_right_01027.png" + }, + { + "file_path": "../../rgb/hdr_right_03256.png", + "transform_matrix": [ + [ + 0.9614070653915405, + -0.0870886892080307, + -0.26098281145095825, + 24.722057342529297 + ], + [ + 0.26195237040519714, + -0.00030593338306061924, + 0.965080738067627, + -6.051703453063965 + ], + [ + -0.08412747085094452, + -0.9962005615234375, + 0.022518960759043694, + -2.762929916381836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3256, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_738470077", + "mask_path": "../../mask/hdr_right_03256.png" + }, + { + "file_path": "../../rgb/hdr_right_03257.png", + "transform_matrix": [ + [ + 0.9574058055877686, + -0.08430885523557663, + -0.27616336941719055, + 24.672710418701172 + ], + [ + 0.2776256799697876, + 0.005910136271268129, + 0.9606711864471436, + -6.062631607055664 + ], + [ + -0.07936092466115952, + -0.9964221119880676, + 0.02906470187008381, + -2.76389217376709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3257, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_838469743", + "mask_path": "../../mask/hdr_right_03257.png" + }, + { + "file_path": "../../rgb/hdr_right_03259.png", + "transform_matrix": [ + [ + 0.95046466588974, + -0.07822255045175552, + -0.300829142332077, + 24.55998992919922 + ], + [ + 0.3020331859588623, + 0.003763513872399926, + 0.9532900452613831, + -6.079843521118164 + ], + [ + -0.07343659549951553, + -0.9969287514686584, + 0.027202891185879707, + -2.7517733573913574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3259, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_38471221", + "mask_path": "../../mask/hdr_right_03259.png" + }, + { + "file_path": "../../rgb/hdr_right_03260.png", + "transform_matrix": [ + [ + 0.9491409063339233, + -0.08379779011011124, + -0.3034955859184265, + 24.503931045532227 + ], + [ + 0.30450716614723206, + -0.0007433912833221257, + 0.9525097608566284, + -6.088523864746094 + ], + [ + -0.08004383742809296, + -0.9964825510978699, + 0.02481144294142723, + -2.739370822906494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3260, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_138470888", + "mask_path": "../../mask/hdr_right_03260.png" + }, + { + "file_path": "../../rgb/hdr_right_03262.png", + "transform_matrix": [ + [ + 0.9446133971214294, + -0.08882533758878708, + -0.3159361779689789, + 24.390289306640625 + ], + [ + 0.3162229657173157, + -0.011196709237992764, + 0.9486188292503357, + -6.117461204528809 + ], + [ + -0.0877988189458847, + -0.9959843158721924, + 0.017512045800685883, + -2.7189149856567383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3262, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_338471174", + "mask_path": "../../mask/hdr_right_03262.png" + }, + { + "file_path": "../../rgb/hdr_right_03263.png", + "transform_matrix": [ + [ + 0.9402444958686829, + -0.08485986292362213, + -0.3297559916973114, + 24.337053298950195 + ], + [ + 0.33019882440567017, + -0.009170090779662132, + 0.9438669681549072, + -6.136849403381348 + ], + [ + -0.08312030136585236, + -0.9963507056236267, + 0.01939849741756916, + -2.7195465564727783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3263, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_438470363", + "mask_path": "../../mask/hdr_right_03263.png" + }, + { + "file_path": "../../rgb/hdr_right_03265.png", + "transform_matrix": [ + [ + 0.9394657015800476, + -0.07783011347055435, + -0.3336865305900574, + 24.24681282043457 + ], + [ + 0.3339396119117737, + -0.010126516222953796, + 0.942540168762207, + -6.1638970375061035 + ], + [ + -0.07673709094524384, + -0.9969151616096497, + 0.01647704280912876, + -2.7165708541870117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3265, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_638469457", + "mask_path": "../../mask/hdr_right_03265.png" + }, + { + "file_path": "../../rgb/hdr_right_03266.png", + "transform_matrix": [ + [ + 0.9417053461074829, + -0.0729556754231453, + -0.3284333050251007, + 24.197235107421875 + ], + [ + 0.3284873068332672, + -0.011600780300796032, + 0.9444371461868286, + -6.171308517456055 + ], + [ + -0.07271213084459305, + -0.9972677230834961, + 0.013040494173765182, + -2.7084343433380127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3266, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594493_738468647", + "mask_path": "../../mask/hdr_right_03266.png" + }, + { + "file_path": "../../rgb/hdr_right_03269.png", + "transform_matrix": [ + [ + 0.9480448365211487, + -0.0904606431722641, + -0.30500471591949463, + 24.026884078979492 + ], + [ + 0.3044795095920563, + -0.019889244809746742, + 0.9523112177848816, + -6.194535732269287 + ], + [ + -0.09221300482749939, + -0.9957014322280884, + 0.008687512949109077, + -2.681830644607544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3269, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_38469076", + "mask_path": "../../mask/hdr_right_03269.png" + }, + { + "file_path": "../../rgb/hdr_right_03270.png", + "transform_matrix": [ + [ + 0.9476880431175232, + -0.08681564033031464, + -0.3071652054786682, + 23.960596084594727 + ], + [ + 0.3073383867740631, + -0.01169687882065773, + 0.9515284299850464, + -6.2004008293151855 + ], + [ + -0.08620043098926544, + -0.9961557388305664, + 0.01559678465127945, + -2.6742091178894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3270, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_138469219", + "mask_path": "../../mask/hdr_right_03270.png" + }, + { + "file_path": "../../rgb/hdr_right_03271.png", + "transform_matrix": [ + [ + 0.9474465250968933, + -0.0855504646897316, + -0.3082634508609772, + 23.905431747436523 + ], + [ + 0.30890193581581116, + -0.0060038636438548565, + 0.95107501745224, + -6.2090535163879395 + ], + [ + -0.08321567624807358, + -0.9963157176971436, + 0.02073836140334606, + -2.677952766418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3271, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_238471031", + "mask_path": "../../mask/hdr_right_03271.png" + }, + { + "file_path": "../../rgb/hdr_right_03272.png", + "transform_matrix": [ + [ + 0.9473437666893005, + -0.08353034406900406, + -0.3091318905353546, + 23.84922981262207 + ], + [ + 0.30990076065063477, + -0.0039259204640984535, + 0.9507609605789185, + -6.215057373046875 + ], + [ + -0.08063100278377533, + -0.9964975118637085, + 0.022166918963193893, + -2.673943042755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3272, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_338470220", + "mask_path": "../../mask/hdr_right_03272.png" + }, + { + "file_path": "../../rgb/hdr_right_03273.png", + "transform_matrix": [ + [ + 0.9466042518615723, + -0.0830482468008995, + -0.31151777505874634, + 23.790172576904297 + ], + [ + 0.312400221824646, + -0.0024821232073009014, + 0.9499474167823792, + -6.222318172454834 + ], + [ + -0.0796646773815155, + -0.9965424537658691, + 0.023594696074724197, + -2.6601498126983643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3273, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_438469648", + "mask_path": "../../mask/hdr_right_03273.png" + }, + { + "file_path": "../../rgb/hdr_right_03274.png", + "transform_matrix": [ + [ + 0.9440310597419739, + -0.08778181672096252, + -0.3179616928100586, + 23.73748779296875 + ], + [ + 0.31856396794319153, + -0.0074359336867928505, + 0.9478722214698792, + -6.231643199920654 + ], + [ + -0.08557028323411942, + -0.9961119890213013, + 0.020944371819496155, + -2.6484923362731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3274, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_538470506", + "mask_path": "../../mask/hdr_right_03274.png" + }, + { + "file_path": "../../rgb/hdr_right_03276.png", + "transform_matrix": [ + [ + 0.9361581206321716, + -0.09332676976919174, + -0.33896613121032715, + 23.617431640625 + ], + [ + 0.3385293185710907, + -0.020959295332431793, + 0.9407224059104919, + -6.266661643981934 + ], + [ + -0.09489907324314117, + -0.9954148530960083, + 0.01197262667119503, + -2.630922317504883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3276, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_738470315", + "mask_path": "../../mask/hdr_right_03276.png" + }, + { + "file_path": "../../rgb/hdr_right_03277.png", + "transform_matrix": [ + [ + 0.9277435541152954, + -0.09504681080579758, + -0.3609127700328827, + 23.564044952392578 + ], + [ + 0.36060482263565063, + -0.020999882370233536, + 0.9324823021888733, + -6.289834022521973 + ], + [ + -0.0962086021900177, + -0.9952512979507446, + 0.01479183230549097, + -2.626187801361084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3277, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594494_838469982", + "mask_path": "../../mask/hdr_right_03277.png" + }, + { + "file_path": "../../rgb/hdr_right_03279.png", + "transform_matrix": [ + [ + 0.910857081413269, + -0.09129904955625534, + -0.40249720215797424, + 23.479774475097656 + ], + [ + 0.4024057686328888, + -0.02022632025182247, + 0.9152379631996155, + -6.33290958404541 + ], + [ + -0.09170139580965042, + -0.9956180453300476, + 0.01831597462296486, + -2.6207656860351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3279, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_38469076", + "mask_path": "../../mask/hdr_right_03279.png" + }, + { + "file_path": "../../rgb/hdr_right_03280.png", + "transform_matrix": [ + [ + 0.9053862690925598, + -0.0881868377327919, + -0.4153299331665039, + 23.428956985473633 + ], + [ + 0.41502925753593445, + -0.02259114384651184, + 0.9095275402069092, + -6.352335453033447 + ], + [ + -0.0895911380648613, + -0.9958477020263672, + 0.016146404668688774, + -2.606851100921631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3280, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_138468980", + "mask_path": "../../mask/hdr_right_03280.png" + }, + { + "file_path": "../../rgb/hdr_right_03281.png", + "transform_matrix": [ + [ + 0.9055776596069336, + -0.09180030226707458, + -0.4141278862953186, + 23.37952995300293 + ], + [ + 0.41320714354515076, + -0.029718274250626564, + 0.9101520776748657, + -6.36989688873291 + ], + [ + -0.09585939347743988, + -0.9953338503837585, + 0.01102033443748951, + -2.5925652980804443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3281, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_238469362", + "mask_path": "../../mask/hdr_right_03281.png" + }, + { + "file_path": "../../rgb/hdr_right_03283.png", + "transform_matrix": [ + [ + 0.9077549576759338, + -0.0986078754067421, + -0.407746821641922, + 23.25707244873047 + ], + [ + 0.40535223484039307, + -0.044125549495220184, + 0.9130950570106506, + -6.412078857421875 + ], + [ + -0.10803040862083435, + -0.994147539138794, + -8.426737622357905e-05, + -2.5714688301086426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3283, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_438469648", + "mask_path": "../../mask/hdr_right_03283.png" + }, + { + "file_path": "../../rgb/hdr_right_03284.png", + "transform_matrix": [ + [ + 0.9047362208366394, + -0.09976259618997574, + -0.41412535309791565, + 23.19930076599121 + ], + [ + 0.4124870002269745, + -0.03750205039978027, + 0.9101912379264832, + -6.433679580688477 + ], + [ + -0.10633359104394913, + -0.9943042993545532, + 0.00722130574285984, + -2.569559097290039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3284, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_538468837", + "mask_path": "../../mask/hdr_right_03284.png" + }, + { + "file_path": "../../rgb/hdr_right_03285.png", + "transform_matrix": [ + [ + 0.9030702710151672, + -0.09732434898614883, + -0.4183204770088196, + 23.148069381713867 + ], + [ + 0.4168987274169922, + -0.03549719601869583, + 0.9082596302032471, + -6.448712348937988 + ], + [ + -0.10324496775865555, + -0.9946195483207703, + 0.008517925627529621, + -2.5712203979492188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3285, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_638469219", + "mask_path": "../../mask/hdr_right_03285.png" + }, + { + "file_path": "../../rgb/hdr_right_03286.png", + "transform_matrix": [ + [ + 0.9037612080574036, + -0.09492690861225128, + -0.41737812757492065, + 23.090986251831055 + ], + [ + 0.41610193252563477, + -0.033816296607255936, + 0.908689022064209, + -6.462697982788086 + ], + [ + -0.10037322342395782, + -0.9949097037315369, + 0.008937410078942776, + -2.5622987747192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3286, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_738469600", + "mask_path": "../../mask/hdr_right_03286.png" + }, + { + "file_path": "../../rgb/hdr_right_03287.png", + "transform_matrix": [ + [ + 0.9076798558235168, + -0.09351280331611633, + -0.4091120958328247, + 23.03156089782715 + ], + [ + 0.4078232944011688, + -0.0333813838660717, + 0.9124504923820496, + -6.476123809814453 + ], + [ + -0.09898252785205841, + -0.9950583577156067, + 0.007837092503905296, + -2.5467545986175537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3287, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_838469743", + "mask_path": "../../mask/hdr_right_03287.png" + }, + { + "file_path": "../../rgb/hdr_right_03288.png", + "transform_matrix": [ + [ + 0.9111303091049194, + -0.0967884287238121, + -0.4005914330482483, + 22.97623062133789 + ], + [ + 0.3989157974720001, + -0.03693578392267227, + 0.9162434339523315, + -6.492948055267334 + ], + [ + -0.10347791016101837, + -0.9946193695068359, + 0.004957115743309259, + -2.538156032562256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3288, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594495_938468217", + "mask_path": "../../mask/hdr_right_03288.png" + }, + { + "file_path": "../../rgb/hdr_right_03289.png", + "transform_matrix": [ + [ + 0.9129387140274048, + -0.09996622055768967, + -0.3956634998321533, + 22.91253662109375 + ], + [ + 0.39347338676452637, + -0.04159565269947052, + 0.9183946251869202, + -6.5127105712890625 + ], + [ + -0.10826631635427475, + -0.9941209554672241, + 0.0013597566867247224, + -2.525470495223999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3289, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_38469076", + "mask_path": "../../mask/hdr_right_03289.png" + }, + { + "file_path": "../../rgb/hdr_right_03290.png", + "transform_matrix": [ + [ + 0.9123178720474243, + -0.09964151680469513, + -0.3971746861934662, + 22.841745376586914 + ], + [ + 0.3951031267642975, + -0.04058044031262398, + 0.9177401065826416, + -6.535058975219727 + ], + [ + -0.10756253451108932, + -0.9941955208778381, + 0.0023464092519134283, + -2.5152721405029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3290, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_138469219", + "mask_path": "../../mask/hdr_right_03290.png" + }, + { + "file_path": "../../rgb/hdr_right_03291.png", + "transform_matrix": [ + [ + 0.9115731120109558, + -0.09780118614435196, + -0.3993361294269562, + 22.78606605529785 + ], + [ + 0.39822208881378174, + -0.03151174262166023, + 0.9167476296424866, + -6.550947666168213 + ], + [ + -0.10224277526140213, + -0.9947069883346558, + 0.010221326723694801, + -2.5190324783325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3291, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_238469123", + "mask_path": "../../mask/hdr_right_03291.png" + }, + { + "file_path": "../../rgb/hdr_right_03292.png", + "transform_matrix": [ + [ + 0.9130019545555115, + -0.09177638590335846, + -0.3974978029727936, + 22.722944259643555 + ], + [ + 0.3968478739261627, + -0.02601521462202072, + 0.9175156950950623, + -6.5673017501831055 + ], + [ + -0.09454726427793503, + -0.9954397678375244, + 0.012669318355619907, + -2.518018960952759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3292, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_338469266", + "mask_path": "../../mask/hdr_right_03292.png" + }, + { + "file_path": "../../rgb/hdr_right_03293.png", + "transform_matrix": [ + [ + 0.9162417650222778, + -0.08577193319797516, + -0.3913364112377167, + 22.656978607177734 + ], + [ + 0.391124963760376, + -0.019958525896072388, + 0.9201211929321289, + -6.57944393157959 + ], + [ + -0.08673107624053955, + -0.9961148500442505, + 0.015260710380971432, + -2.5058250427246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3293, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_438469648", + "mask_path": "../../mask/hdr_right_03293.png" + }, + { + "file_path": "../../rgb/hdr_right_03294.png", + "transform_matrix": [ + [ + 0.9198309183120728, + -0.0896306112408638, + -0.3819391131401062, + 22.598737716674805 + ], + [ + 0.38136163353919983, + -0.024161748588085175, + 0.9241101145744324, + -6.59138822555542 + ], + [ + -0.09205687791109085, + -0.9956819415092468, + 0.011956949718296528, + -2.4941306114196777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3294, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_538469076", + "mask_path": "../../mask/hdr_right_03294.png" + }, + { + "file_path": "../../rgb/hdr_right_03295.png", + "transform_matrix": [ + [ + 0.9224286675453186, + -0.09131360799074173, + -0.3752162456512451, + 22.533788681030273 + ], + [ + 0.3740399479866028, + -0.030324460938572884, + 0.926916778087616, + -6.60558557510376 + ], + [ + -0.09601832926273346, + -0.9953603744506836, + 0.006182778161019087, + -2.4828600883483887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3295, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_638470888", + "mask_path": "../../mask/hdr_right_03295.png" + }, + { + "file_path": "../../rgb/hdr_right_03296.png", + "transform_matrix": [ + [ + 0.9226062297821045, + -0.08983689546585083, + -0.37513598799705505, + 22.458776473999023 + ], + [ + 0.37413114309310913, + -0.028417663648724556, + 0.9269402623176575, + -6.6252121925354 + ], + [ + -0.09393393248319626, + -0.9955509901046753, + 0.007392465136945248, + -2.4745359420776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3296, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_738469600", + "mask_path": "../../mask/hdr_right_03296.png" + }, + { + "file_path": "../../rgb/hdr_right_03297.png", + "transform_matrix": [ + [ + 0.9197414517402649, + -0.08891075104475021, + -0.3823226988315582, + 22.394573211669922 + ], + [ + 0.3817043602466583, + -0.02453155629336834, + 0.9239588379859924, + -6.6441121101379395 + ], + [ + -0.09152885526418686, + -0.9957374930381775, + 0.011374933645129204, + -2.4754905700683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3297, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_838469982", + "mask_path": "../../mask/hdr_right_03297.png" + }, + { + "file_path": "../../rgb/hdr_right_03298.png", + "transform_matrix": [ + [ + 0.9180527925491333, + -0.08731243759393692, + -0.38672441244125366, + 22.337135314941406 + ], + [ + 0.3861337900161743, + -0.024243859574198723, + 0.9221242666244507, + -6.662746906280518 + ], + [ + -0.08988860249519348, + -0.9958860278129578, + 0.011457134038209915, + -2.4752414226531982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3298, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594496_938468933", + "mask_path": "../../mask/hdr_right_03298.png" + }, + { + "file_path": "../../rgb/hdr_right_03299.png", + "transform_matrix": [ + [ + 0.9188794493675232, + -0.08698457479476929, + -0.38482996821403503, + 22.27153205871582 + ], + [ + 0.3846181035041809, + -0.01985757239162922, + 0.92286217212677, + -6.677416801452637 + ], + [ + -0.0879165530204773, + -0.9960116744041443, + 0.015209123492240906, + -2.4661202430725098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3299, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_38470029", + "mask_path": "../../mask/hdr_right_03299.png" + }, + { + "file_path": "../../rgb/hdr_right_03300.png", + "transform_matrix": [ + [ + 0.9229326844215393, + -0.08884038031101227, + -0.37457001209259033, + 22.204540252685547 + ], + [ + 0.3745340406894684, + -0.01770838350057602, + 0.927044153213501, + -6.688178062438965 + ], + [ + -0.08899198472499847, + -0.9958884119987488, + 0.016930099576711655, + -2.4501395225524902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3300, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_138469219", + "mask_path": "../../mask/hdr_right_03300.png" + }, + { + "file_path": "../../rgb/hdr_right_03301.png", + "transform_matrix": [ + [ + 0.9258240461349487, + -0.09503699839115143, + -0.36581116914749146, + 22.14595603942871 + ], + [ + 0.3650300204753876, + -0.026107341051101685, + 0.9306296706199646, + -6.702917575836182 + ], + [ + -0.0979946032166481, + -0.9951313138008118, + 0.010520552285015583, + -2.437364101409912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3301, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_238470077", + "mask_path": "../../mask/hdr_right_03301.png" + }, + { + "file_path": "../../rgb/hdr_right_03302.png", + "transform_matrix": [ + [ + 0.9271276593208313, + -0.09699328988790512, + -0.36197587847709656, + 22.080841064453125 + ], + [ + 0.3608936071395874, + -0.02909906767308712, + 0.9321529865264893, + -6.719640254974365 + ], + [ + -0.10094574093818665, + -0.994859516620636, + 0.008025706745684147, + -2.425623893737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3302, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_338469743", + "mask_path": "../../mask/hdr_right_03302.png" + }, + { + "file_path": "../../rgb/hdr_right_03303.png", + "transform_matrix": [ + [ + 0.9263201951980591, + -0.09378668665885925, + -0.3648766577243805, + 22.017757415771484 + ], + [ + 0.36446478962898254, + -0.022099211812019348, + 0.9309548139572144, + -6.734655857086182 + ], + [ + -0.09537465125322342, + -0.9953470230102539, + 0.013710998930037022, + -2.422391176223755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3303, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_438469886", + "mask_path": "../../mask/hdr_right_03303.png" + }, + { + "file_path": "../../rgb/hdr_right_03304.png", + "transform_matrix": [ + [ + 0.925489604473114, + -0.09341462701559067, + -0.36707329750061035, + 21.967830657958984 + ], + [ + 0.36682093143463135, + -0.02048376202583313, + 0.9300661683082581, + -6.748774528503418 + ], + [ + -0.09440082311630249, + -0.995416522026062, + 0.015308930538594723, + -2.426449775695801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3304, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_538470029", + "mask_path": "../../mask/hdr_right_03304.png" + }, + { + "file_path": "../../rgb/hdr_right_03305.png", + "transform_matrix": [ + [ + 0.9266844391822815, + -0.09238875657320023, + -0.36430782079696655, + 21.91228485107422 + ], + [ + 0.3642524182796478, + -0.018065523356199265, + 0.9311251044273376, + -6.760648727416992 + ], + [ + -0.09260690957307816, + -0.9955590963363647, + 0.016911789774894714, + -2.420549154281616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3305, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_638469934", + "mask_path": "../../mask/hdr_right_03305.png" + }, + { + "file_path": "../../rgb/hdr_right_03306.png", + "transform_matrix": [ + [ + 0.9303133487701416, + -0.08959110826253891, + -0.35565513372421265, + 21.862112045288086 + ], + [ + 0.35566192865371704, + -0.016431696712970734, + 0.9344702363014221, + -6.769490718841553 + ], + [ + -0.0895642414689064, + -0.9958430528640747, + 0.016577521339058876, + -2.4060356616973877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3306, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_738469123", + "mask_path": "../../mask/hdr_right_03306.png" + }, + { + "file_path": "../../rgb/hdr_right_03308.png", + "transform_matrix": [ + [ + 0.9344106316566467, + -0.09651044011116028, + -0.342873752117157, + 21.760601043701172 + ], + [ + 0.34139391779899597, + -0.031969983130693436, + 0.9393765330314636, + -6.788378715515137 + ], + [ + -0.10162130743265152, + -0.994818389415741, + 0.0030749798752367496, + -2.3818981647491455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3308, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594497_938468933", + "mask_path": "../../mask/hdr_right_03308.png" + }, + { + "file_path": "../../rgb/hdr_right_03309.png", + "transform_matrix": [ + [ + 0.9344123601913452, + -0.09708216786384583, + -0.3427077829837799, + 21.698570251464844 + ], + [ + 0.34104594588279724, + -0.03374611213803291, + 0.9394408464431763, + -6.804111480712891 + ], + [ + -0.10276799649000168, + -0.9947041869163513, + 0.0015766924479976296, + -2.369154930114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3309, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_38469552", + "mask_path": "../../mask/hdr_right_03309.png" + }, + { + "file_path": "../../rgb/hdr_right_03310.png", + "transform_matrix": [ + [ + 0.9330053329467773, + -0.0970349907875061, + -0.3465331196784973, + 21.639324188232422 + ], + [ + 0.34580138325691223, + -0.024801192805171013, + 0.9379799962043762, + -6.819981575012207 + ], + [ + -0.099611297249794, + -0.9949719309806824, + 0.010415184311568737, + -2.36307430267334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3310, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_138468503", + "mask_path": "../../mask/hdr_right_03310.png" + }, + { + "file_path": "../../rgb/hdr_right_03311.png", + "transform_matrix": [ + [ + 0.933059573173523, + -0.09233694523572922, + -0.3476690351963043, + 21.580652236938477 + ], + [ + 0.3475172817707062, + -0.01823839172720909, + 0.9374962449073792, + -6.831629276275635 + ], + [ + -0.09290645271539688, + -0.9955607652664185, + 0.015071175992488861, + -2.36803936958313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3311, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_238468408", + "mask_path": "../../mask/hdr_right_03311.png" + }, + { + "file_path": "../../rgb/hdr_right_03312.png", + "transform_matrix": [ + [ + 0.9347063899040222, + -0.09100998193025589, + -0.3435710072517395, + 21.514862060546875 + ], + [ + 0.3438754975795746, + -0.012809344567358494, + 0.9389280080795288, + -6.841879367828369 + ], + [ + -0.08985273540019989, + -0.9957675933837891, + 0.01932312361896038, + -2.3541650772094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3312, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_338470935", + "mask_path": "../../mask/hdr_right_03312.png" + }, + { + "file_path": "../../rgb/hdr_right_03313.png", + "transform_matrix": [ + [ + 0.9378498792648315, + -0.09497439861297607, + -0.33379241824150085, + 21.449817657470703 + ], + [ + 0.3334800601005554, + -0.01961429975926876, + 0.9425532221794128, + -6.853860855102539 + ], + [ + -0.09606550633907318, + -0.9952865242958069, + 0.013276788406074047, + -2.3399627208709717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3313, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_438470602", + "mask_path": "../../mask/hdr_right_03313.png" + }, + { + "file_path": "../../rgb/hdr_right_03314.png", + "transform_matrix": [ + [ + 0.9398040771484375, + -0.09746527671813965, + -0.32751938700675964, + 21.378185272216797 + ], + [ + 0.3264733552932739, + -0.02694876492023468, + 0.9448221921920776, + -6.871559143066406 + ], + [ + -0.10091360658407211, + -0.9948740005493164, + 0.006493259686976671, + -2.3272831439971924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3314, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_538470029", + "mask_path": "../../mask/hdr_right_03314.png" + }, + { + "file_path": "../../rgb/hdr_right_03315.png", + "transform_matrix": [ + [ + 0.9402837753295898, + -0.09425660967826843, + -0.32708126306533813, + 21.299020767211914 + ], + [ + 0.32593297958374023, + -0.02776920795440674, + 0.944985032081604, + -6.8909149169921875 + ], + [ + -0.09815386682748795, + -0.9951605796813965, + 0.004610397852957249, + -2.3249757289886475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3315, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_638470649", + "mask_path": "../../mask/hdr_right_03315.png" + }, + { + "file_path": "../../rgb/hdr_right_03316.png", + "transform_matrix": [ + [ + 0.9386579394340515, + -0.09492598474025726, + -0.3315272331237793, + 21.23279571533203 + ], + [ + 0.33095312118530273, + -0.02219020016491413, + 0.9433863162994385, + -6.906342506408691 + ], + [ + -0.09690853208303452, + -0.9952369332313538, + 0.010587042197585106, + -2.328778028488159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3316, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_738470077", + "mask_path": "../../mask/hdr_right_03316.png" + }, + { + "file_path": "../../rgb/hdr_right_03317.png", + "transform_matrix": [ + [ + 0.9390040040016174, + -0.09278160333633423, + -0.3311542272567749, + 21.171384811401367 + ], + [ + 0.3307875096797943, + -0.019752956926822662, + 0.9434984922409058, + -6.919629096984863 + ], + [ + -0.09408058226108551, + -0.995490550994873, + 0.012142888270318508, + -2.3265788555145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3317, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_838469982", + "mask_path": "../../mask/hdr_right_03317.png" + }, + { + "file_path": "../../rgb/hdr_right_03318.png", + "transform_matrix": [ + [ + 0.9412083029747009, + -0.08971784263849258, + -0.325695663690567, + 21.10592269897461 + ], + [ + 0.32598841190338135, + -0.011783888563513756, + 0.9453004002571106, + -6.931187152862549 + ], + [ + -0.08864827454090118, + -0.9958975315093994, + 0.018155882135033607, + -2.315197706222534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3318, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594498_938469886", + "mask_path": "../../mask/hdr_right_03318.png" + }, + { + "file_path": "../../rgb/hdr_right_03319.png", + "transform_matrix": [ + [ + 0.9441996812820435, + -0.09463700652122498, + -0.31548479199409485, + 21.044870376586914 + ], + [ + 0.3161250650882721, + -0.008544282987713814, + 0.9486790895462036, + -6.939191818237305 + ], + [ + -0.09247574955224991, + -0.9954752326011658, + 0.0218496210873127, + -2.3051326274871826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3319, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_38471221", + "mask_path": "../../mask/hdr_right_03319.png" + }, + { + "file_path": "../../rgb/hdr_right_03320.png", + "transform_matrix": [ + [ + 0.9461532235145569, + -0.09789102524518967, + -0.3085635006427765, + 20.979995727539062 + ], + [ + 0.3087742030620575, + -0.01337173767387867, + 0.9510413408279419, + -6.949569225311279 + ], + [ + -0.09722444415092468, + -0.9951073527336121, + 0.017574505880475044, + -2.2943012714385986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3320, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_138470172", + "mask_path": "../../mask/hdr_right_03320.png" + }, + { + "file_path": "../../rgb/hdr_right_03321.png", + "transform_matrix": [ + [ + 0.9474806785583496, + -0.0932498499751091, + -0.30591630935668945, + 20.90459632873535 + ], + [ + 0.3059714138507843, + -0.014058871194720268, + 0.9519369602203369, + -6.966432571411133 + ], + [ + -0.09306881576776505, + -0.9955434799194336, + 0.015211277641355991, + -2.290116786956787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3321, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_238470077", + "mask_path": "../../mask/hdr_right_03321.png" + }, + { + "file_path": "../../rgb/hdr_right_03322.png", + "transform_matrix": [ + [ + 0.9467483758926392, + -0.08765029907226562, + -0.30981430411338806, + 20.834138870239258 + ], + [ + 0.31038957834243774, + -0.0073341140523552895, + 0.9505812525749207, + -6.979865074157715 + ], + [ + -0.08559092879295349, + -0.996124267578125, + 0.02026217244565487, + -2.2931225299835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3322, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_338470220", + "mask_path": "../../mask/hdr_right_03322.png" + }, + { + "file_path": "../../rgb/hdr_right_03323.png", + "transform_matrix": [ + [ + 0.9461670517921448, + -0.08899080008268356, + -0.3112048804759979, + 20.768009185791016 + ], + [ + 0.3121161460876465, + -0.0038415193557739258, + 0.9500362277030945, + -6.992157459259033 + ], + [ + -0.08573998510837555, + -0.996025025844574, + 0.024140747264027596, + -2.2950899600982666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3323, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_438469886", + "mask_path": "../../mask/hdr_right_03323.png" + }, + { + "file_path": "../../rgb/hdr_right_03324.png", + "transform_matrix": [ + [ + 0.9468601942062378, + -0.08886510133743286, + -0.3091258108615875, + 20.69363021850586 + ], + [ + 0.31016355752944946, + -0.002232671482488513, + 0.9506806135177612, + -7.0043816566467285 + ], + [ + -0.08517251163721085, + -0.9960411787033081, + 0.025448685511946678, + -2.286916494369507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3324, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_538469314", + "mask_path": "../../mask/hdr_right_03324.png" + }, + { + "file_path": "../../rgb/hdr_right_03325.png", + "transform_matrix": [ + [ + 0.9501654505729675, + -0.08760703355073929, + -0.29918330907821655, + 20.623085021972656 + ], + [ + 0.30038735270500183, + 0.0005879304371774197, + 0.9538171291351318, + -7.014803409576416 + ], + [ + -0.08338519185781479, + -0.9961549639701843, + 0.02687467262148857, + -2.2693700790405273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3325, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_638468265", + "mask_path": "../../mask/hdr_right_03325.png" + }, + { + "file_path": "../../rgb/hdr_right_03326.png", + "transform_matrix": [ + [ + 0.952771008014679, + -0.09435106813907623, + -0.28866124153137207, + 20.559104919433594 + ], + [ + 0.28948143124580383, + -0.005175285041332245, + 0.9571697115898132, + -7.020284652709961 + ], + [ + -0.0918038859963417, + -0.995525598526001, + 0.022382015362381935, + -2.257056951522827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3326, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_738468647", + "mask_path": "../../mask/hdr_right_03326.png" + }, + { + "file_path": "../../rgb/hdr_right_03327.png", + "transform_matrix": [ + [ + 0.9544184803962708, + -0.09667091071605682, + -0.2823828160762787, + 20.487241744995117 + ], + [ + 0.28261154890060425, + -0.011604753322899342, + 0.9591642022132874, + -7.02632474899292 + ], + [ + -0.09600026160478592, + -0.9952487349510193, + 0.016244521364569664, + -2.2440271377563477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3327, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_838468551", + "mask_path": "../../mask/hdr_right_03327.png" + }, + { + "file_path": "../../rgb/hdr_right_03328.png", + "transform_matrix": [ + [ + 0.9552988409996033, + -0.0918729305267334, + -0.28100451827049255, + 20.4102783203125 + ], + [ + 0.28118449449539185, + -0.011246850714087486, + 0.959587812423706, + -7.040143966674805 + ], + [ + -0.09132055938243866, + -0.9957072734832764, + 0.015089139342308044, + -2.2323482036590576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3328, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594499_938468456", + "mask_path": "../../mask/hdr_right_03328.png" + }, + { + "file_path": "../../rgb/hdr_right_03329.png", + "transform_matrix": [ + [ + 0.9543901681900024, + -0.09284637123346329, + -0.2837584316730499, + 20.347347259521484 + ], + [ + 0.2844858765602112, + -0.005584083031862974, + 0.9586640000343323, + -7.050152778625488 + ], + [ + -0.09059299528598785, + -0.9956647753715515, + 0.02108408510684967, + -2.2300477027893066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3329, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_38471460", + "mask_path": "../../mask/hdr_right_03329.png" + }, + { + "file_path": "../../rgb/hdr_right_03330.png", + "transform_matrix": [ + [ + 0.9546670317649841, + -0.09276122599840164, + -0.2828536331653595, + 20.28692626953125 + ], + [ + 0.2837601602077484, + -0.0035434337332844734, + 0.9588887691497803, + -7.057692050933838 + ], + [ + -0.08994996547698975, + -0.9956820607185364, + 0.02293913997709751, + -2.2292208671569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3330, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_138469934", + "mask_path": "../../mask/hdr_right_03330.png" + }, + { + "file_path": "../../rgb/hdr_right_03331.png", + "transform_matrix": [ + [ + 0.9557318687438965, + -0.09518859535455704, + -0.27841654419898987, + 20.22016716003418 + ], + [ + 0.27946534752845764, + -0.0024008930195122957, + 0.9601529240608215, + -7.064252853393555 + ], + [ + -0.0920640379190445, + -0.995456337928772, + 0.02430729940533638, + -2.2195982933044434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3331, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_238469600", + "mask_path": "../../mask/hdr_right_03331.png" + }, + { + "file_path": "../../rgb/hdr_right_03332.png", + "transform_matrix": [ + [ + 0.958215057849884, + -0.09917242079973221, + -0.26830750703811646, + 20.155521392822266 + ], + [ + 0.2697964012622833, + 0.0016679451800882816, + 0.9629158973693848, + -7.06870698928833 + ], + [ + -0.09504717588424683, + -0.9950688481330872, + 0.028354613110423088, + -2.20517897605896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3332, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_338469743", + "mask_path": "../../mask/hdr_right_03332.png" + }, + { + "file_path": "../../rgb/hdr_right_03333.png", + "transform_matrix": [ + [ + 0.9599032998085022, + -0.10325678437948227, + -0.26062148809432983, + 20.09776496887207 + ], + [ + 0.261726438999176, + -0.0029396943282335997, + 0.9651376008987427, + -7.072587013244629 + ], + [ + -0.10042315721511841, + -0.9946504235267639, + 0.02420320361852646, + -2.195735216140747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3333, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_438468933", + "mask_path": "../../mask/hdr_right_03333.png" + }, + { + "file_path": "../../rgb/hdr_right_03334.png", + "transform_matrix": [ + [ + 0.9615783095359802, + -0.10190184414386749, + -0.2549179792404175, + 20.03128433227539 + ], + [ + 0.2555958032608032, + -0.006570124998688698, + 0.9667614102363586, + -7.077213764190674 + ], + [ + -0.10018962621688843, + -0.994772732257843, + 0.01972799189388752, + -2.1867482662200928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3334, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_538469076", + "mask_path": "../../mask/hdr_right_03334.png" + }, + { + "file_path": "../../rgb/hdr_right_03335.png", + "transform_matrix": [ + [ + 0.9634184241294861, + -0.09166799485683441, + -0.25183698534965515, + 19.95693588256836 + ], + [ + 0.252995103597641, + 0.0010491273133084178, + 0.9674670696258545, + -7.085437297821045 + ], + [ + -0.0884215459227562, + -0.9957890510559082, + 0.02420230209827423, + -2.184619665145874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3335, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_638469934", + "mask_path": "../../mask/hdr_right_03335.png" + }, + { + "file_path": "../../rgb/hdr_right_03336.png", + "transform_matrix": [ + [ + 0.9636432528495789, + -0.09047881513834, + -0.25140663981437683, + 19.897533416748047 + ], + [ + 0.25298795104026794, + 0.006266108714044094, + 0.9674491882324219, + -7.093562602996826 + ], + [ + -0.08595830947160721, + -0.9958787560462952, + 0.02892833948135376, + -2.187431573867798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3336, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_738468408", + "mask_path": "../../mask/hdr_right_03336.png" + }, + { + "file_path": "../../rgb/hdr_right_03337.png", + "transform_matrix": [ + [ + 0.9646912217140198, + -0.08677679300308228, + -0.2486778050661087, + 19.836957931518555 + ], + [ + 0.2501007914543152, + 0.005756055936217308, + 0.9682027101516724, + -7.100051403045654 + ], + [ + -0.0825861245393753, + -0.9962111711502075, + 0.02725576050579548, + -2.1851606369018555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3337, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_838470935", + "mask_path": "../../mask/hdr_right_03337.png" + }, + { + "file_path": "../../rgb/hdr_right_03338.png", + "transform_matrix": [ + [ + 0.9663060307502747, + -0.08155734837055206, + -0.24413344264030457, + 19.771076202392578 + ], + [ + 0.2452940046787262, + 0.004372569266706705, + 0.969438910484314, + -7.105517387390137 + ], + [ + -0.07799737900495529, + -0.9966590404510498, + 0.024230768904089928, + -2.180661201477051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3338, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594500_938469409", + "mask_path": "../../mask/hdr_right_03338.png" + }, + { + "file_path": "../../rgb/hdr_right_03339.png", + "transform_matrix": [ + [ + 0.9685992002487183, + -0.08355143666267395, + -0.23416823148727417, + 19.704496383666992 + ], + [ + 0.23570822179317474, + 0.008929992094635963, + 0.9717829823493958, + -7.108782768249512 + ], + [ + -0.07910273224115372, + -0.9964634776115417, + 0.028343338519334793, + -2.1693174839019775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3339, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_38469314", + "mask_path": "../../mask/hdr_right_03339.png" + }, + { + "file_path": "../../rgb/hdr_right_03340.png", + "transform_matrix": [ + [ + 0.9709042310714722, + -0.08694480359554291, + -0.22312696278095245, + 19.638803482055664 + ], + [ + 0.22427821159362793, + 0.0035798505414277315, + 0.9745186567306519, + -7.111767768859863 + ], + [ + -0.08393057435750961, + -0.9962067008018494, + 0.022975513711571693, + -2.1592955589294434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3340, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_138468980", + "mask_path": "../../mask/hdr_right_03340.png" + }, + { + "file_path": "../../rgb/hdr_right_03341.png", + "transform_matrix": [ + [ + 0.9733024835586548, + -0.0845479741692543, + -0.21338647603988647, + 19.561756134033203 + ], + [ + 0.21410223841667175, + -0.000615299039054662, + 0.9768110513687134, + -7.11693811416626 + ], + [ + -0.08271869271993637, + -0.9964192509651184, + 0.0175030380487442, + -2.1506717205047607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3341, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_238468408", + "mask_path": "../../mask/hdr_right_03341.png" + }, + { + "file_path": "../../rgb/hdr_right_03342.png", + "transform_matrix": [ + [ + 0.974968671798706, + -0.07747998833656311, + -0.2084059715270996, + 19.486400604248047 + ], + [ + 0.20953136682510376, + 0.006600082851946354, + 0.9777796268463135, + -7.121403694152832 + ], + [ + -0.07438286393880844, + -0.9969720244407654, + 0.022669360041618347, + -2.148963689804077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3342, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_338469743", + "mask_path": "../../mask/hdr_right_03342.png" + }, + { + "file_path": "../../rgb/hdr_right_03343.png", + "transform_matrix": [ + [ + 0.9758538603782654, + -0.07849814742803574, + -0.20383143424987793, + 19.426301956176758 + ], + [ + 0.2052963525056839, + 0.010981517843902111, + 0.978638231754303, + -7.126816749572754 + ], + [ + -0.07458290457725525, + -0.996853768825531, + 0.02683173678815365, + -2.148930549621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3343, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_438469648", + "mask_path": "../../mask/hdr_right_03343.png" + }, + { + "file_path": "../../rgb/hdr_right_03344.png", + "transform_matrix": [ + [ + 0.9774529933929443, + -0.07745426893234253, + -0.19643422961235046, + 19.354867935180664 + ], + [ + 0.19796635210514069, + 0.01254947204142809, + 0.9801285266876221, + -7.129238605499268 + ], + [ + -0.0734499990940094, + -0.9969168901443481, + 0.02759985812008381, + -2.1417057514190674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3344, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_538469314", + "mask_path": "../../mask/hdr_right_03344.png" + }, + { + "file_path": "../../rgb/hdr_right_03345.png", + "transform_matrix": [ + [ + 0.9806630611419678, + -0.07357712835073471, + -0.18134593963623047, + 19.279273986816406 + ], + [ + 0.18288195133209229, + 0.014648877084255219, + 0.9830257892608643, + -7.127624988555908 + ], + [ + -0.06967169046401978, + -0.9971819519996643, + 0.027821538969874382, + -2.1260945796966553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3345, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_638470411", + "mask_path": "../../mask/hdr_right_03345.png" + }, + { + "file_path": "../../rgb/hdr_right_03346.png", + "transform_matrix": [ + [ + 0.9830353856086731, + -0.08058559894561768, + -0.16476447880268097, + 19.21199607849121 + ], + [ + 0.16620084643363953, + 0.011407138779759407, + 0.9860260486602783, + -7.12642765045166 + ], + [ + -0.07757999747991562, + -0.9966824054718018, + 0.024607013911008835, + -2.1126015186309814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3346, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_738469362", + "mask_path": "../../mask/hdr_right_03346.png" + }, + { + "file_path": "../../rgb/hdr_right_03347.png", + "transform_matrix": [ + [ + 0.9847184419631958, + -0.08508719503879547, + -0.15195320546627045, + 19.134506225585938 + ], + [ + 0.1529751718044281, + 0.005583719350397587, + 0.9882143139839172, + -7.127574443817139 + ], + [ + -0.08323591947555542, + -0.9963578581809998, + 0.018514616414904594, + -2.097982406616211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3347, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_838468551", + "mask_path": "../../mask/hdr_right_03347.png" + }, + { + "file_path": "../../rgb/hdr_right_03348.png", + "transform_matrix": [ + [ + 0.9860015511512756, + -0.08220216631889343, + -0.14506442844867706, + 19.050065994262695 + ], + [ + 0.14616253972053528, + 0.007469860836863518, + 0.9892323613166809, + -7.128559112548828 + ], + [ + -0.08023343235254288, + -0.9965876936912537, + 0.019380170851945877, + -2.0898427963256836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3348, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594501_938469648", + "mask_path": "../../mask/hdr_right_03348.png" + }, + { + "file_path": "../../rgb/hdr_right_03349.png", + "transform_matrix": [ + [ + 0.9862135648727417, + -0.08307452499866486, + -0.14311270415782928, + 18.983901977539062 + ], + [ + 0.14456157386302948, + 0.011663983575999737, + 0.9894270896911621, + -7.126195430755615 + ], + [ + -0.0805269256234169, + -0.9964750409126282, + 0.02351256273686886, + -2.09122896194458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3349, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_38469552", + "mask_path": "../../mask/hdr_right_03349.png" + }, + { + "file_path": "../../rgb/hdr_right_03350.png", + "transform_matrix": [ + [ + 0.9868044853210449, + -0.08460033684968948, + -0.13805685937404633, + 18.909690856933594 + ], + [ + 0.13967090845108032, + 0.013437599875032902, + 0.9901068210601807, + -7.123501300811768 + ], + [ + -0.081908218562603, + -0.996324360370636, + 0.02507648803293705, + -2.082124710083008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3350, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_138469457", + "mask_path": "../../mask/hdr_right_03350.png" + }, + { + "file_path": "../../rgb/hdr_right_03351.png", + "transform_matrix": [ + [ + 0.9876708388328552, + -0.08810065686702728, + -0.12940135598182678, + 18.830141067504883 + ], + [ + 0.1316346973180771, + 0.02000587433576584, + 0.9910964369773865, + -7.113872051239014 + ], + [ + -0.0847274661064148, + -0.9959105849266052, + 0.0313563197851181, + -2.0666587352752686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3351, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_238469600", + "mask_path": "../../mask/hdr_right_03351.png" + }, + { + "file_path": "../../rgb/hdr_right_03352.png", + "transform_matrix": [ + [ + 0.9878582954406738, + -0.09801163524389267, + -0.12053947895765305, + 18.753202438354492 + ], + [ + 0.1230754405260086, + 0.02023111842572689, + 0.9921910762786865, + -7.105679988861084 + ], + [ + -0.09480762481689453, + -0.9949795603752136, + 0.0320483036339283, + -2.0508296489715576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3352, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_338469266", + "mask_path": "../../mask/hdr_right_03352.png" + }, + { + "file_path": "../../rgb/hdr_right_03353.png", + "transform_matrix": [ + [ + 0.9879054427146912, + -0.10233437269926071, + -0.11649269610643387, + 18.671993255615234 + ], + [ + 0.11854297667741776, + 0.014166362583637238, + 0.9928479194641113, + -7.103567123413086 + ], + [ + -0.09995219856500626, + -0.9946491718292236, + 0.026126045733690262, + -2.037411689758301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3353, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_438469409", + "mask_path": "../../mask/hdr_right_03353.png" + }, + { + "file_path": "../../rgb/hdr_right_03354.png", + "transform_matrix": [ + [ + 0.9879363775253296, + -0.09916505962610245, + -0.11894623190164566, + 18.591297149658203 + ], + [ + 0.12107616662979126, + 0.015722962096333504, + 0.9925187826156616, + -7.10288667678833 + ], + [ + -0.09655297547578812, + -0.9949467778205872, + 0.027539808303117752, + -2.0275092124938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3354, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_538469791", + "mask_path": "../../mask/hdr_right_03354.png" + }, + { + "file_path": "../../rgb/hdr_right_03355.png", + "transform_matrix": [ + [ + 0.9870697259902954, + -0.10231248289346695, + -0.12339179217815399, + 18.51937484741211 + ], + [ + 0.1257466822862625, + 0.01687050424516201, + 0.9919189810752869, + -7.101927280426025 + ], + [ + -0.0994039997458458, + -0.9946092367172241, + 0.029517818242311478, + -2.023547410964966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3355, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_638468503", + "mask_path": "../../mask/hdr_right_03355.png" + }, + { + "file_path": "../../rgb/hdr_right_03356.png", + "transform_matrix": [ + [ + 0.9869515299797058, + -0.10579610615968704, + -0.12138338387012482, + 18.445541381835938 + ], + [ + 0.12401501089334488, + 0.018636561930179596, + 0.9921054244041443, + -7.095808029174805 + ], + [ + -0.10269870609045029, + -0.9942132234573364, + 0.03151368349790573, + -2.013484477996826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3356, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_738469123", + "mask_path": "../../mask/hdr_right_03356.png" + }, + { + "file_path": "../../rgb/hdr_right_03357.png", + "transform_matrix": [ + [ + 0.9879081845283508, + -0.10791535675525665, + -0.11131855100393295, + 18.3734073638916 + ], + [ + 0.11445487290620804, + 0.02329876832664013, + 0.9931551814079285, + -7.093236446380615 + ], + [ + -0.10458311438560486, + -0.9938870072364807, + 0.035368479788303375, + -1.9954569339752197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3357, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_838468790", + "mask_path": "../../mask/hdr_right_03357.png" + }, + { + "file_path": "../../rgb/hdr_right_03358.png", + "transform_matrix": [ + [ + 0.9883223176002502, + -0.11376334726810455, + -0.101375512778759, + 18.29833984375 + ], + [ + 0.10384266078472137, + 0.015958867967128754, + 0.9944657683372498, + -7.093358993530273 + ], + [ + -0.11151590198278427, + -0.9933797121047974, + 0.027585990726947784, + -1.980428695678711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3358, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594502_938468456", + "mask_path": "../../mask/hdr_right_03358.png" + }, + { + "file_path": "../../rgb/hdr_right_03359.png", + "transform_matrix": [ + [ + 0.9884335994720459, + -0.11448067426681519, + -0.09946495294570923, + 18.21930503845215 + ], + [ + 0.1014212891459465, + 0.011378171853721142, + 0.994778573513031, + -7.092008590698242 + ], + [ + -0.11275117844343185, + -0.9933602809906006, + 0.022857341915369034, + -1.9716932773590088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3359, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_38468599", + "mask_path": "../../mask/hdr_right_03359.png" + }, + { + "file_path": "../../rgb/hdr_right_03360.png", + "transform_matrix": [ + [ + 0.9881373643875122, + -0.1139274537563324, + -0.10298101603984833, + 18.14345932006836 + ], + [ + 0.10541314631700516, + 0.015517526306211948, + 0.9943073987960815, + -7.08853816986084 + ], + [ + -0.11168090999126434, + -0.9933679699897766, + 0.0273428987711668, + -1.96988844871521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3360, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_138467073", + "mask_path": "../../mask/hdr_right_03360.png" + }, + { + "file_path": "../../rgb/hdr_right_03361.png", + "transform_matrix": [ + [ + 0.9885342121124268, + -0.11127721518278122, + -0.10206612199544907, + 18.078081130981445 + ], + [ + 0.10439717024564743, + 0.015311136841773987, + 0.9944178462028503, + -7.08435583114624 + ], + [ + -0.10909329354763031, + -0.9936714768409729, + 0.02675260417163372, + -1.9620566368103027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3361, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_238468885", + "mask_path": "../../mask/hdr_right_03361.png" + }, + { + "file_path": "../../rgb/hdr_right_03362.png", + "transform_matrix": [ + [ + 0.9900042414665222, + -0.10470470041036606, + -0.094491146504879, + 18.00925064086914 + ], + [ + 0.09679314494132996, + 0.017115524038672447, + 0.9951573610305786, + -7.075252532958984 + ], + [ + -0.10258039087057114, + -0.9943560361862183, + 0.027079138904809952, + -1.951869010925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3362, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_338468790", + "mask_path": "../../mask/hdr_right_03362.png" + }, + { + "file_path": "../../rgb/hdr_right_03363.png", + "transform_matrix": [ + [ + 0.9906917214393616, + -0.10849452763795853, + -0.08221270889043808, + 17.948558807373047 + ], + [ + 0.08460923284292221, + 0.017665434628725052, + 0.9962577223777771, + -7.066246509552002 + ], + [ + -0.1066361740231514, + -0.9939400553703308, + 0.026680635288357735, + -1.9416035413742065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3363, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_438469648", + "mask_path": "../../mask/hdr_right_03363.png" + }, + { + "file_path": "../../rgb/hdr_right_03364.png", + "transform_matrix": [ + [ + 0.9910175204277039, + -0.1100095808506012, + -0.07604115456342697, + 17.878292083740234 + ], + [ + 0.07767461240291595, + 0.010633517056703568, + 0.9969220757484436, + -7.060970306396484 + ], + [ + -0.10886240750551224, + -0.9938735961914062, + 0.01908295229077339, + -1.9302361011505127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3364, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_538470029", + "mask_path": "../../mask/hdr_right_03364.png" + }, + { + "file_path": "../../rgb/hdr_right_03365.png", + "transform_matrix": [ + [ + 0.9917768836021423, + -0.10218452662229538, + -0.07705149799585342, + 17.799102783203125 + ], + [ + 0.07829093188047409, + 0.00816852506250143, + 0.9968971610069275, + -7.058777809143066 + ], + [ + -0.10123805701732635, + -0.9947319030761719, + 0.016101472079753876, + -1.9237024784088135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3365, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_638468980", + "mask_path": "../../mask/hdr_right_03365.png" + }, + { + "file_path": "../../rgb/hdr_right_03366.png", + "transform_matrix": [ + [ + 0.9917631149291992, + -0.09863986819982529, + -0.0817074179649353, + 17.732328414916992 + ], + [ + 0.08334807306528091, + 0.01262110285460949, + 0.996440589427948, + -7.053496837615967 + ], + [ + -0.09725753217935562, + -0.9950430989265442, + 0.02073858492076397, + -1.9260761737823486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3366, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_738468885", + "mask_path": "../../mask/hdr_right_03366.png" + }, + { + "file_path": "../../rgb/hdr_right_03367.png", + "transform_matrix": [ + [ + 0.9922177791595459, + -0.09530822932720184, + -0.08012620359659195, + 17.663774490356445 + ], + [ + 0.08203648775815964, + 0.016290176659822464, + 0.9964962005615234, + -7.04587459564209 + ], + [ + -0.09366901963949203, + -0.9953145384788513, + 0.023982150480151176, + -1.921839714050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3367, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_838469028", + "mask_path": "../../mask/hdr_right_03367.png" + }, + { + "file_path": "../../rgb/hdr_right_03368.png", + "transform_matrix": [ + [ + 0.9932565689086914, + -0.09043215215206146, + -0.07254944741725922, + 17.5919189453125 + ], + [ + 0.0746745765209198, + 0.020337438210844994, + 0.9970006346702576, + -7.035318851470947 + ], + [ + -0.08868544548749924, + -0.9956949353218079, + 0.02695327438414097, + -1.9062765836715698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3368, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594503_938469171", + "mask_path": "../../mask/hdr_right_03368.png" + }, + { + "file_path": "../../rgb/hdr_right_03369.png", + "transform_matrix": [ + [ + 0.9934681057929993, + -0.09643922746181488, + -0.06099553406238556, + 17.528223037719727 + ], + [ + 0.06314650177955627, + 0.019408367574214935, + 0.9978155493736267, + -7.022580623626709 + ], + [ + -0.09504473209381104, + -0.9951496124267578, + 0.02537139505147934, + -1.8917689323425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3369, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_38468837", + "mask_path": "../../mask/hdr_right_03369.png" + }, + { + "file_path": "../../rgb/hdr_right_03370.png", + "transform_matrix": [ + [ + 0.9935455918312073, + -0.10006946325302124, + -0.05341577157378197, + 17.463260650634766 + ], + [ + 0.0551043339073658, + 0.01418438833206892, + 0.9983798861503601, + -7.011941432952881 + ], + [ + -0.09914965182542801, + -0.9948793053627014, + 0.019607095047831535, + -1.8813519477844238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3370, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_138469457", + "mask_path": "../../mask/hdr_right_03370.png" + }, + { + "file_path": "../../rgb/hdr_right_03371.png", + "transform_matrix": [ + [ + 0.9939383268356323, + -0.0977543443441391, + -0.05030665919184685, + 17.389083862304688 + ], + [ + 0.051899902522563934, + 0.013822837732732296, + 0.9985566735267639, + -7.004234790802002 + ], + [ + -0.09691786766052246, + -0.9951145648956299, + 0.01881248503923416, + -1.875744104385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3371, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_238469362", + "mask_path": "../../mask/hdr_right_03371.png" + }, + { + "file_path": "../../rgb/hdr_right_03372.png", + "transform_matrix": [ + [ + 0.9938819408416748, + -0.09575843811035156, + -0.055037181824445724, + 17.317617416381836 + ], + [ + 0.057205963879823685, + 0.0200501661747694, + 0.9981611371040344, + -6.9973907470703125 + ], + [ + -0.09447883069515228, + -0.9952026009559631, + 0.02540544606745243, + -1.8746206760406494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3372, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_338469266", + "mask_path": "../../mask/hdr_right_03372.png" + }, + { + "file_path": "../../rgb/hdr_right_03373.png", + "transform_matrix": [ + [ + 0.9936941862106323, + -0.09636900573968887, + -0.05731465294957161, + 17.244873046875 + ], + [ + 0.05981672182679176, + 0.023275479674339294, + 0.9979380369186401, + -6.985663890838623 + ], + [ + -0.0948362797498703, + -0.9950734972953796, + 0.028893185779452324, + -1.8726495504379272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3373, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_438469886", + "mask_path": "../../mask/hdr_right_03373.png" + }, + { + "file_path": "../../rgb/hdr_right_03374.png", + "transform_matrix": [ + [ + 0.9937295317649841, + -0.09803114831447601, + -0.053774017840623856, + 17.165992736816406 + ], + [ + 0.05656762793660164, + 0.02594177797436714, + 0.9980617761611938, + -6.972857475280762 + ], + [ + -0.09644613415002823, + -0.9948451519012451, + 0.031324490904808044, + -1.8578410148620605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3374, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_538469076", + "mask_path": "../../mask/hdr_right_03374.png" + }, + { + "file_path": "../../rgb/hdr_right_03375.png", + "transform_matrix": [ + [ + 0.9939799308776855, + -0.10137224942445755, + -0.0415656641125679, + 17.093528747558594 + ], + [ + 0.044430866837501526, + 0.02617114596068859, + 0.9986696839332581, + -6.960554122924805 + ], + [ + -0.10014956444501877, + -0.9945042729377747, + 0.03051764704287052, + -1.8365224599838257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3375, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_638469457", + "mask_path": "../../mask/hdr_right_03375.png" + }, + { + "file_path": "../../rgb/hdr_right_03376.png", + "transform_matrix": [ + [ + 0.9936140179634094, + -0.10844024270772934, + -0.031175483018159866, + 17.023563385009766 + ], + [ + 0.033144474029541016, + 0.016401955857872963, + 0.9993160367012024, + -6.951626300811768 + ], + [ + -0.10785471647977829, + -0.9939676523208618, + 0.019891407340765, + -1.8192200660705566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3376, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_738469839", + "mask_path": "../../mask/hdr_right_03376.png" + }, + { + "file_path": "../../rgb/hdr_right_03377.png", + "transform_matrix": [ + [ + 0.9933493137359619, + -0.11160480976104736, + -0.02831137925386429, + 16.94154167175293 + ], + [ + 0.029797762632369995, + 0.011672478169202805, + 0.9994878172874451, + -6.948462963104248 + ], + [ + -0.11121717840433121, + -0.9936841130256653, + 0.014920416288077831, + -1.8068057298660278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3377, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_838469266", + "mask_path": "../../mask/hdr_right_03377.png" + }, + { + "file_path": "../../rgb/hdr_right_03378.png", + "transform_matrix": [ + [ + 0.9934207797050476, + -0.10972860455513, + -0.03278648853302002, + 16.865673065185547 + ], + [ + 0.035077184438705444, + 0.019010744988918304, + 0.9992038011550903, + -6.945338726043701 + ], + [ + -0.10901793092489243, + -0.9937797784805298, + 0.022734636440873146, + -1.8046295642852783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3378, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594504_938469171", + "mask_path": "../../mask/hdr_right_03378.png" + }, + { + "file_path": "../../rgb/hdr_right_03379.png", + "transform_matrix": [ + [ + 0.9935531616210938, + -0.10837820172309875, + -0.033261559903621674, + 16.800472259521484 + ], + [ + 0.036038048565387726, + 0.023760788142681122, + 0.9990679025650024, + -6.933602809906006 + ], + [ + -0.10748685896396637, + -0.9938256740570068, + 0.02751334197819233, + -1.8005543947219849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3379, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_38469791", + "mask_path": "../../mask/hdr_right_03379.png" + }, + { + "file_path": "../../rgb/hdr_right_03380.png", + "transform_matrix": [ + [ + 0.9935508370399475, + -0.11017706245183945, + -0.02678947150707245, + 16.728113174438477 + ], + [ + 0.030426200479269028, + 0.03145963326096535, + 0.9990418553352356, + -6.917092800140381 + ], + [ + -0.1092286929488182, + -0.9934139251708984, + 0.03460901603102684, + -1.783350944519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3380, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_138469219", + "mask_path": "../../mask/hdr_right_03380.png" + }, + { + "file_path": "../../rgb/hdr_right_03381.png", + "transform_matrix": [ + [ + 0.9928011894226074, + -0.11919684708118439, + -0.011748532764613628, + 16.665193557739258 + ], + [ + 0.015754487365484238, + 0.03272130712866783, + 0.9993404150009155, + -6.903683185577393 + ], + [ + -0.11873379349708557, + -0.992331326007843, + 0.03436363488435745, + -1.761229395866394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3381, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_238469839", + "mask_path": "../../mask/hdr_right_03381.png" + }, + { + "file_path": "../../rgb/hdr_right_03382.png", + "transform_matrix": [ + [ + 0.9923941493034363, + -0.12304333597421646, + -0.0037744385190308094, + 16.607267379760742 + ], + [ + 0.007323762867599726, + 0.028406361117959023, + 0.9995696544647217, + -6.896085262298584 + ], + [ + -0.12288316339254379, + -0.9919946193695068, + 0.02909143827855587, + -1.7447030544281006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3382, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_338469505", + "mask_path": "../../mask/hdr_right_03382.png" + }, + { + "file_path": "../../rgb/hdr_right_03383.png", + "transform_matrix": [ + [ + 0.9926390647888184, + -0.12105264514684677, + -0.003721868619322777, + 16.54250144958496 + ], + [ + 0.007216265425086021, + 0.02844090759754181, + 0.9995695948600769, + -6.892164707183838 + ], + [ + -0.1208946704864502, + -0.9922385811805725, + 0.02910510078072548, + -1.735741376876831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3383, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_438468933", + "mask_path": "../../mask/hdr_right_03383.png" + }, + { + "file_path": "../../rgb/hdr_right_03384.png", + "transform_matrix": [ + [ + 0.9928290843963623, + -0.119198739528656, + -0.009063879027962685, + 16.485557556152344 + ], + [ + 0.012940546497702599, + 0.031789012253284454, + 0.9994108080863953, + -6.887141227722168 + ], + [ + -0.11884036660194397, + -0.9923613667488098, + 0.033103544265031815, + -1.732143521308899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3384, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_538470506", + "mask_path": "../../mask/hdr_right_03384.png" + }, + { + "file_path": "../../rgb/hdr_right_03385.png", + "transform_matrix": [ + [ + 0.9933603405952454, + -0.11448448896408081, + -0.011337445117533207, + 16.425315856933594 + ], + [ + 0.015115704387426376, + 0.032188404351472855, + 0.9993674755096436, + -6.877197265625 + ], + [ + -0.11404713243246078, + -0.9929034113883972, + 0.033705197274684906, + -1.729547381401062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3385, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_638468265", + "mask_path": "../../mask/hdr_right_03385.png" + }, + { + "file_path": "../../rgb/hdr_right_03386.png", + "transform_matrix": [ + [ + 0.9932758212089539, + -0.11561988294124603, + -0.005933353211730719, + 16.360322952270508 + ], + [ + 0.01044668722897768, + 0.03846896439790726, + 0.9992052316665649, + -6.864490032196045 + ], + [ + -0.11529973894357681, + -0.9925483465194702, + 0.03941813111305237, + -1.7124541997909546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3386, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_738469839", + "mask_path": "../../mask/hdr_right_03386.png" + }, + { + "file_path": "../../rgb/hdr_right_03387.png", + "transform_matrix": [ + [ + 0.99239581823349, + -0.12288795411586761, + 0.007020689081400633, + 16.298433303833008 + ], + [ + -0.0024841497652232647, + 0.03703029826283455, + 0.9993110299110413, + -6.851116180419922 + ], + [ + -0.12306328117847443, + -0.9917294383049011, + 0.03644343838095665, + -1.692647933959961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3387, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_838470220", + "mask_path": "../../mask/hdr_right_03387.png" + }, + { + "file_path": "../../rgb/hdr_right_03388.png", + "transform_matrix": [ + [ + 0.9922735095024109, + -0.12342062592506409, + 0.012673825025558472, + 16.233613967895508 + ], + [ + -0.008063185028731823, + 0.03778514638543129, + 0.9992534518241882, + -6.842825889587402 + ], + [ + -0.12380735576152802, + -0.9916348457336426, + 0.03649803623557091, + -1.681559443473816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3388, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594505_938471555", + "mask_path": "../../mask/hdr_right_03388.png" + }, + { + "file_path": "../../rgb/hdr_right_03389.png", + "transform_matrix": [ + [ + 0.9929377436637878, + -0.118194080889225, + 0.010238302871584892, + 16.161727905273438 + ], + [ + -0.005097539629787207, + 0.04371487349271774, + 0.9990310072898865, + -6.831716060638428 + ], + [ + -0.1185271292924881, + -0.992027759552002, + 0.04280364513397217, + -1.683324933052063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3389, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_38469552", + "mask_path": "../../mask/hdr_right_03389.png" + }, + { + "file_path": "../../rgb/hdr_right_03390.png", + "transform_matrix": [ + [ + 0.993535578250885, + -0.11308889836072922, + 0.009897096082568169, + 16.105039596557617 + ], + [ + -0.004980309866368771, + 0.04367724061012268, + 0.9990332722663879, + -6.8162689208984375 + ], + [ + -0.11341185867786407, + -0.9926244020462036, + 0.042831674218177795, + -1.6873786449432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3390, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_138469696", + "mask_path": "../../mask/hdr_right_03390.png" + }, + { + "file_path": "../../rgb/hdr_right_03391.png", + "transform_matrix": [ + [ + 0.9938558340072632, + -0.10982977598905563, + 0.013711805455386639, + 16.044450759887695 + ], + [ + -0.009245437569916248, + 0.04107272997498512, + 0.9991133809089661, + -6.800762176513672 + ], + [ + -0.11029558628797531, + -0.9931014180183411, + 0.03980494290590286, + -1.6813626289367676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3391, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_238469600", + "mask_path": "../../mask/hdr_right_03391.png" + }, + { + "file_path": "../../rgb/hdr_right_03392.png", + "transform_matrix": [ + [ + 0.99383145570755, + -0.10835646092891693, + 0.02361970953643322, + 15.988612174987793 + ], + [ + -0.01946868561208248, + 0.039208412170410156, + 0.9990413784980774, + -6.784672737121582 + ], + [ + -0.10917866975069046, + -0.9933385848999023, + 0.0368569940328598, + -1.667458176612854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3392, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_338470458", + "mask_path": "../../mask/hdr_right_03392.png" + }, + { + "file_path": "../../rgb/hdr_right_03394.png", + "transform_matrix": [ + [ + 0.9944524765014648, + -0.09848382323980331, + 0.036950405687093735, + 15.875615119934082 + ], + [ + -0.033653050661087036, + 0.03493492305278778, + 0.9988229274749756, + -6.767465114593506 + ], + [ + -0.09965874999761581, + -0.9945252537727356, + 0.03142683580517769, + -1.6594825983047485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3394, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_538469791", + "mask_path": "../../mask/hdr_right_03394.png" + }, + { + "file_path": "../../rgb/hdr_right_03395.png", + "transform_matrix": [ + [ + 0.9953281879425049, + -0.0914723202586174, + 0.030896971002221107, + 15.818090438842773 + ], + [ + -0.02740219049155712, + 0.039218638092279434, + 0.9988548755645752, + -6.760354518890381 + ], + [ + -0.09257931262254715, + -0.9950349926948547, + 0.036528874188661575, + -1.660853385925293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3395, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_638469457", + "mask_path": "../../mask/hdr_right_03395.png" + }, + { + "file_path": "../../rgb/hdr_right_03397.png", + "transform_matrix": [ + [ + 0.9963988065719604, + -0.07873357832431793, + 0.03146824985742569, + 15.73095703125 + ], + [ + -0.02846151404082775, + 0.03902370482683182, + 0.9988329410552979, + -6.734226703643799 + ], + [ + -0.07986968755722046, + -0.9961315989494324, + 0.03664229437708855, + -1.6594308614730835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3397, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594506_838468790", + "mask_path": "../../mask/hdr_right_03397.png" + }, + { + "file_path": "../../rgb/hdr_right_03399.png", + "transform_matrix": [ + [ + 0.9954308271408081, + -0.0798359140753746, + 0.052382420748472214, + 15.641432762145996 + ], + [ + -0.0504668727517128, + 0.025826718658208847, + 0.9983918070793152, + -6.713775157928467 + ], + [ + -0.08106037229299545, + -0.9964733123779297, + 0.02167963795363903, + -1.633111834526062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3399, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_38469791", + "mask_path": "../../mask/hdr_right_03399.png" + }, + { + "file_path": "../../rgb/hdr_right_03400.png", + "transform_matrix": [ + [ + 0.9954661726951599, + -0.07817327976226807, + 0.054184090346097946, + 15.584453582763672 + ], + [ + -0.052472665905952454, + 0.023784421384334564, + 0.9983391165733337, + -6.705383777618408 + ], + [ + -0.07933217287063599, + -0.9966560006141663, + 0.01957462541759014, + -1.628270149230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3400, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_138471126", + "mask_path": "../../mask/hdr_right_03400.png" + }, + { + "file_path": "../../rgb/hdr_right_03401.png", + "transform_matrix": [ + [ + 0.9960747957229614, + -0.07546847313642502, + 0.04625483974814415, + 15.534144401550293 + ], + [ + -0.04409673810005188, + 0.030016859993338585, + 0.9985762238502502, + -6.697637557983398 + ], + [ + -0.07674945890903473, + -0.9966962337493896, + 0.026571126654744148, + -1.6276143789291382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3401, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_238469839", + "mask_path": "../../mask/hdr_right_03401.png" + }, + { + "file_path": "../../rgb/hdr_right_03403.png", + "transform_matrix": [ + [ + 0.996712863445282, + -0.06444340944290161, + 0.04909588769078255, + 15.450912475585938 + ], + [ + -0.04686657339334488, + 0.035661518573760986, + 0.9982644319534302, + -6.669763565063477 + ], + [ + -0.06608239561319351, + -0.9972839951515198, + 0.03252405300736427, + -1.620356798171997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3403, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_438469171", + "mask_path": "../../mask/hdr_right_03403.png" + }, + { + "file_path": "../../rgb/hdr_right_03405.png", + "transform_matrix": [ + [ + 0.9954009056091309, + -0.07092631608247757, + 0.06439395248889923, + 15.366938591003418 + ], + [ + -0.062199030071496964, + 0.03273408114910126, + 0.9975268244743347, + -6.642444610595703 + ], + [ + -0.0728587806224823, + -0.9969443082809448, + 0.02817198447883129, + -1.6067419052124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3405, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_638469457", + "mask_path": "../../mask/hdr_right_03405.png" + }, + { + "file_path": "../../rgb/hdr_right_03407.png", + "transform_matrix": [ + [ + 0.9964988231658936, + -0.07294126600027084, + 0.0408623144030571, + 15.279104232788086 + ], + [ + -0.03831860423088074, + 0.035938870161771774, + 0.9986190795898438, + -6.62742280960083 + ], + [ + -0.0743090882897377, + -0.9966884255409241, + 0.03301803022623062, + -1.5957465171813965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3407, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594507_838469982", + "mask_path": "../../mask/hdr_right_03407.png" + }, + { + "file_path": "../../rgb/hdr_right_03409.png", + "transform_matrix": [ + [ + 0.997136116027832, + -0.07472561299800873, + 0.011640913784503937, + 15.19804859161377 + ], + [ + -0.008231454528868198, + 0.04577327519655228, + 0.9989179968833923, + -6.615346908569336 + ], + [ + -0.07517760992050171, + -0.9961530566215515, + 0.04502708464860916, + -1.5851508378982544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3409, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_38470268", + "mask_path": "../../mask/hdr_right_03409.png" + }, + { + "file_path": "../../rgb/hdr_right_03411.png", + "transform_matrix": [ + [ + 0.9964688420295715, + -0.08314058929681778, + 0.011733193881809711, + 15.115397453308105 + ], + [ + -0.008460607379674911, + 0.03960541635751724, + 0.9991796016693115, + -6.601566791534424 + ], + [ + -0.08353707939386368, + -0.9957505464553833, + 0.038762133568525314, + -1.5674562454223633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3411, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_238470554", + "mask_path": "../../mask/hdr_right_03411.png" + }, + { + "file_path": "../../rgb/hdr_right_03412.png", + "transform_matrix": [ + [ + 0.9959239363670349, + -0.09011596441268921, + 0.0038315339479595423, + 15.060016632080078 + ], + [ + -0.0005997159751132131, + 0.03586219251155853, + 0.9993566274642944, + -6.598229885101318 + ], + [ + -0.09019537270069122, + -0.9952853918075562, + 0.0356619656085968, + -1.5587009191513062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3412, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_338469266", + "mask_path": "../../mask/hdr_right_03412.png" + }, + { + "file_path": "../../rgb/hdr_right_03413.png", + "transform_matrix": [ + [ + 0.9956663846969604, + -0.09264637529850006, + -0.008069227449595928, + 15.006207466125488 + ], + [ + 0.011724085547029972, + 0.038972899317741394, + 0.9991715550422668, + -6.5962748527526855 + ], + [ + -0.0922551304101944, + -0.9949360489845276, + 0.039890192449092865, + -1.5568219423294067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3413, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_438469409", + "mask_path": "../../mask/hdr_right_03413.png" + }, + { + "file_path": "../../rgb/hdr_right_03414.png", + "transform_matrix": [ + [ + 0.9953615665435791, + -0.09507773071527481, + -0.014686263166368008, + 14.9544095993042 + ], + [ + 0.018515774980187416, + 0.03952130302786827, + 0.9990472197532654, + -6.594313144683838 + ], + [ + -0.09440671652555466, + -0.9946849942207336, + 0.04109841585159302, + -1.5575790405273438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3414, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_538469791", + "mask_path": "../../mask/hdr_right_03414.png" + }, + { + "file_path": "../../rgb/hdr_right_03415.png", + "transform_matrix": [ + [ + 0.9949987530708313, + -0.09899470955133438, + -0.013325746171176434, + 14.900373458862305 + ], + [ + 0.017889106646180153, + 0.045353129506111145, + 0.998810887336731, + -6.585903644561768 + ], + [ + -0.09827262908220291, + -0.9940539598464966, + 0.04689722880721092, + -1.5442901849746704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3415, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_638469457", + "mask_path": "../../mask/hdr_right_03415.png" + }, + { + "file_path": "../../rgb/hdr_right_03417.png", + "transform_matrix": [ + [ + 0.9935591220855713, + -0.11327245831489563, + -0.0030970389489084482, + 14.795384407043457 + ], + [ + 0.007197357248514891, + 0.03580748662352562, + 0.9993329048156738, + -6.568718910217285 + ], + [ + -0.11308598518371582, + -0.9929184913635254, + 0.03639211505651474, + -1.5155614614486694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3417, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_838469743", + "mask_path": "../../mask/hdr_right_03417.png" + }, + { + "file_path": "../../rgb/hdr_right_03418.png", + "transform_matrix": [ + [ + 0.9926871657371521, + -0.120235875248909, + -0.010747204534709454, + 14.738115310668945 + ], + [ + 0.014941335655748844, + 0.034035298973321915, + 0.9993089437484741, + -6.5635833740234375 + ], + [ + -0.11978700011968613, + -0.9921618103981018, + 0.035582881420850754, + -1.5044176578521729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3418, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594508_938468456", + "mask_path": "../../mask/hdr_right_03418.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/f006f168/mesh.ply b/2024-11-14-15-22-43/splats/f006f168/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..aef6e8733335ef8e31f6d2a235062d0e1a5edaed --- /dev/null +++ b/2024-11-14-15-22-43/splats/f006f168/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:222aaf74da0a4b0372762a3ead04f679a5238df59e899f1c029b785dd581dcbe +size 109234998 diff --git a/2024-11-14-15-22-43/splats/f006f168/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/f006f168/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..1af8f9fcdc8cc9ddfd7f9d66a0897f31b752e67b --- /dev/null +++ b/2024-11-14-15-22-43/splats/f006f168/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95f780507194dfa187da10ee86e21881326ef40826323f63cd83471a0a2425bf +size 1543231 diff --git a/2024-11-14-15-22-43/splats/f006f168/splatfacto/config.yml b/2024-11-14-15-22-43/splats/f006f168/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..386a21240731358ab94205e414448d590e155aee --- /dev/null +++ b/2024-11-14-15-22-43/splats/f006f168/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_f006f168 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_f006f168 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/f006f168/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/f006f168/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5c432e0c1343d6847a0cffa2bef0aadf0b7bf359 --- /dev/null +++ b/2024-11-14-15-22-43/splats/f006f168/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.9283195734024048, + -0.35690203309059143, + 0.10413200408220291, + 25.722951889038086 + ], + [ + -0.35690203309059143, + 0.933942973613739, + 0.019273217767477036, + 16.20115089416504 + ], + [ + -0.10413200408220291, + -0.019273217767477036, + -0.9943766593933105, + -0.36171579360961914 + ] + ], + "scale": 0.19823343986938904 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/f006f168/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/f006f168/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..6bd698c45ad3d2446aee0410fd29ad4bda5b2c45 --- /dev/null +++ b/2024-11-14-15-22-43/splats/f006f168/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6aa38f13defa6e8f122d033145f8053bd41bdb7af53cdf35fd94e6ac8232353 +size 338253258 diff --git a/2024-11-14-15-22-43/splats/f006f168/transforms.json b/2024-11-14-15-22-43/splats/f006f168/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..866868ea1a4e7ab2f5951bb1e2f1ebdfff9fd3df --- /dev/null +++ b/2024-11-14-15-22-43/splats/f006f168/transforms.json @@ -0,0 +1,31002 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_01015.png", + "transform_matrix": [ + [ + -0.08285590261220932, + -0.09691142290830612, + -0.991838276386261, + 25.31804656982422 + ], + [ + 0.9965607523918152, + -0.009290549904108047, + -0.08234265446662903, + -6.234182357788086 + ], + [ + -0.0012347802985459566, + -0.9952496886253357, + 0.09734790027141571, + -2.821575403213501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_938470363", + "mask_path": "../../mask/hdr_front_01015.png" + }, + { + "file_path": "../../rgb/hdr_front_01016.png", + "transform_matrix": [ + [ + -0.06590712815523148, + -0.08778248727321625, + -0.9939569234848022, + 25.398717880249023 + ], + [ + 0.9978085160255432, + -0.011660569347441196, + -0.06513269245624542, + -6.230365753173828 + ], + [ + -0.005872595123946667, + -0.996071457862854, + 0.08835861831903458, + -2.8304288387298584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1016, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_38470029", + "mask_path": "../../mask/hdr_front_01016.png" + }, + { + "file_path": "../../rgb/hdr_front_01017.png", + "transform_matrix": [ + [ + -0.05655476450920105, + -0.08510517328977585, + -0.9947656989097595, + 25.508047103881836 + ], + [ + 0.9983263611793518, + -0.01687585934996605, + -0.05531342700123787, + -6.225099086761475 + ], + [ + -0.012080065906047821, + -0.9962291121482849, + 0.0859171524643898, + -2.844078779220581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_138469457", + "mask_path": "../../mask/hdr_front_01017.png" + }, + { + "file_path": "../../rgb/hdr_front_01018.png", + "transform_matrix": [ + [ + -0.05848761647939682, + -0.08953658491373062, + -0.9942647814750671, + 25.592247009277344 + ], + [ + 0.9981867671012878, + -0.01943974196910858, + -0.05696772038936615, + -6.212769031524658 + ], + [ + -0.014227554202079773, + -0.995793879032135, + 0.09051122516393661, + -2.85683536529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_238469362", + "mask_path": "../../mask/hdr_front_01018.png" + }, + { + "file_path": "../../rgb/hdr_front_01019.png", + "transform_matrix": [ + [ + -0.05975324288010597, + -0.08936627209186554, + -0.9942048192024231, + 25.664487838745117 + ], + [ + 0.9981265068054199, + -0.01847233809530735, + -0.05832851678133011, + -6.206099510192871 + ], + [ + -0.01315268687903881, + -0.9958275556564331, + 0.09030263125896454, + -2.8673770427703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1019, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_338469266", + "mask_path": "../../mask/hdr_front_01019.png" + }, + { + "file_path": "../../rgb/hdr_front_01020.png", + "transform_matrix": [ + [ + -0.057920366525650024, + -0.08910242468118668, + -0.9943369626998901, + 25.759586334228516 + ], + [ + 0.9982398748397827, + -0.017878901213407516, + -0.05654558539390564, + -6.2048749923706055 + ], + [ + -0.012739301659166813, + -0.9958620071411133, + 0.08998115360736847, + -2.8748104572296143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1020, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_438469648", + "mask_path": "../../mask/hdr_front_01020.png" + }, + { + "file_path": "../../rgb/hdr_front_01021.png", + "transform_matrix": [ + [ + -0.04874671250581741, + -0.08595485985279083, + -0.9951058030128479, + 25.85448455810547 + ], + [ + 0.9986423850059509, + -0.022509541362524033, + -0.04697563499212265, + -6.2074198722839355 + ], + [ + -0.018361588940024376, + -0.9960446953773499, + 0.08693543821573257, + -2.874595880508423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1021, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_538469314", + "mask_path": "../../mask/hdr_front_01021.png" + }, + { + "file_path": "../../rgb/hdr_front_01022.png", + "transform_matrix": [ + [ + -0.032386668026447296, + -0.07980778813362122, + -0.9962841272354126, + 25.926103591918945 + ], + [ + 0.9993487000465393, + -0.018455468118190765, + -0.031007913872599602, + -6.2102742195129395 + ], + [ + -0.015912214294075966, + -0.9966394305229187, + 0.0803535208106041, + -2.8729305267333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_638469219", + "mask_path": "../../mask/hdr_front_01022.png" + }, + { + "file_path": "../../rgb/hdr_front_01023.png", + "transform_matrix": [ + [ + -0.017093917354941368, + -0.07495453208684921, + -0.9970404505729675, + 26.007556915283203 + ], + [ + 0.9996050596237183, + -0.023529933765530586, + -0.015368975698947906, + -6.2111945152282715 + ], + [ + -0.022308319807052612, + -0.9969093203544617, + 0.07532714307308197, + -2.87903094291687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1023, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_738471984", + "mask_path": "../../mask/hdr_front_01023.png" + }, + { + "file_path": "../../rgb/hdr_front_01024.png", + "transform_matrix": [ + [ + -0.011201618239283562, + -0.07644229382276535, + -0.9970110654830933, + 26.112220764160156 + ], + [ + 0.9994889497756958, + -0.03070877306163311, + -0.008874970488250256, + -6.210144996643066 + ], + [ + -0.02993856742978096, + -0.9966010451316833, + 0.07674722373485565, + -2.893195152282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1024, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_838469743", + "mask_path": "../../mask/hdr_front_01024.png" + }, + { + "file_path": "../../rgb/hdr_front_01025.png", + "transform_matrix": [ + [ + -0.013370655477046967, + -0.07917989045381546, + -0.9967707395553589, + 26.191579818725586 + ], + [ + 0.9993575811386108, + -0.03420661762356758, + -0.01068810559809208, + -6.207162857055664 + ], + [ + -0.0332498699426651, + -0.9962732791900635, + 0.07958638668060303, + -2.9053609371185303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1025, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_938469409", + "mask_path": "../../mask/hdr_front_01025.png" + }, + { + "file_path": "../../rgb/hdr_front_01026.png", + "transform_matrix": [ + [ + -0.014454606920480728, + -0.0776149183511734, + -0.9968786239624023, + 26.267602920532227 + ], + [ + 0.9993500709533691, + -0.034047894179821014, + -0.011839543469250202, + -6.208566188812256 + ], + [ + -0.033022690564394, + -0.9964019060134888, + 0.07805662602186203, + -2.9123482704162598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1026, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_38469552", + "mask_path": "../../mask/hdr_front_01026.png" + }, + { + "file_path": "../../rgb/hdr_front_01027.png", + "transform_matrix": [ + [ + -0.011621988378465176, + -0.07703695446252823, + -0.9969605207443237, + 26.3640193939209 + ], + [ + 0.999462366104126, + -0.03146224841475487, + -0.009220010600984097, + -6.2161478996276855 + ], + [ + -0.03065633773803711, + -0.9965317845344543, + 0.07736119627952576, + -2.9212148189544678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1027, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_138467311", + "mask_path": "../../mask/hdr_front_01027.png" + }, + { + "file_path": "../../rgb/hdr_front_01028.png", + "transform_matrix": [ + [ + -0.0007393004489131272, + -0.07819593697786331, + -0.9969377517700195, + 26.454448699951172 + ], + [ + 0.9995440244674683, + -0.030152209103107452, + 0.0016237893141806126, + -6.223905563354492 + ], + [ + -0.0301868487149477, + -0.9964819550514221, + 0.07818257063627243, + -2.921785831451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_238468647", + "mask_path": "../../mask/hdr_front_01028.png" + }, + { + "file_path": "../../rgb/hdr_front_01029.png", + "transform_matrix": [ + [ + 0.015029266476631165, + -0.07424894720315933, + -0.9971264600753784, + 26.519542694091797 + ], + [ + 0.9995341300964355, + -0.025377972051501274, + 0.01695527508854866, + -6.229370594024658 + ], + [ + -0.02656395733356476, + -0.9969167709350586, + 0.07383294403553009, + -2.9195332527160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1029, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_338470935", + "mask_path": "../../mask/hdr_front_01029.png" + }, + { + "file_path": "../../rgb/hdr_front_01030.png", + "transform_matrix": [ + [ + 0.028975024819374084, + -0.07176660746335983, + -0.9970004558563232, + 26.605876922607422 + ], + [ + 0.9991142749786377, + -0.02836846373975277, + 0.031078491359949112, + -6.235389232635498 + ], + [ + -0.030513767153024673, + -0.9970179796218872, + 0.07088106125593185, + -2.9314701557159424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1030, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_438469409", + "mask_path": "../../mask/hdr_front_01030.png" + }, + { + "file_path": "../../rgb/hdr_front_01031.png", + "transform_matrix": [ + [ + 0.030983971431851387, + -0.08006599545478821, + -0.9963080286979675, + 26.702239990234375 + ], + [ + 0.9987953901290894, + -0.03546641767024994, + 0.033911507576704025, + -6.237009525299072 + ], + [ + -0.03805062547326088, + -0.9961584210395813, + 0.07887066155672073, + -2.948046922683716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1031, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_538469791", + "mask_path": "../../mask/hdr_front_01031.png" + }, + { + "file_path": "../../rgb/hdr_front_01032.png", + "transform_matrix": [ + [ + 0.02646232582628727, + -0.08524911105632782, + -0.9960082173347473, + 26.7789363861084 + ], + [ + 0.9987582564353943, + -0.03981666639447212, + 0.029943328350782394, + -6.234097957611084 + ], + [ + -0.04221036657691002, + -0.9955637454986572, + 0.08408959209918976, + -2.9612808227539062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1032, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_638469696", + "mask_path": "../../mask/hdr_front_01032.png" + }, + { + "file_path": "../../rgb/hdr_front_01033.png", + "transform_matrix": [ + [ + 0.020908575505018234, + -0.0871228277683258, + -0.9959782361984253, + 26.85762596130371 + ], + [ + 0.9990031719207764, + -0.03747709095478058, + 0.02425038255751133, + -6.23356294631958 + ], + [ + -0.0394391193985939, + -0.9954923987388611, + 0.08625239133834839, + -2.9709584712982178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1033, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_738471031", + "mask_path": "../../mask/hdr_front_01033.png" + }, + { + "file_path": "../../rgb/hdr_front_01034.png", + "transform_matrix": [ + [ + 0.012991586700081825, + -0.09274149686098099, + -0.99560546875, + 26.95209503173828 + ], + [ + 0.9993009567260742, + -0.03370051458477974, + 0.0161790419369936, + -6.236119270324707 + ], + [ + -0.03505288437008858, + -0.9951197504997253, + 0.09223884344100952, + -2.9836907386779785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1034, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_838470458", + "mask_path": "../../mask/hdr_front_01034.png" + }, + { + "file_path": "../../rgb/hdr_front_01035.png", + "transform_matrix": [ + [ + 0.010315341874957085, + -0.10023391246795654, + -0.994910478591919, + 27.036169052124023 + ], + [ + 0.9993070363998413, + -0.03455286845564842, + 0.013842012733221054, + -6.236583232879639 + ], + [ + -0.03576444461941719, + -0.9943637251853943, + 0.09980802983045578, + -2.993476629257202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_938470363", + "mask_path": "../../mask/hdr_front_01035.png" + }, + { + "file_path": "../../rgb/hdr_front_01036.png", + "transform_matrix": [ + [ + 0.011987892910838127, + -0.09921231865882874, + -0.9949941039085388, + 27.09886360168457 + ], + [ + 0.9994111657142639, + -0.030806085094809532, + 0.015112830325961113, + -6.238375663757324 + ], + [ + -0.032151252031326294, + -0.9945894479751587, + 0.09878458827733994, + -3.001467704772949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1036, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_38470268", + "mask_path": "../../mask/hdr_front_01036.png" + }, + { + "file_path": "../../rgb/hdr_front_01037.png", + "transform_matrix": [ + [ + 0.010313651524484158, + -0.09614980220794678, + -0.9953135251998901, + 27.180435180664062 + ], + [ + 0.9994666576385498, + -0.029853032901883125, + 0.013240566477179527, + -6.239686965942383 + ], + [ + -0.030986202880740166, + -0.9949191212654114, + 0.09579062461853027, + -3.0152974128723145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_138470172", + "mask_path": "../../mask/hdr_front_01037.png" + }, + { + "file_path": "../../rgb/hdr_front_01038.png", + "transform_matrix": [ + [ + -0.007459396496415138, + -0.10031542927026749, + -0.9949278235435486, + 27.282621383666992 + ], + [ + 0.9993932843208313, + -0.034597959369421005, + -0.004004473797976971, + -6.228842258453369 + ], + [ + -0.03402075543999672, + -0.9943539500236511, + 0.10051265358924866, + -3.027639150619507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1038, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_238470554", + "mask_path": "../../mask/hdr_front_01038.png" + }, + { + "file_path": "../../rgb/hdr_front_01039.png", + "transform_matrix": [ + [ + -0.028517238795757294, + -0.10018646717071533, + -0.9945598840713501, + 27.356538772583008 + ], + [ + 0.9990375638008118, + -0.03602977097034454, + -0.025016188621520996, + -6.21075963973999 + ], + [ + -0.033327482640743256, + -0.9943161010742188, + 0.10111750662326813, + -3.0349128246307373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_338470458", + "mask_path": "../../mask/hdr_front_01039.png" + }, + { + "file_path": "../../rgb/hdr_front_01040.png", + "transform_matrix": [ + [ + -0.040624599903821945, + -0.0977742001414299, + -0.9943791627883911, + 27.429725646972656 + ], + [ + 0.9988659620285034, + -0.028702905401587486, + -0.03798564150929451, + -6.200485706329346 + ], + [ + -0.02482755482196808, + -0.9947946667671204, + 0.09882936626672745, + -3.044321060180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1040, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_438470363", + "mask_path": "../../mask/hdr_front_01040.png" + }, + { + "file_path": "../../rgb/hdr_front_01041.png", + "transform_matrix": [ + [ + -0.04359283298254013, + -0.09737410396337509, + -0.994292676448822, + 27.52311897277832 + ], + [ + 0.9988550543785095, + -0.02387494593858719, + -0.04145471751689911, + -6.198646068572998 + ], + [ + -0.019702067598700523, + -0.9949614405632019, + 0.09830338507890701, + -3.0533828735351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_538469552", + "mask_path": "../../mask/hdr_front_01041.png" + }, + { + "file_path": "../../rgb/hdr_front_01042.png", + "transform_matrix": [ + [ + -0.03211362287402153, + -0.0942775160074234, + -0.9950278401374817, + 27.608718872070312 + ], + [ + 0.9993568658828735, + -0.01892140507698059, + -0.030460558831691742, + -6.1994709968566895 + ], + [ + -0.015955576673150063, + -0.9953661561012268, + 0.09482452273368835, + -3.048708438873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1042, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_638469457", + "mask_path": "../../mask/hdr_front_01042.png" + }, + { + "file_path": "../../rgb/hdr_front_01043.png", + "transform_matrix": [ + [ + -0.015561026521027088, + -0.0871378555893898, + -0.9960747361183167, + 27.682571411132812 + ], + [ + 0.9997455477714539, + -0.01762210763990879, + -0.014076771214604378, + -6.195845127105713 + ], + [ + -0.016326313838362694, + -0.996040403842926, + 0.08738991618156433, + -3.0514676570892334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_738469362", + "mask_path": "../../mask/hdr_front_01043.png" + }, + { + "file_path": "../../rgb/hdr_front_01044.png", + "transform_matrix": [ + [ + -0.002721878932788968, + -0.08279410749673843, + -0.9965629577636719, + 27.781694412231445 + ], + [ + 0.9996819496154785, + -0.025209369137883186, + -0.000636011827737093, + -6.194023609161377 + ], + [ + -0.025070063769817352, + -0.9962478280067444, + 0.08283640444278717, + -3.0660977363586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1044, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_838469505", + "mask_path": "../../mask/hdr_front_01044.png" + }, + { + "file_path": "../../rgb/hdr_front_01045.png", + "transform_matrix": [ + [ + -0.0033889231272041798, + -0.08619657158851624, + -0.9962724447250366, + 27.88066864013672 + ], + [ + 0.999733030796051, + -0.023062098771333694, + -0.0014053835766389966, + -6.186608791351318 + ], + [ + -0.022854991257190704, + -0.9960111975669861, + 0.08625171333551407, + -3.085692882537842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_938469171", + "mask_path": "../../mask/hdr_front_01045.png" + }, + { + "file_path": "../../rgb/hdr_front_01046.png", + "transform_matrix": [ + [ + -0.005981207359582186, + -0.08842658996582031, + -0.9960647821426392, + 27.9457950592041 + ], + [ + 0.9997285008430481, + -0.02296234853565693, + -0.003964703064411879, + -6.179130554199219 + ], + [ + -0.022521397098898888, + -0.9958180785179138, + 0.08853992819786072, + -3.099555492401123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_38469314", + "mask_path": "../../mask/hdr_front_01046.png" + }, + { + "file_path": "../../rgb/hdr_front_01047.png", + "transform_matrix": [ + [ + -0.005531582050025463, + -0.09068909287452698, + -0.9958639144897461, + 28.029525756835938 + ], + [ + 0.9997931718826294, + -0.019991813227534294, + -0.0037328372709453106, + -6.181426048278809 + ], + [ + -0.019570594653487206, + -0.9956786036491394, + 0.09078092128038406, + -3.1138949394226074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_138470888", + "mask_path": "../../mask/hdr_front_01047.png" + }, + { + "file_path": "../../rgb/hdr_front_01048.png", + "transform_matrix": [ + [ + 0.0012704037362709641, + -0.09688928723335266, + -0.9952943921089172, + 28.12042236328125 + ], + [ + 0.9998564720153809, + -0.016689075157046318, + 0.002900866325944662, + -6.187646389007568 + ], + [ + -0.0168916042894125, + -0.9951553344726562, + 0.09685418754816055, + -3.120131015777588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1048, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_238470077", + "mask_path": "../../mask/hdr_front_01048.png" + }, + { + "file_path": "../../rgb/hdr_front_01049.png", + "transform_matrix": [ + [ + 0.014066009782254696, + -0.09677809476852417, + -0.9952065348625183, + 28.19279670715332 + ], + [ + 0.9997886419296265, + -0.013565662316977978, + 0.015449953265488148, + -6.193239688873291 + ], + [ + -0.014995849691331387, + -0.9952135682106018, + 0.0965668186545372, + -3.1210439205169678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_338469982", + "mask_path": "../../mask/hdr_front_01049.png" + }, + { + "file_path": "../../rgb/hdr_front_01050.png", + "transform_matrix": [ + [ + 0.02979070320725441, + -0.09304804354906082, + -0.9952158331871033, + 28.265037536621094 + ], + [ + 0.9993083477020264, + -0.019396377727389336, + 0.03172668069601059, + -6.197738170623779 + ], + [ + -0.022255683317780495, + -0.9954727292060852, + 0.09240584075450897, + -3.1332881450653076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1050, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_438470363", + "mask_path": "../../mask/hdr_front_01050.png" + }, + { + "file_path": "../../rgb/hdr_front_01051.png", + "transform_matrix": [ + [ + 0.03919875621795654, + -0.09675934165716171, + -0.9945356845855713, + 28.35927391052246 + ], + [ + 0.9985870122909546, + -0.03194507956504822, + 0.042466409504413605, + -6.2056074142456055 + ], + [ + -0.03587953373789787, + -0.9947950839996338, + 0.09537041187286377, + -3.1488611698150635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1051, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_538470029", + "mask_path": "../../mask/hdr_front_01051.png" + }, + { + "file_path": "../../rgb/hdr_front_01052.png", + "transform_matrix": [ + [ + 0.037823643535375595, + -0.10588619858026505, + -0.9936586618423462, + 28.44601821899414 + ], + [ + 0.9985256791114807, + -0.03473777323961258, + 0.041710637509822845, + -6.208293914794922 + ], + [ + -0.03893406689167023, + -0.9937713146209717, + 0.10441616922616959, + -3.1647045612335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1052, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_638470888", + "mask_path": "../../mask/hdr_front_01052.png" + }, + { + "file_path": "../../rgb/hdr_front_01053.png", + "transform_matrix": [ + [ + 0.03783023729920387, + -0.10596457868814468, + -0.9936500787734985, + 28.520132064819336 + ], + [ + 0.9986016750335693, + -0.032736290246248245, + 0.04150981083512306, + -6.207927703857422 + ], + [ + -0.036926981061697006, + -0.9938309192657471, + 0.10457798838615417, + -3.1776881217956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1053, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_738470554", + "mask_path": "../../mask/hdr_front_01053.png" + }, + { + "file_path": "../../rgb/hdr_front_01054.png", + "transform_matrix": [ + [ + 0.03971594199538231, + -0.10762717574834824, + -0.9933978319168091, + 28.615400314331055 + ], + [ + 0.9986385107040405, + -0.029373861849308014, + 0.043107908219099045, + -6.216982841491699 + ], + [ + -0.03381950408220291, + -0.9937573075294495, + 0.1063140332698822, + -3.190046787261963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1054, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_838470935", + "mask_path": "../../mask/hdr_front_01054.png" + }, + { + "file_path": "../../rgb/hdr_front_01055.png", + "transform_matrix": [ + [ + 0.04846693202853203, + -0.11088941991329193, + -0.9926502108573914, + 28.710025787353516 + ], + [ + 0.9982155561447144, + -0.0293277595192194, + 0.05201488360762596, + -6.229119777679443 + ], + [ + -0.03488010913133621, + -0.9933999180793762, + 0.1092701256275177, + -3.1978180408477783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1055, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_938470125", + "mask_path": "../../mask/hdr_front_01055.png" + }, + { + "file_path": "../../rgb/hdr_front_01056.png", + "transform_matrix": [ + [ + 0.06403937935829163, + -0.10589352995157242, + -0.9923132658004761, + 28.77220344543457 + ], + [ + 0.9974290728569031, + -0.025250272825360298, + 0.06706410646438599, + -6.236053466796875 + ], + [ + -0.032157834619283676, + -0.9940568804740906, + 0.10400427877902985, + -3.19753098487854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1056, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_38470745", + "mask_path": "../../mask/hdr_front_01056.png" + }, + { + "file_path": "../../rgb/hdr_front_01057.png", + "transform_matrix": [ + [ + 0.08178554475307465, + -0.10159166157245636, + -0.9914585947990417, + 28.84627914428711 + ], + [ + 0.9959861636161804, + -0.027969731017947197, + 0.08502500504255295, + -6.24338960647583 + ], + [ + -0.03636866435408592, + -0.9944329857826233, + 0.09889636188745499, + -3.20875883102417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1057, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_138470888", + "mask_path": "../../mask/hdr_front_01057.png" + }, + { + "file_path": "../../rgb/hdr_front_01058.png", + "transform_matrix": [ + [ + 0.09177517890930176, + -0.1030782163143158, + -0.9904304146766663, + 28.947525024414062 + ], + [ + 0.9948400259017944, + -0.03370888903737068, + 0.09569202363491058, + -6.253170490264893 + ], + [ + -0.04325006529688835, + -0.994101881980896, + 0.09945271164178848, + -3.226846933364868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1058, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_238470077", + "mask_path": "../../mask/hdr_front_01058.png" + }, + { + "file_path": "../../rgb/hdr_front_01059.png", + "transform_matrix": [ + [ + 0.08802371472120285, + -0.10782189667224884, + -0.9902657866477966, + 29.038366317749023 + ], + [ + 0.9950133562088013, + -0.03729528933763504, + 0.09250650554895401, + -6.257368087768555 + ], + [ + -0.046906471252441406, + -0.9934704303741455, + 0.10400135815143585, + -3.2385473251342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1059, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_338470220", + "mask_path": "../../mask/hdr_front_01059.png" + }, + { + "file_path": "../../rgb/hdr_front_01060.png", + "transform_matrix": [ + [ + 0.08548588305711746, + -0.10690248012542725, + -0.9905877113342285, + 29.110567092895508 + ], + [ + 0.9953417181968689, + -0.03531820327043533, + 0.0897076278924942, + -6.261094093322754 + ], + [ + -0.04457574710249901, + -0.9936420917510986, + 0.10338529199361801, + -3.254645347595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1060, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_438470363", + "mask_path": "../../mask/hdr_front_01060.png" + }, + { + "file_path": "../../rgb/hdr_front_01061.png", + "transform_matrix": [ + [ + 0.08528976142406464, + -0.10937406122684479, + -0.9903348684310913, + 29.19815444946289 + ], + [ + 0.9955517053604126, + -0.03057941235601902, + 0.08911630511283875, + -6.2681965827941895 + ], + [ + -0.040030866861343384, + -0.9935302138328552, + 0.10627942532300949, + -3.268172025680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1061, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_538469552", + "mask_path": "../../mask/hdr_front_01061.png" + }, + { + "file_path": "../../rgb/hdr_front_01062.png", + "transform_matrix": [ + [ + 0.09258078038692474, + -0.11754052340984344, + -0.9887431263923645, + 29.281213760375977 + ], + [ + 0.9948596358299255, + -0.029994308948516846, + 0.09671919047832489, + -6.277613639831543 + ], + [ + -0.04102509096264839, + -0.9926149845123291, + 0.11415942758321762, + -3.2738466262817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1062, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_638469696", + "mask_path": "../../mask/hdr_front_01062.png" + }, + { + "file_path": "../../rgb/hdr_front_01063.png", + "transform_matrix": [ + [ + 0.10418475419282913, + -0.11345864832401276, + -0.9880651235580444, + 29.349895477294922 + ], + [ + 0.993804931640625, + -0.026776054874062538, + 0.10786464810371399, + -6.290046215057373 + ], + [ + -0.038694657385349274, + -0.9931818842887878, + 0.10996610671281815, + -3.276745080947876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1063, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_738470792", + "mask_path": "../../mask/hdr_front_01063.png" + }, + { + "file_path": "../../rgb/hdr_front_01064.png", + "transform_matrix": [ + [ + 0.1170637235045433, + -0.10884951055049896, + -0.9871413707733154, + 29.426057815551758 + ], + [ + 0.9922770261764526, + -0.02823229320347309, + 0.12078586965799332, + -6.303086280822754 + ], + [ + -0.04101674631237984, + -0.9936573505401611, + 0.10470389574766159, + -3.289907455444336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1064, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_838469743", + "mask_path": "../../mask/hdr_front_01064.png" + }, + { + "file_path": "../../rgb/hdr_front_01065.png", + "transform_matrix": [ + [ + 0.11964787542819977, + -0.11125611513853073, + -0.986562967300415, + 29.52838897705078 + ], + [ + 0.9916934967041016, + -0.03385418280959129, + 0.12408788502216339, + -6.316600322723389 + ], + [ + -0.047204818576574326, + -0.9932149648666382, + 0.10628139227628708, + -3.308115243911743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1065, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_938469648", + "mask_path": "../../mask/hdr_front_01065.png" + }, + { + "file_path": "../../rgb/hdr_front_01066.png", + "transform_matrix": [ + [ + 0.11209415644407272, + -0.11727319657802582, + -0.9867532253265381, + 29.610761642456055 + ], + [ + 0.9924789667129517, + -0.03594919294118881, + 0.11701708287000656, + -6.319515228271484 + ], + [ + -0.049195945262908936, + -0.9924488663673401, + 0.11236149072647095, + -3.319559335708618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1066, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_38470268", + "mask_path": "../../mask/hdr_front_01066.png" + }, + { + "file_path": "../../rgb/hdr_front_01067.png", + "transform_matrix": [ + [ + 0.10589539259672165, + -0.11529847234487534, + -0.9876702427864075, + 29.68977165222168 + ], + [ + 0.993369996547699, + -0.03242938965559006, + 0.11029225587844849, + -6.325184345245361 + ], + [ + -0.04474606737494469, + -0.9928014874458313, + 0.11109992861747742, + -3.333258628845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1067, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_138470172", + "mask_path": "../../mask/hdr_front_01067.png" + }, + { + "file_path": "../../rgb/hdr_front_01068.png", + "transform_matrix": [ + [ + 0.10275012254714966, + -0.11389033496379852, + -0.9881656765937805, + 29.78553581237793 + ], + [ + 0.994024932384491, + -0.02503037638962269, + 0.10624424368143082, + -6.340085983276367 + ], + [ + -0.03683434799313545, + -0.9931780099868774, + 0.11063795536756516, + -3.347365617752075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1068, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_238470792", + "mask_path": "../../mask/hdr_front_01068.png" + }, + { + "file_path": "../../rgb/hdr_front_01069.png", + "transform_matrix": [ + [ + 0.10813423991203308, + -0.11617615818977356, + -0.9873247742652893, + 29.877656936645508 + ], + [ + 0.9935387372970581, + -0.021800575777888298, + 0.11138004809617996, + -6.359353065490723 + ], + [ + -0.034463945776224136, + -0.9929893612861633, + 0.113068126142025, + -3.34883451461792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1069, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_338470458", + "mask_path": "../../mask/hdr_front_01069.png" + }, + { + "file_path": "../../rgb/hdr_front_01070.png", + "transform_matrix": [ + [ + 0.1156122237443924, + -0.11372116953134537, + -0.986763060092926, + 29.939361572265625 + ], + [ + 0.9927815198898315, + -0.018692251294851303, + 0.11847157776355743, + -6.369350910186768 + ], + [ + -0.031917545944452286, + -0.9933368563652039, + 0.11073921620845795, + -3.3517985343933105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1070, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_438470125", + "mask_path": "../../mask/hdr_front_01070.png" + }, + { + "file_path": "../../rgb/hdr_front_01071.png", + "transform_matrix": [ + [ + 0.11804002523422241, + -0.10873442143201828, + -0.9870376586914062, + 30.01508903503418 + ], + [ + 0.9924291372299194, + -0.021038886159658432, + 0.12100251764059067, + -6.377584934234619 + ], + [ + -0.03392330929636955, + -0.9938481450080872, + 0.10542778670787811, + -3.3672163486480713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_538469552", + "mask_path": "../../mask/hdr_front_01071.png" + }, + { + "file_path": "../../rgb/hdr_front_01072.png", + "transform_matrix": [ + [ + 0.10659892112016678, + -0.1079411655664444, + -0.9884256720542908, + 30.11713409423828 + ], + [ + 0.9937269687652588, + -0.022240184247493744, + 0.10959940403699875, + -6.384592056274414 + ], + [ + -0.033813051879405975, + -0.9939085245132446, + 0.1048932671546936, + -3.384589910507202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1072, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_638470888", + "mask_path": "../../mask/hdr_front_01072.png" + }, + { + "file_path": "../../rgb/hdr_front_01073.png", + "transform_matrix": [ + [ + 0.07540424168109894, + -0.11178232729434967, + -0.9908677935600281, + 30.20281410217285 + ], + [ + 0.9966625571250916, + -0.022713949903845787, + 0.0784076377749443, + -6.376941680908203 + ], + [ + -0.031271107494831085, + -0.9934731125831604, + 0.10969652980566025, + -3.3931984901428223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1073, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_738470315", + "mask_path": "../../mask/hdr_front_01073.png" + }, + { + "file_path": "../../rgb/hdr_front_01074.png", + "transform_matrix": [ + [ + 0.0431927889585495, + -0.10960076749324799, + -0.9930368065834045, + 30.277976989746094 + ], + [ + 0.9988335371017456, + -0.01673879660665989, + 0.04529237374663353, + -6.36186408996582 + ], + [ + -0.02158631756901741, + -0.9938347935676575, + 0.10874993354082108, + -3.4055721759796143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1074, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_838469505", + "mask_path": "../../mask/hdr_front_01074.png" + }, + { + "file_path": "../../rgb/hdr_front_01075.png", + "transform_matrix": [ + [ + 0.014762473292648792, + -0.11035672575235367, + -0.9937824010848999, + 30.370887756347656 + ], + [ + 0.9998742341995239, + -0.004132989794015884, + 0.015311925671994686, + -6.351012229919434 + ], + [ + -0.005797064863145351, + -0.993883490562439, + 0.11028182506561279, + -3.4186160564422607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_938470363", + "mask_path": "../../mask/hdr_front_01075.png" + }, + { + "file_path": "../../rgb/hdr_front_01076.png", + "transform_matrix": [ + [ + -0.004429756663739681, + -0.11518769711256027, + -0.9933338761329651, + 30.463638305664062 + ], + [ + 0.9999886155128479, + 0.0012306151911616325, + -0.004602136090397835, + -6.346683979034424 + ], + [ + 0.001752521377056837, + -0.9933429956436157, + 0.11518094688653946, + -3.4245738983154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1076, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_38469791", + "mask_path": "../../mask/hdr_front_01076.png" + }, + { + "file_path": "../../rgb/hdr_front_01077.png", + "transform_matrix": [ + [ + -0.021471494808793068, + -0.1123301088809967, + -0.9934390187263489, + 30.529541015625 + ], + [ + 0.999728798866272, + 0.006550794932991266, + -0.022348148748278618, + -6.337208271026611 + ], + [ + 0.009018185548484325, + -0.9936493635177612, + 0.11215899139642715, + -3.4284722805023193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1077, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_138469934", + "mask_path": "../../mask/hdr_front_01077.png" + }, + { + "file_path": "../../rgb/hdr_front_01078.png", + "transform_matrix": [ + [ + -0.03693373501300812, + -0.1081351563334465, + -0.9934499263763428, + 30.608394622802734 + ], + [ + 0.9992726445198059, + 0.005446186754852533, + -0.037743017077445984, + -6.320375442504883 + ], + [ + 0.00949186086654663, + -0.9941213130950928, + 0.10785535722970963, + -3.4432308673858643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_238469839", + "mask_path": "../../mask/hdr_front_01078.png" + }, + { + "file_path": "../../rgb/hdr_front_01079.png", + "transform_matrix": [ + [ + -0.05005162954330444, + -0.11062696576118469, + -0.9926008582115173, + 30.709047317504883 + ], + [ + 0.9987401962280273, + -0.001980438595637679, + -0.05014048144221306, + -6.302475929260254 + ], + [ + 0.0035811043344438076, + -0.9938600659370422, + 0.11058671772480011, + -3.465344190597534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1079, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_338469743", + "mask_path": "../../mask/hdr_front_01079.png" + }, + { + "file_path": "../../rgb/hdr_front_01080.png", + "transform_matrix": [ + [ + -0.06359200924634933, + -0.11267971992492676, + -0.9915944337844849, + 30.791282653808594 + ], + [ + 0.9979708194732666, + -0.003971675876528025, + -0.06354961544275284, + -6.2833428382873535 + ], + [ + 0.0032224608585238457, + -0.9936234951019287, + 0.11270362883806229, + -3.4805619716644287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1080, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_438470840", + "mask_path": "../../mask/hdr_front_01080.png" + }, + { + "file_path": "../../rgb/hdr_front_01081.png", + "transform_matrix": [ + [ + -0.06661880761384964, + -0.10914960503578186, + -0.9917904734611511, + 30.866912841796875 + ], + [ + 0.9977719187736511, + -0.003701720153912902, + -0.06661319732666016, + -6.272002220153809 + ], + [ + 0.0035994737409055233, + -0.9940184354782104, + 0.10915301740169525, + -3.4947996139526367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_538469552", + "mask_path": "../../mask/hdr_front_01081.png" + }, + { + "file_path": "../../rgb/hdr_front_01082.png", + "transform_matrix": [ + [ + -0.06472911685705185, + -0.11081894487142563, + -0.9917303919792175, + 30.954927444458008 + ], + [ + 0.9978902339935303, + -0.002191387815400958, + -0.06488628685474396, + -6.265510082244873 + ], + [ + 0.005017363000661135, + -0.9938382506370544, + 0.11072699725627899, + -3.506598472595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1082, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_638470888", + "mask_path": "../../mask/hdr_front_01082.png" + }, + { + "file_path": "../../rgb/hdr_front_01083.png", + "transform_matrix": [ + [ + -0.05641657114028931, + -0.11824856698513031, + -0.9913800954818726, + 31.038166046142578 + ], + [ + 0.9984007477760315, + -0.0030614908318966627, + -0.05645092949271202, + -6.264190196990967 + ], + [ + 0.00364014133810997, + -0.9929792881011963, + 0.11823216080665588, + -3.50691556930542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1083, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_738470792", + "mask_path": "../../mask/hdr_front_01083.png" + }, + { + "file_path": "../../rgb/hdr_front_01084.png", + "transform_matrix": [ + [ + -0.04761476069688797, + -0.11409037560224533, + -0.9923287034034729, + 31.10786247253418 + ], + [ + 0.9988557696342468, + -0.0009929515654221177, + -0.047813791781663895, + -6.260878086090088 + ], + [ + 0.004469758830964565, + -0.9934699535369873, + 0.11400711536407471, + -3.508544445037842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1084, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_838470697", + "mask_path": "../../mask/hdr_front_01084.png" + }, + { + "file_path": "../../rgb/hdr_front_01085.png", + "transform_matrix": [ + [ + -0.0373818464577198, + -0.10518958419561386, + -0.9937494397163391, + 31.182079315185547 + ], + [ + 0.9992976784706116, + -0.0013656426453962922, + -0.037446003407239914, + -6.254241466522217 + ], + [ + 0.002581822918727994, + -0.9944512844085693, + 0.10516676306724548, + -3.517052173614502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1085, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_938469409", + "mask_path": "../../mask/hdr_front_01085.png" + }, + { + "file_path": "../../rgb/hdr_front_01086.png", + "transform_matrix": [ + [ + -0.03309394419193268, + -0.09938149154186249, + -0.9944989085197449, + 31.280759811401367 + ], + [ + 0.9994356036186218, + -0.009038516320288181, + -0.032354991883039474, + -6.248697280883789 + ], + [ + -0.0057733082212507725, + -0.9950083494186401, + 0.09962451457977295, + -3.5297203063964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_38470745", + "mask_path": "../../mask/hdr_front_01086.png" + }, + { + "file_path": "../../rgb/hdr_front_01087.png", + "transform_matrix": [ + [ + -0.036915794014930725, + -0.10278629511594772, + -0.9940183162689209, + 31.363679885864258 + ], + [ + 0.9992398023605347, + -0.01627078279852867, + -0.03542723506689072, + -6.241755485534668 + ], + [ + -0.01253201998770237, + -0.9945704340934753, + 0.10330881178379059, + -3.5429301261901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1087, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_138469696", + "mask_path": "../../mask/hdr_front_01087.png" + }, + { + "file_path": "../../rgb/hdr_front_01088.png", + "transform_matrix": [ + [ + -0.03961213678121567, + -0.10280252248048782, + -0.9939128160476685, + 31.424062728881836 + ], + [ + 0.9991278052330017, + -0.01723138615489006, + -0.038037702441215515, + -6.233410358428955 + ], + [ + -0.013216122053563595, + -0.9945525527000427, + 0.10339540988206863, + -3.5554730892181396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1088, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_238469123", + "mask_path": "../../mask/hdr_front_01088.png" + }, + { + "file_path": "../../rgb/hdr_front_01089.png", + "transform_matrix": [ + [ + -0.039024826139211655, + -0.10565999895334244, + -0.9936363101005554, + 31.499223709106445 + ], + [ + 0.9991524815559387, + -0.017155446112155914, + -0.037417229264974594, + -6.230460166931152 + ], + [ + -0.013092768378555775, + -0.9942543506622314, + 0.1062399372458458, + -3.5658037662506104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_338469982", + "mask_path": "../../mask/hdr_front_01089.png" + }, + { + "file_path": "../../rgb/hdr_front_01090.png", + "transform_matrix": [ + [ + -0.03169778734445572, + -0.11077147722244263, + -0.9933403730392456, + 31.579811096191406 + ], + [ + 0.9993102550506592, + -0.022748999297618866, + -0.029351456090807915, + -6.236797332763672 + ], + [ + -0.019346192479133606, + -0.993585467338562, + 0.11141616851091385, + -3.568527936935425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1090, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_438470363", + "mask_path": "../../mask/hdr_front_01090.png" + }, + { + "file_path": "../../rgb/hdr_front_01091.png", + "transform_matrix": [ + [ + -0.02090924233198166, + -0.10867128521203995, + -0.9938579201698303, + 31.641462326049805 + ], + [ + 0.9995479583740234, + -0.023749204352498055, + -0.01843215338885784, + -6.23963737487793 + ], + [ + -0.021600281819701195, + -0.9937940239906311, + 0.1091187447309494, + -3.5702974796295166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_538471221", + "mask_path": "../../mask/hdr_front_01091.png" + }, + { + "file_path": "../../rgb/hdr_front_01092.png", + "transform_matrix": [ + [ + -0.007296559866517782, + -0.10464292764663696, + -0.9944831132888794, + 31.70551300048828 + ], + [ + 0.9995682239532471, + -0.029070505872368813, + -0.004274970851838589, + -6.242694854736328 + ], + [ + -0.028462780639529228, + -0.994084894657135, + 0.10480985790491104, + -3.5823421478271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1092, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_638470888", + "mask_path": "../../mask/hdr_front_01092.png" + }, + { + "file_path": "../../rgb/hdr_front_01093.png", + "transform_matrix": [ + [ + 0.00039069727063179016, + -0.1052403450012207, + -0.9944466948509216, + 31.79764747619629 + ], + [ + 0.9991927146911621, + -0.03990982100367546, + 0.004616138990968466, + -6.248437404632568 + ], + [ + -0.04017399251461029, + -0.9936456680297852, + 0.10513976961374283, + -3.6002466678619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_738470077", + "mask_path": "../../mask/hdr_front_01093.png" + }, + { + "file_path": "../../rgb/hdr_front_01094.png", + "transform_matrix": [ + [ + -0.0017380662029609084, + -0.1113395243883133, + -0.9937809705734253, + 31.879350662231445 + ], + [ + 0.9987877607345581, + -0.04908062145113945, + 0.0037519880570471287, + -6.249912738800049 + ], + [ + -0.049193125218153, + -0.9925697445869446, + 0.1112898588180542, + -3.6184303760528564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1094, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_838467836", + "mask_path": "../../mask/hdr_front_01094.png" + }, + { + "file_path": "../../rgb/hdr_front_01095.png", + "transform_matrix": [ + [ + -0.0024979999288916588, + -0.10999707877635956, + -0.993928849697113, + 31.948673248291016 + ], + [ + 0.9986481666564941, + -0.05187930911779404, + 0.0032315680291503668, + -6.2527055740356445 + ], + [ + -0.05191979929804802, + -0.992577075958252, + 0.10997796058654785, + -3.630617141723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1095, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_938470602", + "mask_path": "../../mask/hdr_front_01095.png" + }, + { + "file_path": "../../rgb/hdr_front_01096.png", + "transform_matrix": [ + [ + 0.00020572636276483536, + -0.11183733493089676, + -0.9937265515327454, + 32.02867126464844 + ], + [ + 0.9987483620643616, + -0.04967961460351944, + 0.005797876510769129, + -6.262768268585205 + ], + [ + -0.0500163659453392, + -0.9924839735031128, + 0.11168713867664337, + -3.6400651931762695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1096, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_38469552", + "mask_path": "../../mask/hdr_front_01096.png" + }, + { + "file_path": "../../rgb/hdr_front_01097.png", + "transform_matrix": [ + [ + 0.009947573766112328, + -0.11918345093727112, + -0.9928224086761475, + 32.10746765136719 + ], + [ + 0.9988158941268921, + -0.04610031470656395, + 0.01554174441844225, + -6.277604103088379 + ], + [ + -0.04762174189090729, + -0.9918015003204346, + 0.11858373880386353, + -3.644028663635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1097, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_138469696", + "mask_path": "../../mask/hdr_front_01097.png" + }, + { + "file_path": "../../rgb/hdr_front_01100.png", + "transform_matrix": [ + [ + 0.04730997979640961, + -0.11765186488628387, + -0.9919273853302002, + 32.287410736083984 + ], + [ + 0.9971573352813721, + -0.052737634629011154, + 0.0538146011531353, + -6.309932708740234 + ], + [ + -0.05864328891038895, + -0.991653561592102, + 0.1148224025964737, + -3.6728153228759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1100, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_438469409", + "mask_path": "../../mask/hdr_front_01100.png" + }, + { + "file_path": "../../rgb/hdr_front_01101.png", + "transform_matrix": [ + [ + 0.04675678908824921, + -0.12644052505493164, + -0.9908716678619385, + 32.369422912597656 + ], + [ + 0.9967513680458069, + -0.0592159666121006, + 0.054590512067079544, + -6.3177337646484375 + ], + [ + -0.06557786464691162, + -0.9902051687240601, + 0.12326101958751678, + -3.687455892562866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1101, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_538465976", + "mask_path": "../../mask/hdr_front_01101.png" + }, + { + "file_path": "../../rgb/hdr_front_01102.png", + "transform_matrix": [ + [ + 0.04733239486813545, + -0.12840023636817932, + -0.9905923008918762, + 32.43779373168945 + ], + [ + 0.9965473413467407, + -0.06165323406457901, + 0.05560840666294098, + -6.321371078491211 + ], + [ + -0.06821334362030029, + -0.9898041486740112, + 0.12503871321678162, + -3.700767993927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1102, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_638469457", + "mask_path": "../../mask/hdr_front_01102.png" + }, + { + "file_path": "../../rgb/hdr_front_01103.png", + "transform_matrix": [ + [ + 0.046663571149110794, + -0.12962357699871063, + -0.9904646873474121, + 32.52103042602539 + ], + [ + 0.9967615604400635, + -0.058964863419532776, + 0.05467705428600311, + -6.325016975402832 + ], + [ + -0.06549005210399628, + -0.9898085594177246, + 0.1264522820711136, + -3.71230411529541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_738469600", + "mask_path": "../../mask/hdr_front_01103.png" + }, + { + "file_path": "../../rgb/hdr_front_01104.png", + "transform_matrix": [ + [ + 0.05072017386555672, + -0.13547757267951965, + -0.9894812703132629, + 32.61443328857422 + ], + [ + 0.9969035983085632, + -0.05274239927530289, + 0.05832201614975929, + -6.335777282714844 + ], + [ + -0.06008894369006157, + -0.9893755912780762, + 0.13238298892974854, + -3.72835373878479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_838468074", + "mask_path": "../../mask/hdr_front_01104.png" + }, + { + "file_path": "../../rgb/hdr_front_01105.png", + "transform_matrix": [ + [ + 0.05917154252529144, + -0.13895770907402039, + -0.9885289669036865, + 32.68800354003906 + ], + [ + 0.9965234398841858, + -0.04995815083384514, + 0.06667270511388779, + -6.343502521514893 + ], + [ + -0.058649759739637375, + -0.9890373945236206, + 0.13551849126815796, + -3.7334132194519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1105, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_938468933", + "mask_path": "../../mask/hdr_front_01105.png" + }, + { + "file_path": "../../rgb/hdr_front_01106.png", + "transform_matrix": [ + [ + 0.07089852541685104, + -0.13472390174865723, + -0.9883435368537903, + 32.748233795166016 + ], + [ + 0.9957486987113953, + -0.04885274916887283, + 0.07808900624513626, + -6.345430374145508 + ], + [ + -0.058803752064704895, + -0.9896782040596008, + 0.13068759441375732, + -3.74433970451355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1106, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_38470029", + "mask_path": "../../mask/hdr_front_01106.png" + }, + { + "file_path": "../../rgb/hdr_front_01107.png", + "transform_matrix": [ + [ + 0.08091224730014801, + -0.13270366191864014, + -0.9878476858139038, + 32.83543395996094 + ], + [ + 0.9947341084480286, + -0.05180059000849724, + 0.08843499422073364, + -6.349055767059326 + ], + [ + -0.06290673464536667, + -0.9898011684417725, + 0.12781356275081635, + -3.7637922763824463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1107, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_138468980", + "mask_path": "../../mask/hdr_front_01107.png" + }, + { + "file_path": "../../rgb/hdr_front_01108.png", + "transform_matrix": [ + [ + 0.08009578287601471, + -0.1390450894832611, + -0.9870416522026062, + 32.932289123535156 + ], + [ + 0.9946025609970093, + -0.05437413975596428, + 0.08836907148361206, + -6.348431587219238 + ], + [ + -0.06595681607723236, + -0.9887921214103699, + 0.1339394897222519, + -3.7822306156158447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1108, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_238470315", + "mask_path": "../../mask/hdr_front_01108.png" + }, + { + "file_path": "../../rgb/hdr_front_01109.png", + "transform_matrix": [ + [ + 0.07704293727874756, + -0.13828659057617188, + -0.9873911142349243, + 33.00090026855469 + ], + [ + 0.9948186278343201, + -0.05522753298282623, + 0.08535724133253098, + -6.345762729644775 + ], + [ + -0.06633492559194565, + -0.9888512492179871, + 0.13331516087055206, + -3.7912466526031494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1109, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_338470697", + "mask_path": "../../mask/hdr_front_01109.png" + }, + { + "file_path": "../../rgb/hdr_front_01110.png", + "transform_matrix": [ + [ + 0.07542460411787033, + -0.1357942521572113, + -0.9878619313240051, + 33.07731246948242 + ], + [ + 0.9953044652938843, + -0.05001924932003021, + 0.08286864310503006, + -6.350502014160156 + ], + [ + -0.06066519021987915, + -0.9894736409187317, + 0.13138394057750702, + -3.80192232131958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1110, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_438470840", + "mask_path": "../../mask/hdr_front_01110.png" + }, + { + "file_path": "../../rgb/hdr_front_01111.png", + "transform_matrix": [ + [ + 0.07862904667854309, + -0.1367262899875641, + -0.9874833822250366, + 33.166297912597656 + ], + [ + 0.9953122735023499, + -0.04518533870577812, + 0.08550877124071121, + -6.358307361602783 + ], + [ + -0.05631106346845627, + -0.9895778298377991, + 0.13253247737884521, + -3.8158273696899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1111, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_538469791", + "mask_path": "../../mask/hdr_front_01111.png" + }, + { + "file_path": "../../rgb/hdr_front_01112.png", + "transform_matrix": [ + [ + 0.09013645350933075, + -0.1377853900194168, + -0.9863521456718445, + 33.2347526550293 + ], + [ + 0.9942431449890137, + -0.04515960440039635, + 0.09716597944498062, + -6.3677144050598145 + ], + [ + -0.0579313300549984, + -0.9894320964813232, + 0.13292163610458374, + -3.818573236465454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1112, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_638469219", + "mask_path": "../../mask/hdr_front_01112.png" + }, + { + "file_path": "../../rgb/hdr_front_01113.png", + "transform_matrix": [ + [ + 0.10413065552711487, + -0.13240426778793335, + -0.9857109785079956, + 33.2894287109375 + ], + [ + 0.9927962422370911, + -0.04522300884127617, + 0.1109536662697792, + -6.377932548522949 + ], + [ + -0.0592675544321537, + -0.9901636838912964, + 0.12674131989479065, + -3.827101945877075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1113, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_738465785", + "mask_path": "../../mask/hdr_front_01113.png" + }, + { + "file_path": "../../rgb/hdr_front_01114.png", + "transform_matrix": [ + [ + 0.11672522872686386, + -0.12811440229415894, + -0.9848664402961731, + 33.362701416015625 + ], + [ + 0.9910967350006104, + -0.04892691969871521, + 0.12382818758487701, + -6.391297340393066 + ], + [ + -0.06405065208673477, + -0.9905518889427185, + 0.12126275151968002, + -3.8400425910949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1114, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_838467836", + "mask_path": "../../mask/hdr_front_01114.png" + }, + { + "file_path": "../../rgb/hdr_front_01115.png", + "transform_matrix": [ + [ + 0.12022686749696732, + -0.1298125684261322, + -0.9842226505279541, + 33.45233154296875 + ], + [ + 0.990265965461731, + -0.05435795709490776, + 0.12813454866409302, + -6.396465301513672 + ], + [ + -0.07013380527496338, + -0.9900474548339844, + 0.12201370298862457, + -3.851775646209717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1115, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_938469409", + "mask_path": "../../mask/hdr_front_01115.png" + }, + { + "file_path": "../../rgb/hdr_front_01116.png", + "transform_matrix": [ + [ + 0.11951752752065659, + -0.12965846061706543, + -0.984329342842102, + 33.52280807495117 + ], + [ + 0.990234911441803, + -0.05609710142016411, + 0.12762382626533508, + -6.401821613311768 + ], + [ + -0.07176551967859268, + -0.9899706244468689, + 0.12168775498867035, + -3.8601019382476807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1116, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_38469076", + "mask_path": "../../mask/hdr_front_01116.png" + }, + { + "file_path": "../../rgb/hdr_front_01117.png", + "transform_matrix": [ + [ + 0.11896462738513947, + -0.12551778554916382, + -0.9849328398704529, + 33.59342575073242 + ], + [ + 0.9906193017959595, + -0.05217132717370987, + 0.12630003690719604, + -6.407089710235596 + ], + [ + -0.06723815202713013, + -0.9907186627388, + 0.1181337907910347, + -3.869877815246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1117, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_138469219", + "mask_path": "../../mask/hdr_front_01117.png" + }, + { + "file_path": "../../rgb/hdr_front_01118.png", + "transform_matrix": [ + [ + 0.12024857103824615, + -0.12346737086772919, + -0.9850361347198486, + 33.683799743652344 + ], + [ + 0.9907346367835999, + -0.04817088693380356, + 0.12698209285736084, + -6.419072151184082 + ], + [ + -0.06312820315361023, + -0.9911787509918213, + 0.11653091013431549, + -3.884664535522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1118, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_238469123", + "mask_path": "../../mask/hdr_front_01118.png" + }, + { + "file_path": "../../rgb/hdr_front_01119.png", + "transform_matrix": [ + [ + 0.1284734457731247, + -0.12473582476377487, + -0.9838372468948364, + 33.76797866821289 + ], + [ + 0.9897608160972595, + -0.04608835279941559, + 0.13509029150009155, + -6.434878349304199 + ], + [ + -0.062194034457206726, + -0.9911190271377563, + 0.1175374984741211, + -3.885190725326538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1119, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_338467121", + "mask_path": "../../mask/hdr_front_01119.png" + }, + { + "file_path": "../../rgb/hdr_front_01120.png", + "transform_matrix": [ + [ + 0.1394607573747635, + -0.11770233511924744, + -0.9832074642181396, + 33.8239860534668 + ], + [ + 0.9883995056152344, + -0.043759074062108994, + 0.14543575048446655, + -6.4448652267456055 + ], + [ + -0.06014236807823181, + -0.9920843243598938, + 0.11023423820734024, + -3.888697385787964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1120, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_438469171", + "mask_path": "../../mask/hdr_front_01120.png" + }, + { + "file_path": "../../rgb/hdr_front_01121.png", + "transform_matrix": [ + [ + 0.1499309539794922, + -0.11115100979804993, + -0.9824287295341492, + 33.899497985839844 + ], + [ + 0.9866450428962708, + -0.047156911343336105, + 0.1559097170829773, + -6.457560062408447 + ], + [ + -0.06365782022476196, + -0.9926840662956238, + 0.10259631276130676, + -3.903190851211548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1121, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_538469314", + "mask_path": "../../mask/hdr_front_01121.png" + }, + { + "file_path": "../../rgb/hdr_front_01122.png", + "transform_matrix": [ + [ + 0.15137694776058197, + -0.11135143786668777, + -0.9821842312812805, + 34.000999450683594 + ], + [ + 0.9858576655387878, + -0.05526938661932945, + 0.15820905566215515, + -6.469812870025635 + ], + [ + -0.07190151512622833, + -0.9922430515289307, + 0.1014101579785347, + -3.9143009185791016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1122, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_638468503", + "mask_path": "../../mask/hdr_front_01122.png" + }, + { + "file_path": "../../rgb/hdr_front_01123.png", + "transform_matrix": [ + [ + 0.1452532857656479, + -0.11293956637382507, + -0.9829273223876953, + 34.078617095947266 + ], + [ + 0.9864389300346375, + -0.06020072475075722, + 0.1526893675327301, + -6.477746963500977 + ], + [ + -0.07641760259866714, + -0.9917764663696289, + 0.10266363620758057, + -3.922344923019409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1123, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_738468647", + "mask_path": "../../mask/hdr_front_01123.png" + }, + { + "file_path": "../../rgb/hdr_front_01124.png", + "transform_matrix": [ + [ + 0.14018115401268005, + -0.10956095159053802, + -0.9840456247329712, + 34.15272903442383 + ], + [ + 0.9874455332756042, + -0.057610105723142624, + 0.14707966148853302, + -6.486441612243652 + ], + [ + -0.07280514389276505, + -0.9923091530799866, + 0.10010961443185806, + -3.9379067420959473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1124, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_838468551", + "mask_path": "../../mask/hdr_front_01124.png" + }, + { + "file_path": "../../rgb/hdr_front_01125.png", + "transform_matrix": [ + [ + 0.13893601298332214, + -0.11014143377542496, + -0.9841573238372803, + 34.2458381652832 + ], + [ + 0.9878847002983093, + -0.05397162213921547, + 0.14550241827964783, + -6.506704807281494 + ], + [ + -0.0691424086689949, + -0.9924494624137878, + 0.1013084352016449, + -3.9487802982330322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1125, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_938468933", + "mask_path": "../../mask/hdr_front_01125.png" + }, + { + "file_path": "../../rgb/hdr_front_01126.png", + "transform_matrix": [ + [ + 0.14603275060653687, + -0.11759458482265472, + -0.9822656512260437, + 34.32429885864258 + ], + [ + 0.9868528842926025, + -0.05218939855694771, + 0.15296272933483124, + -6.528077602386475 + ], + [ + -0.06925144046545029, + -0.9916893243789673, + 0.10842720419168472, + -3.946807861328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1126, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_38468122", + "mask_path": "../../mask/hdr_front_01126.png" + }, + { + "file_path": "../../rgb/hdr_front_01127.png", + "transform_matrix": [ + [ + 0.15651603043079376, + -0.11447247862815857, + -0.9810192584991455, + 34.37889862060547 + ], + [ + 0.9853178858757019, + -0.05048947408795357, + 0.16309334337711334, + -6.539265155792236 + ], + [ + -0.06820084154605865, + -0.9921425580978394, + 0.10488936305046082, + -3.9528303146362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1127, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_138469219", + "mask_path": "../../mask/hdr_front_01127.png" + }, + { + "file_path": "../../rgb/hdr_front_01128.png", + "transform_matrix": [ + [ + 0.1649233102798462, + -0.10797999799251556, + -0.980377733707428, + 34.454063415527344 + ], + [ + 0.9839705228805542, + -0.05035648122429848, + 0.17107397317886353, + -6.551261901855469 + ], + [ + -0.06784094125032425, + -0.9928768873214722, + 0.09794418513774872, + -3.963289737701416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1128, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_238469123", + "mask_path": "../../mask/hdr_front_01128.png" + }, + { + "file_path": "../../rgb/hdr_front_01129.png", + "transform_matrix": [ + [ + 0.15793833136558533, + -0.10775429755449295, + -0.9815520644187927, + 34.541954040527344 + ], + [ + 0.9848172068595886, + -0.05533677339553833, + 0.16453859210014343, + -6.559932708740234 + ], + [ + -0.07204566895961761, + -0.9926363229751587, + 0.09737848490476608, + -3.97035813331604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1129, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_338469982", + "mask_path": "../../mask/hdr_front_01129.png" + }, + { + "file_path": "../../rgb/hdr_front_01130.png", + "transform_matrix": [ + [ + 0.14105089008808136, + -0.11171277612447739, + -0.9836792945861816, + 34.62102127075195 + ], + [ + 0.9872034192085266, + -0.05879143998026848, + 0.14823296666145325, + -6.567139148712158 + ], + [ + -0.0743914470076561, + -0.9919999241828918, + 0.10199064761400223, + -3.9761476516723633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1130, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_438469648", + "mask_path": "../../mask/hdr_front_01130.png" + }, + { + "file_path": "../../rgb/hdr_front_01131.png", + "transform_matrix": [ + [ + 0.1255033016204834, + -0.10830620676279068, + -0.9861636757850647, + 34.69224166870117 + ], + [ + 0.9897717237472534, + -0.054291706532239914, + 0.13192513585090637, + -6.56866979598999 + ], + [ + -0.06782881170511246, + -0.9926339983940125, + 0.10038462281227112, + -3.990506887435913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1131, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_538469314", + "mask_path": "../../mask/hdr_front_01131.png" + }, + { + "file_path": "../../rgb/hdr_front_01132.png", + "transform_matrix": [ + [ + 0.11320168524980545, + -0.10878955572843552, + -0.987598180770874, + 34.78152084350586 + ], + [ + 0.9918103814125061, + -0.046790510416030884, + 0.11883875727653503, + -6.573978424072266 + ], + [ + -0.05913864076137543, + -0.9929630160331726, + 0.10260185599327087, + -4.005990505218506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1132, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_638469457", + "mask_path": "../../mask/hdr_front_01132.png" + }, + { + "file_path": "../../rgb/hdr_front_01133.png", + "transform_matrix": [ + [ + 0.11019814759492874, + -0.11640162020921707, + -0.9870699644088745, + 34.86191940307617 + ], + [ + 0.9923847317695618, + -0.042104724794626236, + 0.11575677245855331, + -6.5856475830078125 + ], + [ + -0.0550345815718174, + -0.9923093914985657, + 0.11087533831596375, + -4.009364128112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1133, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_738470315", + "mask_path": "../../mask/hdr_front_01133.png" + }, + { + "file_path": "../../rgb/hdr_front_01134.png", + "transform_matrix": [ + [ + 0.10941340029239655, + -0.11470746248960495, + -0.9873554706573486, + 34.91768264770508 + ], + [ + 0.9924211502075195, + -0.04329265281558037, + 0.11500435322523117, + -6.595890522003174 + ], + [ + -0.05593709275126457, + -0.9924556016921997, + 0.1091013178229332, + -4.014832019805908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_838470458", + "mask_path": "../../mask/hdr_front_01134.png" + }, + { + "file_path": "../../rgb/hdr_front_01135.png", + "transform_matrix": [ + [ + 0.11094807088375092, + -0.11013221740722656, + -0.9877051711082458, + 34.991790771484375 + ], + [ + 0.9921757578849792, + -0.04497700184583664, + 0.11646535247564316, + -6.606802463531494 + ], + [ + -0.05725059285759926, + -0.9928987622261047, + 0.10428041219711304, + -4.032017230987549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1135, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_938469648", + "mask_path": "../../mask/hdr_front_01135.png" + }, + { + "file_path": "../../rgb/hdr_front_01136.png", + "transform_matrix": [ + [ + 0.10671238601207733, + -0.10963332653045654, + -0.9882272481918335, + 35.08613204956055 + ], + [ + 0.9925206303596497, + -0.04752090200781822, + 0.11244794726371765, + -6.614151477813721 + ], + [ + -0.05928948149085045, + -0.992835521697998, + 0.10374227166175842, + -4.046867847442627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1136, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_38470029", + "mask_path": "../../mask/hdr_front_01136.png" + }, + { + "file_path": "../../rgb/hdr_front_01137.png", + "transform_matrix": [ + [ + 0.09660127758979797, + -0.11084334552288055, + -0.9891319870948792, + 35.16984939575195 + ], + [ + 0.9932979941368103, + -0.05262749269604683, + 0.10290564596652985, + -6.617520332336426 + ], + [ + -0.06346193701028824, + -0.9924435019493103, + 0.10501657426357269, + -4.04577112197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1137, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_138470411", + "mask_path": "../../mask/hdr_front_01137.png" + }, + { + "file_path": "../../rgb/hdr_front_01138.png", + "transform_matrix": [ + [ + 0.0877191349864006, + -0.10968157649040222, + -0.9900885820388794, + 35.23332977294922 + ], + [ + 0.9941174387931824, + -0.053748179227113724, + 0.09403029084205627, + -6.619471073150635 + ], + [ + -0.06352884322404861, + -0.9925125241279602, + 0.10432162135839462, + -4.054675579071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1138, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_238469600", + "mask_path": "../../mask/hdr_front_01138.png" + }, + { + "file_path": "../../rgb/hdr_front_03061.png", + "transform_matrix": [ + [ + 0.19116146862506866, + -0.11810962855815887, + 0.9744267463684082, + 33.564144134521484 + ], + [ + -0.9815188646316528, + -0.014074422419071198, + 0.19084684550762177, + -5.047417163848877 + ], + [ + -0.008826358243823051, + -0.9929008483886719, + -0.11861732602119446, + -3.902064085006714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3061, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_538469552", + "mask_path": "../../mask/hdr_front_03061.png" + }, + { + "file_path": "../../rgb/hdr_front_03063.png", + "transform_matrix": [ + [ + 0.18083137273788452, + -0.12121997773647308, + 0.9760152101516724, + 33.47406005859375 + ], + [ + -0.9835003614425659, + -0.01702479086816311, + 0.18010370433330536, + -5.059017658233643 + ], + [ + -0.005215708166360855, + -0.9924796223640442, + -0.12229848653078079, + -3.8916015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3063, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_738469362", + "mask_path": "../../mask/hdr_front_03063.png" + }, + { + "file_path": "../../rgb/hdr_front_03064.png", + "transform_matrix": [ + [ + 0.18237632513046265, + -0.11656909435987473, + 0.9762942790985107, + 33.4233283996582 + ], + [ + -0.9831575155258179, + -0.009658719412982464, + 0.18250514566898346, + -5.071154594421387 + ], + [ + -0.01184470672160387, + -0.9931356310844421, + -0.11636730283498764, + -3.884368658065796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3064, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_838469743", + "mask_path": "../../mask/hdr_front_03064.png" + }, + { + "file_path": "../../rgb/hdr_front_03066.png", + "transform_matrix": [ + [ + 0.1848471313714981, + -0.11166273057460785, + 0.9764030575752258, + 33.34634017944336 + ], + [ + -0.982590913772583, + -0.002178136957809329, + 0.1857694834470749, + -5.087886333465576 + ], + [ + -0.01861678808927536, + -0.9937437772750854, + -0.11012141406536102, + -3.89675235748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3066, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_38470029", + "mask_path": "../../mask/hdr_front_03066.png" + }, + { + "file_path": "../../rgb/hdr_front_03068.png", + "transform_matrix": [ + [ + 0.1729964315891266, + -0.09777882695198059, + 0.9800569415092468, + 33.25352478027344 + ], + [ + -0.9848299622535706, + -0.0035382553469389677, + 0.17348596453666687, + -5.100769996643066 + ], + [ + -0.013495560735464096, + -0.9952020049095154, + -0.09690763056278229, + -3.8817086219787598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3068, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_238470554", + "mask_path": "../../mask/hdr_front_03068.png" + }, + { + "file_path": "../../rgb/hdr_front_03070.png", + "transform_matrix": [ + [ + 0.1494043618440628, + -0.09787173569202423, + 0.9839204549789429, + 33.16066360473633 + ], + [ + -0.9887605905532837, + -0.00920279510319233, + 0.1492239087820053, + -5.114801406860352 + ], + [ + -0.005549984984099865, + -0.9951565265655518, + -0.09814666211605072, + -3.87283992767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3070, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_438470363", + "mask_path": "../../mask/hdr_front_03070.png" + }, + { + "file_path": "../../rgb/hdr_front_03071.png", + "transform_matrix": [ + [ + 0.14432670176029205, + -0.0939486026763916, + 0.9850601553916931, + 33.10114669799805 + ], + [ + -0.9894949197769165, + -0.005309689324349165, + 0.14447006583213806, + -5.133047580718994 + ], + [ + -0.008342396467924118, + -0.9955629110336304, + -0.09372799098491669, + -3.865943431854248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_538469791", + "mask_path": "../../mask/hdr_front_03071.png" + }, + { + "file_path": "../../rgb/hdr_front_03072.png", + "transform_matrix": [ + [ + 0.14798226952552795, + -0.09118083119392395, + 0.9847778081893921, + 33.05289840698242 + ], + [ + -0.9888361692428589, + 0.003920244984328747, + 0.14895513653755188, + -5.147351264953613 + ], + [ + -0.01744242012500763, + -0.9958266019821167, + -0.08958277106285095, + -3.867300033569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3072, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_638469696", + "mask_path": "../../mask/hdr_front_03072.png" + }, + { + "file_path": "../../rgb/hdr_front_03074.png", + "transform_matrix": [ + [ + 0.14749833941459656, + -0.07895734906196594, + 0.9859057068824768, + 32.96708297729492 + ], + [ + -0.9888256192207336, + 0.010035932064056396, + 0.14873890578746796, + -5.17166805267334 + ], + [ + -0.02163851447403431, + -0.9968274831771851, + -0.0765947625041008, + -3.865743637084961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3074, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_838469743", + "mask_path": "../../mask/hdr_front_03074.png" + }, + { + "file_path": "../../rgb/hdr_front_03075.png", + "transform_matrix": [ + [ + 0.14236018061637878, + -0.06913677603006363, + 0.9873974323272705, + 32.91585159301758 + ], + [ + -0.9896726608276367, + 0.006968981120735407, + 0.14317619800567627, + -5.178483486175537 + ], + [ + -0.01677989400923252, + -0.9975828528404236, + -0.06743066757917404, + -3.861372470855713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_938470363", + "mask_path": "../../mask/hdr_front_03075.png" + }, + { + "file_path": "../../rgb/hdr_front_03078.png", + "transform_matrix": [ + [ + 0.11626782268285751, + -0.07341314852237701, + 0.9905009865760803, + 32.77452850341797 + ], + [ + -0.9932132959365845, + -0.005568074528127909, + 0.11617352068424225, + -5.200879096984863 + ], + [ + -0.0030134785920381546, + -0.9972861409187317, + -0.07356230914592743, + -3.8392720222473145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_238470315", + "mask_path": "../../mask/hdr_front_03078.png" + }, + { + "file_path": "../../rgb/hdr_front_03079.png", + "transform_matrix": [ + [ + 0.11511659622192383, + -0.07431839406490326, + 0.9905680418014526, + 32.7203254699707 + ], + [ + -0.9933319091796875, + -0.00226957187987864, + 0.11526751518249512, + -5.2130584716796875 + ], + [ + -0.006318330764770508, + -0.9972320199012756, + -0.0740840882062912, + -3.825181722640991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3079, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_338469743", + "mask_path": "../../mask/hdr_front_03079.png" + }, + { + "file_path": "../../rgb/hdr_front_03081.png", + "transform_matrix": [ + [ + 0.11665603518486023, + -0.07456104457378387, + 0.9903697371482849, + 32.63881301879883 + ], + [ + -0.9929660558700562, + 0.011565787717700005, + 0.11783262342214584, + -5.233874320983887 + ], + [ + -0.02024012617766857, + -0.9971494674682617, + -0.07268738001585007, + -3.82720947265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_538469076", + "mask_path": "../../mask/hdr_front_03081.png" + }, + { + "file_path": "../../rgb/hdr_front_03083.png", + "transform_matrix": [ + [ + 0.10878756642341614, + -0.06740942597389221, + 0.9917767643928528, + 32.55382537841797 + ], + [ + -0.9939465522766113, + 0.008028795011341572, + 0.10957125574350357, + -5.248226642608643 + ], + [ + -0.015348905697464943, + -0.9976931214332581, + -0.06612792611122131, + -3.8133339881896973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3083, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_738469839", + "mask_path": "../../mask/hdr_front_03083.png" + }, + { + "file_path": "../../rgb/hdr_front_03086.png", + "transform_matrix": [ + [ + 0.08719943463802338, + -0.0816226527094841, + 0.992841362953186, + 32.5052604675293 + ], + [ + -0.9961848258972168, + -0.0036303855013102293, + 0.08719460666179657, + -5.265714645385742 + ], + [ + -0.0035126586444675922, + -0.9966567158699036, + -0.08162780106067657, + -3.7995717525482178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_38469791", + "mask_path": "../../mask/hdr_front_03086.png" + }, + { + "file_path": "../../rgb/hdr_front_03089.png", + "transform_matrix": [ + [ + 0.08181732892990112, + -0.08257301896810532, + 0.993220865726471, + 32.4378547668457 + ], + [ + -0.9963862895965576, + 0.016030292958021164, + 0.08341077715158463, + -5.283026218414307 + ], + [ + -0.022809097543358803, + -0.9964561462402344, + -0.08096308261156082, + -3.795402765274048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_338467359", + "mask_path": "../../mask/hdr_front_03089.png" + }, + { + "file_path": "../../rgb/hdr_front_03091.png", + "transform_matrix": [ + [ + 0.07466158270835876, + -0.08234208077192307, + 0.9938035607337952, + 32.36720275878906 + ], + [ + -0.9970114827156067, + 0.013669227249920368, + 0.07603514939546585, + -5.2958664894104 + ], + [ + -0.019845416769385338, + -0.9965104460716248, + -0.08107542991638184, + -3.785482168197632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_538469552", + "mask_path": "../../mask/hdr_front_03091.png" + }, + { + "file_path": "../../rgb/hdr_front_03093.png", + "transform_matrix": [ + [ + 0.05357915163040161, + -0.09387185424566269, + 0.9941415786743164, + 32.28731918334961 + ], + [ + -0.9985386729240417, + 0.0020002969540655613, + 0.054005008190870285, + -5.29325532913208 + ], + [ + -0.0070581273175776005, + -0.9955822825431824, + -0.09362750500440598, + -3.7596163749694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_738469123", + "mask_path": "../../mask/hdr_front_03093.png" + }, + { + "file_path": "../../rgb/hdr_front_03095.png", + "transform_matrix": [ + [ + 0.03964681923389435, + -0.10787178575992584, + 0.9933739900588989, + 32.20009994506836 + ], + [ + -0.9991960525512695, + -0.01018869411200285, + 0.03877278417348862, + -5.302872180938721 + ], + [ + 0.005938692018389702, + -0.9941126108169556, + -0.10818901658058167, + -3.73274564743042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3095, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_938469409", + "mask_path": "../../mask/hdr_front_03095.png" + }, + { + "file_path": "../../rgb/hdr_front_03097.png", + "transform_matrix": [ + [ + 0.03911878168582916, + -0.1096530333161354, + 0.99319988489151, + 32.11063766479492 + ], + [ + -0.999232828617096, + -0.0024902941659092903, + 0.039081472903490067, + -5.3162312507629395 + ], + [ + -0.001812039758078754, + -0.993966817855835, + -0.10966633260250092, + -3.7305102348327637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3097, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_138469934", + "mask_path": "../../mask/hdr_front_03097.png" + }, + { + "file_path": "../../rgb/hdr_front_03099.png", + "transform_matrix": [ + [ + 0.03147004917263985, + -0.10999741405248642, + 0.9934335350990295, + 32.02113342285156 + ], + [ + -0.9994863867759705, + 0.002556147053837776, + 0.031944818794727325, + -5.321446895599365 + ], + [ + -0.00605320930480957, + -0.9939286112785339, + -0.10986047238111496, + -3.715235948562622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3099, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_338468790", + "mask_path": "../../mask/hdr_front_03099.png" + }, + { + "file_path": "../../rgb/hdr_front_03101.png", + "transform_matrix": [ + [ + 0.011386160738766193, + -0.12578827142715454, + 0.9919918179512024, + 31.943466186523438 + ], + [ + -0.9999347925186157, + -0.0005956029635854065, + 0.011401806958019733, + -5.316503047943115 + ], + [ + -0.0008433797629550099, + -0.9920570254325867, + -0.12578684091567993, + -3.6938276290893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3101, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_538469791", + "mask_path": "../../mask/hdr_front_03101.png" + }, + { + "file_path": "../../rgb/hdr_front_03103.png", + "transform_matrix": [ + [ + 0.0029417213518172503, + -0.13895677030086517, + 0.9902940988540649, + 31.861974716186523 + ], + [ + -0.9999832510948181, + -0.005335799418389797, + 0.0022217913065105677, + -5.317439556121826 + ], + [ + 0.004975277464836836, + -0.9902840852737427, + -0.13897013664245605, + -3.6672346591949463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_738466501", + "mask_path": "../../mask/hdr_front_03103.png" + }, + { + "file_path": "../../rgb/hdr_front_03133.png", + "transform_matrix": [ + [ + -0.18166391551494598, + -0.16062556207180023, + 0.9701533913612366, + 31.6584415435791 + ], + [ + -0.9818078279495239, + -0.02579314261674881, + -0.18811675906181335, + -5.318573474884033 + ], + [ + 0.055239662528038025, + -0.9866783618927002, + -0.1530177742242813, + -3.636075735092163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3133, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_738469362", + "mask_path": "../../mask/hdr_front_03133.png" + }, + { + "file_path": "../../rgb/hdr_front_03134.png", + "transform_matrix": [ + [ + -0.19341392815113068, + -0.16472434997558594, + 0.9671902060508728, + 31.59682273864746 + ], + [ + -0.9796842336654663, + -0.02083676867187023, + -0.1994611769914627, + -5.311823844909668 + ], + [ + 0.05300923064351082, + -0.9861195087432861, + -0.15734770894050598, + -3.6228065490722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3134, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_838468551", + "mask_path": "../../mask/hdr_front_03134.png" + }, + { + "file_path": "../../rgb/hdr_front_03135.png", + "transform_matrix": [ + [ + -0.19607220590114594, + -0.15808643400669098, + 0.9677625298500061, + 31.53460121154785 + ], + [ + -0.9794255495071411, + -0.016498569399118423, + -0.20113025605678558, + -5.308367729187012 + ], + [ + 0.047762658447027206, + -0.9872874617576599, + -0.1515989750623703, + -3.608872652053833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3135, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_938469171", + "mask_path": "../../mask/hdr_front_03135.png" + }, + { + "file_path": "../../rgb/hdr_front_03137.png", + "transform_matrix": [ + [ + -0.19898036122322083, + -0.14560404419898987, + 0.9691265821456909, + 31.4464054107666 + ], + [ + -0.9789842367172241, + -0.01555729005485773, + -0.20334172248840332, + -5.298674583435059 + ], + [ + 0.044684357941150665, + -0.9892206788063049, + -0.13944846391677856, + -3.6128106117248535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3137, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_138469457", + "mask_path": "../../mask/hdr_front_03137.png" + }, + { + "file_path": "../../rgb/hdr_front_03138.png", + "transform_matrix": [ + [ + -0.20241771638393402, + -0.13744062185287476, + 0.9696066975593567, + 31.39318084716797 + ], + [ + -0.9785146713256836, + -0.011239785701036453, + -0.2058706134557724, + -5.281205177307129 + ], + [ + 0.039193153381347656, + -0.9904462695121765, + -0.1322125494480133, + -3.6031179428100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3138, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_238469600", + "mask_path": "../../mask/hdr_front_03138.png" + }, + { + "file_path": "../../rgb/hdr_front_03139.png", + "transform_matrix": [ + [ + -0.20960529148578644, + -0.13869906961917877, + 0.9678988456726074, + 31.34284782409668 + ], + [ + -0.9772331118583679, + -0.0035695997066795826, + -0.21213822066783905, + -5.265465259552002 + ], + [ + 0.03287838399410248, + -0.9903281331062317, + -0.13479311764240265, + -3.5899503231048584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3139, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_338469982", + "mask_path": "../../mask/hdr_front_03139.png" + }, + { + "file_path": "../../rgb/hdr_front_03140.png", + "transform_matrix": [ + [ + -0.20910108089447021, + -0.14207296073436737, + 0.9675185084342957, + 31.291440963745117 + ], + [ + -0.9772273898124695, + -0.006168716587126255, + -0.21210519969463348, + -5.262848854064941 + ], + [ + 0.03610275685787201, + -0.9898370504379272, + -0.13754768669605255, + -3.581913471221924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3140, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_438469886", + "mask_path": "../../mask/hdr_front_03140.png" + }, + { + "file_path": "../../rgb/hdr_front_03141.png", + "transform_matrix": [ + [ + -0.19701381027698517, + -0.14317521452903748, + 0.9698898792266846, + 31.232078552246094 + ], + [ + -0.9796795845031738, + -0.009184465743601322, + -0.20035821199417114, + -5.261526584625244 + ], + [ + 0.037594255059957504, + -0.9896547794342041, + -0.13845638930797577, + -3.5693397521972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3141, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_538470506", + "mask_path": "../../mask/hdr_front_03141.png" + }, + { + "file_path": "../../rgb/hdr_front_03142.png", + "transform_matrix": [ + [ + -0.17096246778964996, + -0.13639689981937408, + 0.975790798664093, + 31.1694278717041 + ], + [ + -0.9848820567131042, + -0.004400405567139387, + -0.17317040264606476, + -5.267271041870117 + ], + [ + 0.027913779020309448, + -0.990644633769989, + -0.13358256220817566, + -3.5603959560394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3142, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_638471364", + "mask_path": "../../mask/hdr_front_03142.png" + }, + { + "file_path": "../../rgb/hdr_front_03144.png", + "transform_matrix": [ + [ + -0.09798585623502731, + -0.13046227395534515, + 0.9865993857383728, + 31.07589340209961 + ], + [ + -0.9951177835464478, + 0.0010822947369888425, + -0.0986887663602829, + -5.291374206542969 + ], + [ + 0.011807369068264961, + -0.991452693939209, + -0.12993136048316956, + -3.5588107109069824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3144, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_838469982", + "mask_path": "../../mask/hdr_front_03144.png" + }, + { + "file_path": "../../rgb/hdr_front_03145.png", + "transform_matrix": [ + [ + -0.05443359538912773, + -0.12839679419994354, + 0.9902279376983643, + 31.01912498474121 + ], + [ + -0.9984767436981201, + -0.0019399637822061777, + -0.055138591676950455, + -5.304861068725586 + ], + [ + 0.009000624530017376, + -0.991720974445343, + -0.1280955970287323, + -3.5471348762512207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3145, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_938469409", + "mask_path": "../../mask/hdr_front_03145.png" + }, + { + "file_path": "../../rgb/hdr_front_03147.png", + "transform_matrix": [ + [ + 0.024607330560684204, + -0.13479910790920258, + 0.9905674457550049, + 30.932327270507812 + ], + [ + -0.9996203780174255, + -0.015596868470311165, + 0.022709762677550316, + -5.336735248565674 + ], + [ + 0.012388494797050953, + -0.9907501935958862, + -0.13513174653053284, + -3.526014804840088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3147, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_138470888", + "mask_path": "../../mask/hdr_front_03147.png" + }, + { + "file_path": "../../rgb/hdr_front_03149.png", + "transform_matrix": [ + [ + 0.10114860534667969, + -0.13436917960643768, + 0.9857555031776428, + 30.825382232666016 + ], + [ + -0.9947643876075745, + -0.0281913410872221, + 0.09823021292686462, + -5.390518665313721 + ], + [ + 0.014590655453503132, + -0.9905303120613098, + -0.13651719689369202, + -3.5044093132019043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3149, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_338470220", + "mask_path": "../../mask/hdr_front_03149.png" + }, + { + "file_path": "../../rgb/hdr_front_03154.png", + "transform_matrix": [ + [ + 0.18778277933597565, + -0.12302956730127335, + 0.9744749665260315, + 30.597078323364258 + ], + [ + -0.9821096658706665, + -0.03774486854672432, + 0.18448863923549652, + -5.487997531890869 + ], + [ + 0.014083869755268097, + -0.9916849732398987, + -0.1279163509607315, + -3.4636778831481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3154, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_838470458", + "mask_path": "../../mask/hdr_front_03154.png" + }, + { + "file_path": "../../rgb/hdr_front_03155.png", + "transform_matrix": [ + [ + 0.17643272876739502, + -0.12648926675319672, + 0.976151704788208, + 30.531158447265625 + ], + [ + -0.9841669797897339, + -0.03973473608493805, + 0.1727326512336731, + -5.499175071716309 + ], + [ + 0.016938306391239166, + -0.9911718964576721, + -0.1314970701932907, + -3.449099063873291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3155, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_938468933", + "mask_path": "../../mask/hdr_front_03155.png" + }, + { + "file_path": "../../rgb/hdr_front_03156.png", + "transform_matrix": [ + [ + 0.1692039966583252, + -0.12678886950016022, + 0.97739177942276, + 30.452163696289062 + ], + [ + -0.9854258298873901, + -0.0393693670630455, + 0.16548775136470795, + -5.515665054321289 + ], + [ + 0.017497286200523376, + -0.9911482334136963, + -0.131602481007576, + -3.436164140701294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3156, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_38469552", + "mask_path": "../../mask/hdr_front_03156.png" + }, + { + "file_path": "../../rgb/hdr_front_03157.png", + "transform_matrix": [ + [ + 0.17036093771457672, + -0.12428230792284012, + 0.9775126576423645, + 30.381139755249023 + ], + [ + -0.9853550791740417, + -0.0287805013358593, + 0.1680685132741928, + -5.529923915863037 + ], + [ + 0.007245364133268595, + -0.9918294548988342, + -0.12736527621746063, + -3.433806896209717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3157, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_138469457", + "mask_path": "../../mask/hdr_front_03157.png" + }, + { + "file_path": "../../rgb/hdr_front_03158.png", + "transform_matrix": [ + [ + 0.16988526284694672, + -0.12263504415750504, + 0.9778034687042236, + 30.3134822845459 + ], + [ + -0.9854610562324524, + -0.02350725419819355, + 0.16826747357845306, + -5.537544250488281 + ], + [ + 0.00234998669475317, + -0.9921733736991882, + -0.12484560161828995, + -3.4341914653778076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3158, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_238469600", + "mask_path": "../../mask/hdr_front_03158.png" + }, + { + "file_path": "../../rgb/hdr_front_03159.png", + "transform_matrix": [ + [ + 0.16609355807304382, + -0.12373245507478714, + 0.9783165454864502, + 30.233530044555664 + ], + [ + -0.9861098527908325, + -0.020355382934212685, + 0.16484221816062927, + -5.540825366973877 + ], + [ + -0.0004823247145395726, + -0.9921068549156189, + -0.12539468705654144, + -3.420898199081421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3159, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_338468313", + "mask_path": "../../mask/hdr_front_03159.png" + }, + { + "file_path": "../../rgb/hdr_front_03160.png", + "transform_matrix": [ + [ + 0.15674109756946564, + -0.12512421607971191, + 0.9796816110610962, + 30.154735565185547 + ], + [ + -0.9876372814178467, + -0.022101374343037605, + 0.15519115328788757, + -5.541926860809326 + ], + [ + 0.002234140643849969, + -0.9918948411941528, + -0.1270415037870407, + -3.3972764015197754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3160, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_438469171", + "mask_path": "../../mask/hdr_front_03160.png" + }, + { + "file_path": "../../rgb/hdr_front_03161.png", + "transform_matrix": [ + [ + 0.1473717987537384, + -0.1284714788198471, + 0.9807021021842957, + 30.0902042388916 + ], + [ + -0.9890236258506775, + -0.02984069660305977, + 0.1447131633758545, + -5.548940658569336 + ], + [ + 0.010673320852220058, + -0.9912641644477844, + -0.13145901262760162, + -3.3896982669830322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3161, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_538469076", + "mask_path": "../../mask/hdr_front_03161.png" + }, + { + "file_path": "../../rgb/hdr_front_03162.png", + "transform_matrix": [ + [ + 0.14056676626205444, + -0.1298161745071411, + 0.9815236926078796, + 30.01881980895996 + ], + [ + -0.9899440407752991, + -0.034314945340156555, + 0.1372341811656952, + -5.561858177185059 + ], + [ + 0.015865720808506012, + -0.9909442067146301, + -0.13333426415920258, + -3.3784470558166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3162, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_638468980", + "mask_path": "../../mask/hdr_front_03162.png" + }, + { + "file_path": "../../rgb/hdr_front_03163.png", + "transform_matrix": [ + [ + 0.1398850679397583, + -0.12294197827577591, + 0.9825056791305542, + 29.937517166137695 + ], + [ + -0.9900992512702942, + -0.02903972752392292, + 0.13733242452144623, + -5.581306457519531 + ], + [ + 0.011647777631878853, + -0.9919889569282532, + -0.12578698992729187, + -3.366612195968628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3163, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_738468647", + "mask_path": "../../mask/hdr_front_03163.png" + }, + { + "file_path": "../../rgb/hdr_front_03164.png", + "transform_matrix": [ + [ + 0.14437872171401978, + -0.11975882202386856, + 0.9822487235069275, + 29.87065887451172 + ], + [ + -0.9894848465919495, + -0.026136457920074463, + 0.14225569367408752, + -5.59629487991333 + ], + [ + 0.008636132813990116, + -0.9924590587615967, + -0.12227308750152588, + -3.363387107849121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3164, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_838469743", + "mask_path": "../../mask/hdr_front_03164.png" + }, + { + "file_path": "../../rgb/hdr_front_03165.png", + "transform_matrix": [ + [ + 0.1462346315383911, + -0.11610370129346848, + 0.9824130535125732, + 29.806337356567383 + ], + [ + -0.9892075061798096, + -0.026355890557169914, + 0.14413119852542877, + -5.608660697937012 + ], + [ + 0.00915820524096489, + -0.9928873777389526, + -0.11870479583740234, + -3.365039348602295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3165, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_938469409", + "mask_path": "../../mask/hdr_front_03165.png" + }, + { + "file_path": "../../rgb/hdr_front_03166.png", + "transform_matrix": [ + [ + 0.14451296627521515, + -0.1126239150762558, + 0.9830726981163025, + 29.730772018432617 + ], + [ + -0.9894401431083679, + -0.027636995539069176, + 0.14228281378746033, + -5.622706413269043 + ], + [ + 0.0111447274684906, + -0.9932532906532288, + -0.11542852967977524, + -3.3600616455078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3166, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_38469552", + "mask_path": "../../mask/hdr_front_03166.png" + }, + { + "file_path": "../../rgb/hdr_front_03167.png", + "transform_matrix": [ + [ + 0.13513141870498657, + -0.11019691079854965, + 0.9846807718276978, + 29.659698486328125 + ], + [ + -0.9907288551330566, + -0.029065769165754318, + 0.13270865380764008, + -5.6316704750061035 + ], + [ + 0.013996422290802002, + -0.9934847354888916, + -0.11310295760631561, + -3.337871551513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3167, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_138469219", + "mask_path": "../../mask/hdr_front_03167.png" + }, + { + "file_path": "../../rgb/hdr_front_03168.png", + "transform_matrix": [ + [ + 0.12334814667701721, + -0.1146324872970581, + 0.9857203364372253, + 29.591299057006836 + ], + [ + -0.992194414138794, + -0.0325789675116539, + 0.1203695759177208, + -5.639053821563721 + ], + [ + 0.018315492197871208, + -0.9928736686706543, + -0.11775627732276917, + -3.323014259338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3168, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_238470077", + "mask_path": "../../mask/hdr_front_03168.png" + }, + { + "file_path": "../../rgb/hdr_front_03169.png", + "transform_matrix": [ + [ + 0.11374904960393906, + -0.1152658760547638, + 0.9868003129959106, + 29.513225555419922 + ], + [ + -0.993248701095581, + -0.03594648838043213, + 0.11029353737831116, + -5.6511759757995605 + ], + [ + 0.022758927196264267, + -0.9926840662956238, + -0.11857657879590988, + -3.312138319015503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3169, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_338469266", + "mask_path": "../../mask/hdr_front_03169.png" + }, + { + "file_path": "../../rgb/hdr_front_03170.png", + "transform_matrix": [ + [ + 0.11112815141677856, + -0.10793975740671158, + 0.9879269003868103, + 29.430471420288086 + ], + [ + -0.9936519265174866, + -0.029580065980553627, + 0.10854024440050125, + -5.665201663970947 + ], + [ + 0.01750713586807251, + -0.9937173128128052, + -0.11054170876741409, + -3.303492307662964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3170, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_438468456", + "mask_path": "../../mask/hdr_front_03170.png" + }, + { + "file_path": "../../rgb/hdr_front_03171.png", + "transform_matrix": [ + [ + 0.11303156614303589, + -0.10295747965574265, + 0.9882427453994751, + 29.364641189575195 + ], + [ + -0.9935618042945862, + -0.01939002424478531, + 0.11161984503269196, + -5.677286624908447 + ], + [ + 0.00766995083540678, + -0.9944967031478882, + -0.10448631644248962, + -3.3019509315490723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3171, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_538469076", + "mask_path": "../../mask/hdr_front_03171.png" + }, + { + "file_path": "../../rgb/hdr_front_03172.png", + "transform_matrix": [ + [ + 0.11171451210975647, + -0.0986655056476593, + 0.9888301491737366, + 29.294509887695312 + ], + [ + -0.9937356114387512, + -0.014157740399241447, + 0.1108560562133789, + -5.685951232910156 + ], + [ + 0.003061932511627674, + -0.9950199723243713, + -0.09962905198335648, + -3.304614305496216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3172, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_638468265", + "mask_path": "../../mask/hdr_front_03172.png" + }, + { + "file_path": "../../rgb/hdr_front_03173.png", + "transform_matrix": [ + [ + 0.10788727551698685, + -0.09751082211732864, + 0.9893695116043091, + 29.212543487548828 + ], + [ + -0.9941620826721191, + -0.01207108423113823, + 0.10722018033266068, + -5.695603370666504 + ], + [ + 0.001487633096985519, + -0.9951612949371338, + -0.09824387729167938, + -3.2962069511413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3173, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_738468170", + "mask_path": "../../mask/hdr_front_03173.png" + }, + { + "file_path": "../../rgb/hdr_front_03174.png", + "transform_matrix": [ + [ + 0.09790007770061493, + -0.10124946385622025, + 0.9900323748588562, + 29.134811401367188 + ], + [ + -0.9951960444450378, + -0.010568053461611271, + 0.09732991456985474, + -5.698779106140137 + ], + [ + 0.0006081144674681127, + -0.9948050379753113, + -0.1017976850271225, + -3.275752544403076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3174, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_838469505", + "mask_path": "../../mask/hdr_front_03174.png" + }, + { + "file_path": "../../rgb/hdr_front_03175.png", + "transform_matrix": [ + [ + 0.08729668706655502, + -0.10659283399581909, + 0.9904631972312927, + 29.063283920288086 + ], + [ + -0.9961602687835693, + -0.015968497842550278, + 0.08608029782772064, + -5.705178260803223 + ], + [ + 0.006640667095780373, + -0.9941745400428772, + -0.10757753252983093, + -3.2644331455230713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3175, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_938470363", + "mask_path": "../../mask/hdr_front_03175.png" + }, + { + "file_path": "../../rgb/hdr_front_03176.png", + "transform_matrix": [ + [ + 0.08089866489171982, + -0.10984240472316742, + 0.9906513690948486, + 28.978759765625 + ], + [ + -0.9966692328453064, + -0.019174836575984955, + 0.07926402240991592, + -5.714665412902832 + ], + [ + 0.01028902642428875, + -0.9937641024589539, + -0.11102776229381561, + -3.2520103454589844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3176, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_38468599", + "mask_path": "../../mask/hdr_front_03176.png" + }, + { + "file_path": "../../rgb/hdr_front_03177.png", + "transform_matrix": [ + [ + 0.0826232060790062, + -0.10462862998247147, + 0.9910732507705688, + 28.890668869018555 + ], + [ + -0.9965723752975464, + -0.012751193717122078, + 0.0817355066537857, + -5.723225116729736 + ], + [ + 0.004085493739694357, + -0.9944296479225159, + -0.10532357543706894, + -3.24243426322937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3177, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_138469457", + "mask_path": "../../mask/hdr_front_03177.png" + }, + { + "file_path": "../../rgb/hdr_front_03178.png", + "transform_matrix": [ + [ + 0.08488988876342773, + -0.10051797330379486, + 0.9913071990013123, + 28.825593948364258 + ], + [ + -0.9963873028755188, + -0.006125462241470814, + 0.08470380306243896, + -5.729001522064209 + ], + [ + -0.002442039316520095, + -0.9949164390563965, + -0.1006748229265213, + -3.241166830062866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3178, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_238469839", + "mask_path": "../../mask/hdr_front_03178.png" + }, + { + "file_path": "../../rgb/hdr_front_03179.png", + "transform_matrix": [ + [ + 0.08428765833377838, + -0.09826256334781647, + 0.9915845990180969, + 28.754920959472656 + ], + [ + -0.9964348673820496, + -0.004714224953204393, + 0.08423279970884323, + -5.734535217285156 + ], + [ + -0.0036023766733705997, + -0.9951493740081787, + -0.09830960631370544, + -3.2372562885284424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3179, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_338470220", + "mask_path": "../../mask/hdr_front_03179.png" + }, + { + "file_path": "../../rgb/hdr_front_03180.png", + "transform_matrix": [ + [ + 0.0785670280456543, + -0.10051725059747696, + 0.9918283820152283, + 28.67062759399414 + ], + [ + -0.9969056844711304, + -0.005437942687422037, + 0.07841812819242477, + -5.734460830688477 + ], + [ + -0.0024888680782169104, + -0.9949204921722412, + -0.10063345730304718, + -3.2207138538360596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3180, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_438470602", + "mask_path": "../../mask/hdr_front_03180.png" + }, + { + "file_path": "../../rgb/hdr_front_03181.png", + "transform_matrix": [ + [ + 0.06823362410068512, + -0.10467209666967392, + 0.9921632409095764, + 28.595983505249023 + ], + [ + -0.9976691007614136, + -0.007946879602968693, + 0.06777387857437134, + -5.733957767486572 + ], + [ + 0.0007905684178695083, + -0.9944750666618347, + -0.10497035086154938, + -3.2060587406158447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3181, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_538469791", + "mask_path": "../../mask/hdr_front_03181.png" + }, + { + "file_path": "../../rgb/hdr_front_03182.png", + "transform_matrix": [ + [ + 0.05964529514312744, + -0.10583715885877609, + 0.9925930500030518, + 28.530399322509766 + ], + [ + -0.9981997609138489, + -0.012602219358086586, + 0.058638472110033035, + -5.742678642272949 + ], + [ + 0.006302746944129467, + -0.9943036437034607, + -0.10639828443527222, + -3.2018206119537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3182, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_638470172", + "mask_path": "../../mask/hdr_front_03182.png" + }, + { + "file_path": "../../rgb/hdr_front_03183.png", + "transform_matrix": [ + [ + 0.05413098633289337, + -0.10498464852571487, + 0.9929995536804199, + 28.444686889648438 + ], + [ + -0.9985165596008301, + -0.01153352577239275, + 0.05321236699819565, + -5.753211498260498 + ], + [ + 0.005866305902600288, + -0.9944069981575012, + -0.1054532378911972, + -3.191760778427124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_738470315", + "mask_path": "../../mask/hdr_front_03183.png" + }, + { + "file_path": "../../rgb/hdr_front_03184.png", + "transform_matrix": [ + [ + 0.05786173790693283, + -0.10095870494842529, + 0.9932066202163696, + 28.366592407226562 + ], + [ + -0.9983242154121399, + -0.004979819059371948, + 0.05765368416905403, + -5.760641574859619 + ], + [ + -0.0008746517705731094, + -0.9948782324790955, + -0.10107765346765518, + -3.185077428817749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3184, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_838470458", + "mask_path": "../../mask/hdr_front_03184.png" + }, + { + "file_path": "../../rgb/hdr_front_03185.png", + "transform_matrix": [ + [ + 0.06050087511539459, + -0.09671947360038757, + 0.9934712648391724, + 28.298755645751953 + ], + [ + -0.9981540441513062, + -0.0005654299166053534, + 0.06073100492358208, + -5.765819072723389 + ], + [ + -0.005312132649123669, + -0.9953116178512573, + -0.09657512605190277, + -3.187269926071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_938469886", + "mask_path": "../../mask/hdr_front_03185.png" + }, + { + "file_path": "../../rgb/hdr_front_03186.png", + "transform_matrix": [ + [ + 0.05857343226671219, + -0.09173455834388733, + 0.9940593242645264, + 28.227359771728516 + ], + [ + -0.9982638955116272, + 0.0008134052623063326, + 0.05889623612165451, + -5.770232200622559 + ], + [ + -0.006211393047124147, + -0.9957832098007202, + -0.09152764827013016, + -3.1852333545684814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3186, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_38471698", + "mask_path": "../../mask/hdr_front_03186.png" + }, + { + "file_path": "../../rgb/hdr_front_03187.png", + "transform_matrix": [ + [ + 0.049398086965084076, + -0.08716839551925659, + 0.9949681162834167, + 28.159345626831055 + ], + [ + -0.9987560510635376, + 0.0024667009711265564, + 0.049802251160144806, + -5.772263526916504 + ], + [ + -0.006795470602810383, + -0.99619060754776, + -0.08693811297416687, + -3.1665141582489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_138469934", + "mask_path": "../../mask/hdr_front_03187.png" + }, + { + "file_path": "../../rgb/hdr_front_03188.png", + "transform_matrix": [ + [ + 0.0385446771979332, + -0.09334225207567215, + 0.9948877096176147, + 28.094667434692383 + ], + [ + -0.9992568492889404, + -0.0040549119003117085, + 0.03833350911736488, + -5.7745513916015625 + ], + [ + 0.0004560458182822913, + -0.9956257939338684, + -0.09342918545007706, + -3.1528918743133545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3188, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_238470315", + "mask_path": "../../mask/hdr_front_03188.png" + }, + { + "file_path": "../../rgb/hdr_front_03189.png", + "transform_matrix": [ + [ + 0.03218122199177742, + -0.09690932184457779, + 0.9947728514671326, + 28.022342681884766 + ], + [ + -0.9994621872901917, + -0.009401394054293633, + 0.031417060643434525, + -5.778030872344971 + ], + [ + 0.0063076443038880825, + -0.9952487945556641, + -0.097159743309021, + -3.1393656730651855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3189, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_338469505", + "mask_path": "../../mask/hdr_front_03189.png" + }, + { + "file_path": "../../rgb/hdr_front_03190.png", + "transform_matrix": [ + [ + 0.03219655156135559, + -0.0946580097079277, + 0.9949890971183777, + 27.94455909729004 + ], + [ + -0.9994744062423706, + -0.006818908732384443, + 0.0316929817199707, + -5.785135746002197 + ], + [ + 0.003784745465964079, + -0.9954865574836731, + -0.0948278084397316, + -3.128831624984741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3190, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_438469171", + "mask_path": "../../mask/hdr_front_03190.png" + }, + { + "file_path": "../../rgb/hdr_front_03191.png", + "transform_matrix": [ + [ + 0.03619140759110451, + -0.09456826001405716, + 0.9948602914810181, + 27.885570526123047 + ], + [ + -0.9993448257446289, + -0.003731195582076907, + 0.035999879240989685, + -5.792009353637695 + ], + [ + 0.000307572481688112, + -0.9955113530158997, + -0.09464133530855179, + -3.129197359085083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3191, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_538470029", + "mask_path": "../../mask/hdr_front_03191.png" + }, + { + "file_path": "../../rgb/hdr_front_03192.png", + "transform_matrix": [ + [ + 0.0372701920568943, + -0.09282948076725006, + 0.9949843287467957, + 27.82489585876465 + ], + [ + -0.9993049502372742, + -0.004109984263777733, + 0.0370485894382, + -5.798800468444824 + ], + [ + 0.0006501685129478574, + -0.9956735372543335, + -0.09291814267635345, + -3.128161668777466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3192, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_638470172", + "mask_path": "../../mask/hdr_front_03192.png" + }, + { + "file_path": "../../rgb/hdr_front_03193.png", + "transform_matrix": [ + [ + 0.0339796282351017, + -0.0901191458106041, + 0.9953511953353882, + 27.76348304748535 + ], + [ + -0.9994216561317444, + -0.0044068582355976105, + 0.03371959552168846, + -5.79819917678833 + ], + [ + 0.0013475915184244514, + -0.99592125415802, + -0.0902167558670044, + -3.1192328929901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3193, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_738469362", + "mask_path": "../../mask/hdr_front_03193.png" + }, + { + "file_path": "../../rgb/hdr_front_03194.png", + "transform_matrix": [ + [ + 0.024281267076730728, + -0.0921664908528328, + 0.9954475164413452, + 27.706928253173828 + ], + [ + -0.9997034668922424, + -0.004005677066743374, + 0.02401420660316944, + -5.795929908752441 + ], + [ + 0.0017741364426910877, + -0.9957355260848999, + -0.09223642945289612, + -3.1074373722076416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3194, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_838470458", + "mask_path": "../../mask/hdr_front_03194.png" + }, + { + "file_path": "../../rgb/hdr_front_03195.png", + "transform_matrix": [ + [ + 0.01464537251740694, + -0.09734369069337845, + 0.9951429963111877, + 27.646757125854492 + ], + [ + -0.9998727440834045, + -0.007708778604865074, + 0.013960916548967361, + -5.796574592590332 + ], + [ + 0.006312331650406122, + -0.9952210187911987, + -0.09744419902563095, + -3.098203182220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3195, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_938470125", + "mask_path": "../../mask/hdr_front_03195.png" + }, + { + "file_path": "../../rgb/hdr_front_03196.png", + "transform_matrix": [ + [ + 0.008036443032324314, + -0.10101525485515594, + 0.9948524236679077, + 27.568939208984375 + ], + [ + -0.9999188780784607, + -0.010640287771821022, + 0.00699697807431221, + -5.798279285430908 + ], + [ + 0.009878714568912983, + -0.9948279857635498, + -0.10109256207942963, + -3.086158037185669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3196, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_38470268", + "mask_path": "../../mask/hdr_front_03196.png" + }, + { + "file_path": "../../rgb/hdr_front_03197.png", + "transform_matrix": [ + [ + 0.00947633944451809, + -0.09753243625164032, + 0.9951872825622559, + 27.48969078063965 + ], + [ + -0.9999458193778992, + -0.005199717823415995, + 0.00901205837726593, + -5.801781177520752 + ], + [ + 0.004295726306736469, + -0.9952187538146973, + -0.09757642447948456, + -3.0741686820983887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3197, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_138470411", + "mask_path": "../../mask/hdr_front_03197.png" + }, + { + "file_path": "../../rgb/hdr_front_03198.png", + "transform_matrix": [ + [ + 0.011752993799746037, + -0.09527231007814407, + 0.9953818917274475, + 27.427492141723633 + ], + [ + -0.9999291896820068, + 0.000709828978870064, + 0.011874627321958542, + -5.804295063018799 + ], + [ + -0.0018378730164840817, + -0.995451033115387, + -0.0952572226524353, + -3.0765228271484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_238470792", + "mask_path": "../../mask/hdr_front_03198.png" + }, + { + "file_path": "../../rgb/hdr_front_03199.png", + "transform_matrix": [ + [ + 0.011002200655639172, + -0.09205140918493271, + 0.9956935048103333, + 27.35947608947754 + ], + [ + -0.9999361038208008, + 0.0015660987701267004, + 0.011193865910172462, + -5.804900169372559 + ], + [ + -0.0025897654704749584, + -0.9957530498504639, + -0.09202829003334045, + -3.073354482650757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_338470697", + "mask_path": "../../mask/hdr_front_03199.png" + }, + { + "file_path": "../../rgb/hdr_front_03200.png", + "transform_matrix": [ + [ + 0.004688397515565157, + -0.08733831346035004, + 0.996167778968811, + 27.29039764404297 + ], + [ + -0.9999842047691345, + 0.0026769526302814484, + 0.004941058810800314, + -5.801022529602051 + ], + [ + -0.00309823639690876, + -0.9961751103401184, + -0.08732437342405319, + -3.0582451820373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3200, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_438470125", + "mask_path": "../../mask/hdr_front_03200.png" + }, + { + "file_path": "../../rgb/hdr_front_03201.png", + "transform_matrix": [ + [ + -0.0038340329192578793, + -0.09213539212942123, + 0.9957391023635864, + 27.229703903198242 + ], + [ + -0.9999920129776001, + -0.0008121448918245733, + -0.003925557713955641, + -5.796121120452881 + ], + [ + 0.0011703681666404009, + -0.9957461953163147, + -0.09213153272867203, + -3.043301582336426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_538469314", + "mask_path": "../../mask/hdr_front_03201.png" + }, + { + "file_path": "../../rgb/hdr_front_03202.png", + "transform_matrix": [ + [ + -0.010713838040828705, + -0.09626243263483047, + 0.9952983856201172, + 27.163480758666992 + ], + [ + -0.9999001622200012, + -0.008141164667904377, + -0.011550761759281158, + -5.794374465942383 + ], + [ + 0.0092147933319211, + -0.9953227043151855, + -0.09616559743881226, + -3.03432297706604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3202, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_638469934", + "mask_path": "../../mask/hdr_front_03202.png" + }, + { + "file_path": "../../rgb/hdr_front_03203.png", + "transform_matrix": [ + [ + -0.013828879222273827, + -0.09865787625312805, + 0.9950253367424011, + 27.08686637878418 + ], + [ + -0.9998342394828796, + -0.010421168990433216, + -0.014928983524441719, + -5.79743766784668 + ], + [ + 0.011842191219329834, + -0.9950669407844543, + -0.0984974056482315, + -3.023043632507324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3203, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_738470315", + "mask_path": "../../mask/hdr_front_03203.png" + }, + { + "file_path": "../../rgb/hdr_front_03204.png", + "transform_matrix": [ + [ + -0.008453226648271084, + -0.09543603658676147, + 0.9953997135162354, + 27.018892288208008 + ], + [ + -0.9999619722366333, + -0.0013723541051149368, + -0.008623551577329636, + -5.801528453826904 + ], + [ + 0.0021890392526984215, + -0.9954347014427185, + -0.09542080014944077, + -3.0179121494293213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3204, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_838470220", + "mask_path": "../../mask/hdr_front_03204.png" + }, + { + "file_path": "../../rgb/hdr_front_03205.png", + "transform_matrix": [ + [ + -0.005247006192803383, + -0.09411890804767609, + 0.9955472350120544, + 26.957298278808594 + ], + [ + -0.9999846816062927, + 0.002248140284791589, + -0.005057855974882841, + -5.800718307495117 + ], + [ + -0.0017620876897126436, + -0.9955584406852722, + -0.09412926435470581, + -3.018198013305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3205, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_938469648", + "mask_path": "../../mask/hdr_front_03205.png" + }, + { + "file_path": "../../rgb/hdr_front_03206.png", + "transform_matrix": [ + [ + -0.007403758820146322, + -0.09170091152191162, + 0.995759129524231, + 26.890714645385742 + ], + [ + -0.9999570250511169, + 0.006242264527827501, + -0.006860112305730581, + -5.797928810119629 + ], + [ + -0.005586712621152401, + -0.9957671165466309, + -0.09174317866563797, + -3.0110347270965576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3206, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_38471937", + "mask_path": "../../mask/hdr_front_03206.png" + }, + { + "file_path": "../../rgb/hdr_front_03207.png", + "transform_matrix": [ + [ + -0.015825795009732246, + -0.08743718266487122, + 0.9960444569587708, + 26.82774543762207 + ], + [ + -0.9998441934585571, + 0.00916837528347969, + -0.015081334859132767, + -5.795734882354736 + ], + [ + -0.007813436910510063, + -0.9961278438568115, + -0.08756865561008453, + -2.9946930408477783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3207, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_138471603", + "mask_path": "../../mask/hdr_front_03207.png" + }, + { + "file_path": "../../rgb/hdr_front_03208.png", + "transform_matrix": [ + [ + -0.025132521986961365, + -0.09305861592292786, + 0.9953433871269226, + 26.77385902404785 + ], + [ + -0.9996832609176636, + 0.003670839359983802, + -0.02489890530705452, + -5.790803909301758 + ], + [ + -0.0013366867788136005, + -0.9956538677215576, + -0.09312138706445694, + -2.9848039150238037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3208, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_238470554", + "mask_path": "../../mask/hdr_front_03208.png" + }, + { + "file_path": "../../rgb/hdr_front_03209.png", + "transform_matrix": [ + [ + -0.03207843005657196, + -0.0952925980091095, + 0.9949323534965515, + 26.712392807006836 + ], + [ + -0.9994605183601379, + -0.00395812327042222, + -0.03260353207588196, + -5.785769462585449 + ], + [ + 0.007044940255582333, + -0.9954414367675781, + -0.09511421620845795, + -2.9738378524780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3209, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_338469982", + "mask_path": "../../mask/hdr_front_03209.png" + }, + { + "file_path": "../../rgb/hdr_front_03210.png", + "transform_matrix": [ + [ + -0.03537457808852196, + -0.09523104876279831, + 0.9948263764381409, + 26.637924194335938 + ], + [ + -0.9993454217910767, + -0.004163071047514677, + -0.03593379259109497, + -5.787647724151611 + ], + [ + 0.007563545368611813, + -0.995446503162384, + -0.09502144157886505, + -2.9615728855133057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3210, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_438471317", + "mask_path": "../../mask/hdr_front_03210.png" + }, + { + "file_path": "../../rgb/hdr_front_03211.png", + "transform_matrix": [ + [ + -0.03161503002047539, + -0.09348390996456146, + 0.9951187372207642, + 26.573772430419922 + ], + [ + -0.9994996190071106, + 0.0019611616153270006, + -0.03156998008489609, + -5.79444694519043 + ], + [ + 0.0009996957378461957, + -0.9956188797950745, + -0.09349913895130157, + -2.960909843444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3211, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_538470029", + "mask_path": "../../mask/hdr_front_03211.png" + }, + { + "file_path": "../../rgb/hdr_front_03212.png", + "transform_matrix": [ + [ + -0.028658481314778328, + -0.09113935381174088, + 0.9954257011413574, + 26.518335342407227 + ], + [ + -0.999589204788208, + 0.003102892078459263, + -0.028494255617260933, + -5.797661304473877 + ], + [ + -0.0004917507176287472, + -0.9958333969116211, + -0.09119081497192383, + -2.963555335998535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3212, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_638470172", + "mask_path": "../../mask/hdr_front_03212.png" + }, + { + "file_path": "../../rgb/hdr_front_03213.png", + "transform_matrix": [ + [ + -0.028492558747529984, + -0.08727012574672699, + 0.9957771897315979, + 26.4591064453125 + ], + [ + -0.9995934963226318, + 0.003558836877346039, + -0.028289856389164925, + -5.797122478485107 + ], + [ + -0.0010749490465968847, + -0.996178388595581, + -0.08733605593442917, + -2.956925630569458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3213, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_738471984", + "mask_path": "../../mask/hdr_front_03213.png" + }, + { + "file_path": "../../rgb/hdr_front_03214.png", + "transform_matrix": [ + [ + -0.03107973374426365, + -0.08689619600772858, + 0.9957324266433716, + 26.399770736694336 + ], + [ + -0.9995114803314209, + 0.006020097061991692, + -0.030672313645482063, + -5.794445991516113 + ], + [ + -0.00332909869030118, + -0.9961991906166077, + -0.08704083412885666, + -2.938952684402466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3214, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_838469505", + "mask_path": "../../mask/hdr_front_03214.png" + }, + { + "file_path": "../../rgb/hdr_front_03215.png", + "transform_matrix": [ + [ + -0.030787687748670578, + -0.09297996759414673, + 0.9951918721199036, + 26.34126091003418 + ], + [ + -0.9995257258415222, + 0.0035159988328814507, + -0.030593266710639, + -5.793298244476318 + ], + [ + -0.0006545326905325055, + -0.9956618547439575, + -0.09304411709308624, + -2.9306585788726807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3215, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_938470840", + "mask_path": "../../mask/hdr_front_03215.png" + }, + { + "file_path": "../../rgb/hdr_front_03216.png", + "transform_matrix": [ + [ + -0.02762169949710369, + -0.0967235341668129, + 0.9949280023574829, + 26.275428771972656 + ], + [ + -0.9996024966239929, + -0.0029447220731526613, + -0.02803775854408741, + -5.794461250305176 + ], + [ + 0.005641697905957699, + -0.9953069686889648, + -0.09660374373197556, + -2.921572685241699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3216, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_38470268", + "mask_path": "../../mask/hdr_front_03216.png" + }, + { + "file_path": "../../rgb/hdr_front_03217.png", + "transform_matrix": [ + [ + -0.01793009229004383, + -0.09700103849172592, + 0.9951227307319641, + 26.20113754272461 + ], + [ + -0.999809980392456, + -0.005876578856259584, + -0.018587376922369003, + -5.801441192626953 + ], + [ + 0.007650913670659065, + -0.9952669739723206, + -0.09687724709510803, + -2.909148693084717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3217, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_138470172", + "mask_path": "../../mask/hdr_front_03217.png" + }, + { + "file_path": "../../rgb/hdr_front_03218.png", + "transform_matrix": [ + [ + -0.0011022770777344704, + -0.0956771969795227, + 0.9954118728637695, + 26.13365364074707 + ], + [ + -0.9999902248382568, + 0.004349948838353157, + -0.0006892389501444995, + -5.8132829666137695 + ], + [ + -0.004264045041054487, + -0.9954029321670532, + -0.09568105638027191, + -2.901543140411377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3218, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_238470554", + "mask_path": "../../mask/hdr_front_03218.png" + }, + { + "file_path": "../../rgb/hdr_front_03219.png", + "transform_matrix": [ + [ + 0.016676640138030052, + -0.09033074229955673, + 0.9957721829414368, + 26.072216033935547 + ], + [ + -0.9998166561126709, + 0.007866058498620987, + 0.017457937821745872, + -5.820364952087402 + ], + [ + -0.009409790858626366, + -0.9958807826042175, + -0.09018299728631973, + -2.9045228958129883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3219, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_338470458", + "mask_path": "../../mask/hdr_front_03219.png" + }, + { + "file_path": "../../rgb/hdr_front_03220.png", + "transform_matrix": [ + [ + 0.033655647188425064, + -0.08623780310153961, + 0.9957059621810913, + 26.00537109375 + ], + [ + -0.9993725419044495, + 0.00809940043836832, + 0.03448106721043587, + -5.824064254760742 + ], + [ + -0.011038189753890038, + -0.9962416291236877, + -0.0859111025929451, + -2.895603656768799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3220, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_438469409", + "mask_path": "../../mask/hdr_front_03220.png" + }, + { + "file_path": "../../rgb/hdr_front_03221.png", + "transform_matrix": [ + [ + 0.04470670595765114, + -0.09171660989522934, + 0.9947810769081116, + 25.94478988647461 + ], + [ + -0.9989539980888367, + 0.005467629991471767, + 0.045398350805044174, + -5.829732894897461 + ], + [ + -0.00960287731140852, + -0.9957701563835144, + -0.09137623757123947, + -2.882190465927124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3221, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_538467884", + "mask_path": "../../mask/hdr_front_03221.png" + }, + { + "file_path": "../../rgb/hdr_front_03222.png", + "transform_matrix": [ + [ + 0.054985612630844116, + -0.09498945623636246, + 0.993958592414856, + 25.88356590270996 + ], + [ + -0.9984793066978455, + -0.0012963470071554184, + 0.05511182174086571, + -5.839498043060303 + ], + [ + -0.003946526441723108, + -0.9954774379730225, + -0.09491628408432007, + -2.8748650550842285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3222, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_638466596", + "mask_path": "../../mask/hdr_front_03222.png" + }, + { + "file_path": "../../rgb/hdr_front_03223.png", + "transform_matrix": [ + [ + 0.06357208639383316, + -0.09249776601791382, + 0.9936814308166504, + 25.81334114074707 + ], + [ + -0.9979704022407532, + -0.002203258452937007, + 0.06364138424396515, + -5.849643230438232 + ], + [ + -0.003697347594425082, + -0.9957104325294495, + -0.0924500897526741, + -2.8715176582336426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3223, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_738469123", + "mask_path": "../../mask/hdr_front_03223.png" + }, + { + "file_path": "../../rgb/hdr_front_03224.png", + "transform_matrix": [ + [ + 0.07204142957925797, + -0.08686455339193344, + 0.9936119318008423, + 25.74843978881836 + ], + [ + -0.9973626732826233, + 0.002525434596464038, + 0.07253417372703552, + -5.859049320220947 + ], + [ + -0.008809948340058327, + -0.9962169528007507, + -0.08645352721214294, + -2.8718080520629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3224, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_838469266", + "mask_path": "../../mask/hdr_front_03224.png" + }, + { + "file_path": "../../rgb/hdr_front_03225.png", + "transform_matrix": [ + [ + 0.07534673064947128, + -0.08472339063882828, + 0.9935516715049744, + 25.694950103759766 + ], + [ + -0.9970718026161194, + 0.006651619914919138, + 0.07618090510368347, + -5.862457275390625 + ], + [ + -0.013063030317425728, + -0.9963823556900024, + -0.08397413790225983, + -2.871203899383545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3225, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_938469171", + "mask_path": "../../mask/hdr_front_03225.png" + }, + { + "file_path": "../../rgb/hdr_front_03226.png", + "transform_matrix": [ + [ + 0.073454350233078, + -0.08138040453195572, + 0.9939727187156677, + 25.638519287109375 + ], + [ + -0.9971634745597839, + 0.010413624346256256, + 0.07454276084899902, + -5.8639726638793945 + ], + [ + -0.01641717739403248, + -0.9966287612915039, + -0.08038464188575745, + -2.867434024810791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3226, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_38469076", + "mask_path": "../../mask/hdr_front_03226.png" + }, + { + "file_path": "../../rgb/hdr_front_03227.png", + "transform_matrix": [ + [ + 0.06543584913015366, + -0.07588183879852295, + 0.9949674606323242, + 25.5819034576416 + ], + [ + -0.9976900219917297, + 0.01324891485273838, + 0.06662535667419434, + -5.863387107849121 + ], + [ + -0.018237890675663948, + -0.9970288276672363, + -0.07483960688114166, + -2.8564181327819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3227, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_138467311", + "mask_path": "../../mask/hdr_front_03227.png" + }, + { + "file_path": "../../rgb/hdr_front_03228.png", + "transform_matrix": [ + [ + 0.05392353609204292, + -0.08047503978013992, + 0.9952969551086426, + 25.526065826416016 + ], + [ + -0.9984683990478516, + 0.008007748052477837, + 0.054742828011512756, + -5.86139440536499 + ], + [ + -0.012375516816973686, + -0.9967244863510132, + -0.0799199640750885, + -2.8461523056030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3228, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_238469362", + "mask_path": "../../mask/hdr_front_03228.png" + }, + { + "file_path": "../../rgb/hdr_front_03229.png", + "transform_matrix": [ + [ + 0.04573846980929375, + -0.08243820071220398, + 0.9955461025238037, + 25.46320343017578 + ], + [ + -0.9989373087882996, + 0.001889339997433126, + 0.04605072736740112, + -5.8636298179626465 + ], + [ + -0.005677264183759689, + -0.9965944290161133, + -0.08226417750120163, + -2.8376479148864746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3229, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_338469266", + "mask_path": "../../mask/hdr_front_03229.png" + }, + { + "file_path": "../../rgb/hdr_front_03230.png", + "transform_matrix": [ + [ + 0.044109221547842026, + -0.07883426547050476, + 0.9959114789962769, + 25.39337158203125 + ], + [ + -0.9990013837814331, + 0.0036191672552376986, + 0.04453256353735924, + -5.8698296546936035 + ], + [ + -0.0071150618605315685, + -0.9968811869621277, + -0.07859589904546738, + -2.833343267440796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3230, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_438469171", + "mask_path": "../../mask/hdr_front_03230.png" + }, + { + "file_path": "../../rgb/hdr_front_03231.png", + "transform_matrix": [ + [ + 0.049355074763298035, + -0.07546531409025192, + 0.9959262609481812, + 25.332387924194336 + ], + [ + -0.9987056851387024, + 0.008542165160179138, + 0.05014009028673172, + -5.875207424163818 + ], + [ + -0.012291204184293747, + -0.9971118569374084, + -0.07494604587554932, + -2.8357300758361816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3231, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_538467168", + "mask_path": "../../mask/hdr_front_03231.png" + }, + { + "file_path": "../../rgb/hdr_front_03232.png", + "transform_matrix": [ + [ + 0.051550060510635376, + -0.07211818546056747, + 0.9960631132125854, + 25.273839950561523 + ], + [ + -0.9985912442207336, + 0.00883412454277277, + 0.05232052877545357, + -5.878622531890869 + ], + [ + -0.012572606094181538, + -0.9973570108413696, + -0.07156118750572205, + -2.8350186347961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3232, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_638468742", + "mask_path": "../../mask/hdr_front_03232.png" + }, + { + "file_path": "../../rgb/hdr_front_03233.png", + "transform_matrix": [ + [ + 0.04942237585783005, + -0.06940871477127075, + 0.9963633418083191, + 25.21154022216797 + ], + [ + -0.9986717700958252, + 0.0111106988042593, + 0.050310879945755005, + -5.877106189727783 + ], + [ + -0.014562305063009262, + -0.9975264668464661, + -0.06876742839813232, + -2.824985980987549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3233, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_738469600", + "mask_path": "../../mask/hdr_front_03233.png" + }, + { + "file_path": "../../rgb/hdr_front_03234.png", + "transform_matrix": [ + [ + 0.045238886028528214, + -0.07494198530912399, + 0.9961612820625305, + 25.156688690185547 + ], + [ + -0.9988861680030823, + 0.009993153624236584, + 0.04611443728208542, + -5.879475116729736 + ], + [ + -0.013410698622465134, + -0.9971379041671753, + -0.07440643757581711, + -2.8124032020568848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3234, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_838469266", + "mask_path": "../../mask/hdr_front_03234.png" + }, + { + "file_path": "../../rgb/hdr_front_03235.png", + "transform_matrix": [ + [ + 0.04825974628329277, + -0.0796058252453804, + 0.9956575632095337, + 25.09868812561035 + ], + [ + -0.9988077282905579, + 0.003492404008284211, + 0.04869166761636734, + -5.888134956359863 + ], + [ + -0.007353378925472498, + -0.996820330619812, + -0.07934238016605377, + -2.803621530532837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3235, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_938469648", + "mask_path": "../../mask/hdr_front_03235.png" + }, + { + "file_path": "../../rgb/hdr_front_03236.png", + "transform_matrix": [ + [ + 0.05699997767806053, + -0.07876826077699661, + 0.995262086391449, + 25.03024673461914 + ], + [ + -0.9983454346656799, + 0.003065466182306409, + 0.05741918087005615, + -5.900805950164795 + ], + [ + -0.007573749404400587, + -0.996888279914856, + -0.07846320420503616, + -2.7985079288482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3236, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_38469076", + "mask_path": "../../mask/hdr_front_03236.png" + }, + { + "file_path": "../../rgb/hdr_front_03237.png", + "transform_matrix": [ + [ + 0.07160425931215286, + -0.07573452591896057, + 0.9945537447929382, + 24.971101760864258 + ], + [ + -0.9973236918449402, + 0.009333055466413498, + 0.07251439988613129, + -5.9125590324401855 + ], + [ + -0.014774065464735031, + -0.9970844388008118, + -0.07486353814601898, + -2.8020761013031006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3237, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_138469696", + "mask_path": "../../mask/hdr_front_03237.png" + }, + { + "file_path": "../../rgb/hdr_front_03238.png", + "transform_matrix": [ + [ + 0.08254173398017883, + -0.0757199078798294, + 0.9937069416046143, + 24.919523239135742 + ], + [ + -0.9964240193367004, + 0.011795206926763058, + 0.08366622030735016, + -5.921762943267822 + ], + [ + -0.018056176602840424, + -0.9970593452453613, + -0.07447553426027298, + -2.8024632930755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3238, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_238470554", + "mask_path": "../../mask/hdr_front_03238.png" + }, + { + "file_path": "../../rgb/hdr_front_03239.png", + "transform_matrix": [ + [ + 0.0884680226445198, + -0.07592593133449554, + 0.9931811094284058, + 24.866840362548828 + ], + [ + -0.9959125518798828, + 0.011487390846014023, + 0.08958952873945236, + -5.927201747894287 + ], + [ + -0.018211225047707558, + -0.9970473051071167, + -0.07459932565689087, + -2.793840169906616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3239, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_338469982", + "mask_path": "../../mask/hdr_front_03239.png" + }, + { + "file_path": "../../rgb/hdr_front_03240.png", + "transform_matrix": [ + [ + 0.08783648908138275, + -0.07837895303964615, + 0.9930465817451477, + 24.814804077148438 + ], + [ + -0.9959792494773865, + 0.010715998709201813, + 0.08894168585538864, + -5.931095123291016 + ], + [ + -0.01761263981461525, + -0.9968661069869995, + -0.07712255418300629, + -2.7786173820495605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3240, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_438472986", + "mask_path": "../../mask/hdr_front_03240.png" + }, + { + "file_path": "../../rgb/hdr_front_03242.png", + "transform_matrix": [ + [ + 0.0884770005941391, + -0.08628890663385391, + 0.9923335909843445, + 24.703462600708008 + ], + [ + -0.9960370659828186, + 0.0013896649470552802, + 0.08892805129289627, + -5.943144798278809 + ], + [ + -0.009052513167262077, + -0.9962692260742188, + -0.08582398295402527, + -2.761892318725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3242, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_638469934", + "mask_path": "../../mask/hdr_front_03242.png" + }, + { + "file_path": "../../rgb/hdr_left_01041.png", + "transform_matrix": [ + [ + 0.990080714225769, + -0.09934411942958832, + 0.09935210645198822, + 25.248058319091797 + ], + [ + -0.09947322309017181, + 0.0037456988357007504, + 0.9950331449508667, + -6.342944145202637 + ], + [ + -0.099222831428051, + -0.9950461387634277, + -0.006173533387482166, + -2.81487774848938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1041, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_938470363", + "mask_path": "../../mask/hdr_left_01041.png" + }, + { + "file_path": "../../rgb/hdr_left_01042.png", + "transform_matrix": [ + [ + 0.9891299605369568, + -0.08999525755643845, + 0.1162867546081543, + 25.326833724975586 + ], + [ + -0.11663339287042618, + 0.0014157420955598354, + 0.9931740164756775, + -6.337898254394531 + ], + [ + -0.08954557776451111, + -0.9959412217140198, + -0.009096096269786358, + -2.8239665031433105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1042, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_38470029", + "mask_path": "../../mask/hdr_left_01042.png" + }, + { + "file_path": "../../rgb/hdr_left_01043.png", + "transform_matrix": [ + [ + 0.9882420897483826, + -0.08719589561223984, + 0.1255960911512375, + 25.435142517089844 + ], + [ + -0.12640352547168732, + -0.003778909333050251, + 0.9919716715812683, + -6.33191442489624 + ], + [ + -0.08602122962474823, + -0.9961840510368347, + -0.014756344258785248, + -2.837172746658325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_138469457", + "mask_path": "../../mask/hdr_left_01043.png" + }, + { + "file_path": "../../rgb/hdr_left_01044.png", + "transform_matrix": [ + [ + 0.9880829453468323, + -0.09165174514055252, + 0.12366107106208801, + 25.519575119018555 + ], + [ + -0.12476085126399994, + -0.0063466597348451614, + 0.9921665787696838, + -6.319704055786133 + ], + [ + -0.09014895558357239, + -0.9957709312438965, + -0.01770557276904583, + -2.8493456840515137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_238469362", + "mask_path": "../../mask/hdr_left_01044.png" + }, + { + "file_path": "../../rgb/hdr_left_01045.png", + "transform_matrix": [ + [ + 0.9882537126541138, + -0.09149805456399918, + 0.12240345031023026, + 25.591949462890625 + ], + [ + -0.12340802699327469, + -0.005381985567510128, + 0.9923413395881653, + -6.313134670257568 + ], + [ + -0.09013853222131729, + -0.9957907199859619, + -0.01661035791039467, + -2.860013961791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1045, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_338469266", + "mask_path": "../../mask/hdr_left_01045.png" + }, + { + "file_path": "../../rgb/hdr_left_01046.png", + "transform_matrix": [ + [ + 0.9880528450012207, + -0.09121023118495941, + 0.12422643601894379, + 25.68684959411621 + ], + [ + -0.12517979741096497, + -0.004784680437296629, + 0.99212247133255, + -6.3117804527282715 + ], + [ + -0.08989733457565308, + -0.995820164680481, + -0.016145192086696625, + -2.8675153255462646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_438469648", + "mask_path": "../../mask/hdr_left_01046.png" + }, + { + "file_path": "../../rgb/hdr_left_01047.png", + "transform_matrix": [ + [ + 0.9871598482131958, + -0.08794296532869339, + 0.133346825838089, + 25.780750274658203 + ], + [ + -0.13468167185783386, + -0.009396594949066639, + 0.9908443689346313, + -6.313614845275879 + ], + [ + -0.08588477969169617, + -0.9960811734199524, + -0.021120242774486542, + -2.86696457862854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1047, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_538469314", + "mask_path": "../../mask/hdr_left_01047.png" + }, + { + "file_path": "../../rgb/hdr_left_01048.png", + "transform_matrix": [ + [ + 0.985379695892334, + -0.0815822035074234, + 0.14957019686698914, + 25.850605010986328 + ], + [ + -0.1504981815814972, + -0.005311857908964157, + 0.9885959625244141, + -6.3152756690979 + ], + [ + -0.07985733449459076, + -0.9966525435447693, + -0.017512166872620583, + -2.8660714626312256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_638469219", + "mask_path": "../../mask/hdr_left_01048.png" + }, + { + "file_path": "../../rgb/hdr_left_01049.png", + "transform_matrix": [ + [ + 0.9833729863166809, + -0.0765286460518837, + 0.16468407213687897, + 25.930435180664062 + ], + [ + -0.16594389081001282, + -0.01036123838275671, + 0.9860807657241821, + -6.3149919509887695 + ], + [ + -0.07375708222389221, + -0.9970135688781738, + -0.02288842387497425, + -2.871913194656372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1049, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_738471984", + "mask_path": "../../mask/hdr_left_01049.png" + }, + { + "file_path": "../../rgb/hdr_left_01050.png", + "transform_matrix": [ + [ + 0.9822718501091003, + -0.0779385045170784, + 0.17049211263656616, + 26.034494400024414 + ], + [ + -0.17233628034591675, + -0.01753215119242668, + 0.984882116317749, + -6.313425540924072 + ], + [ + -0.0737711489200592, + -0.9968040585517883, + -0.0306529700756073, + -2.8851819038391113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1050, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_838469743", + "mask_path": "../../mask/hdr_left_01050.png" + }, + { + "file_path": "../../rgb/hdr_left_01051.png", + "transform_matrix": [ + [ + 0.9824178814888, + -0.08070414513349533, + 0.1683504283428192, + 26.114091873168945 + ], + [ + -0.17054235935211182, + -0.021033884957432747, + 0.985125720500946, + -6.310576915740967 + ], + [ + -0.07596267014741898, + -0.9965161681175232, + -0.03442753478884697, + -2.8967833518981934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1051, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_938469409", + "mask_path": "../../mask/hdr_left_01051.png" + }, + { + "file_path": "../../rgb/hdr_left_01052.png", + "transform_matrix": [ + [ + 0.9827261567115784, + -0.07915375381708145, + 0.16728410124778748, + 26.19021987915039 + ], + [ + -0.16940800845623016, + -0.020876839756965637, + 0.9853249192237854, + -6.312070846557617 + ], + [ + -0.07449980080127716, + -0.9966439008712769, + -0.03392549231648445, + -2.9039149284362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1052, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_38469552", + "mask_path": "../../mask/hdr_left_01052.png" + }, + { + "file_path": "../../rgb/hdr_left_01053.png", + "transform_matrix": [ + [ + 0.9822959899902344, + -0.07853858172893524, + 0.1700771301984787, + 26.286340713500977 + ], + [ + -0.17199493944644928, + -0.01828637905418873, + 0.9849280118942261, + -6.319453716278076 + ], + [ + -0.07424476742744446, + -0.9967434406280518, + -0.03147087246179581, + -2.9130795001983643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1053, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_138467311", + "mask_path": "../../mask/hdr_left_01053.png" + }, + { + "file_path": "../../rgb/hdr_left_01054.png", + "transform_matrix": [ + [ + 0.9802990555763245, + -0.07955386489629745, + 0.18078966438770294, + 26.375654220581055 + ], + [ + -0.18266935646533966, + -0.016960639506578445, + 0.9830281138420105, + -6.326361656188965 + ], + [ + -0.07513737678527832, + -0.9966862797737122, + -0.031158549711108208, + -2.9136335849761963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1054, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_238468647", + "mask_path": "../../mask/hdr_left_01054.png" + }, + { + "file_path": "../../rgb/hdr_left_01055.png", + "transform_matrix": [ + [ + 0.9776445627212524, + -0.07539944350719452, + 0.19628019630908966, + 26.439119338989258 + ], + [ + -0.19772781431674957, + -0.012166113592684269, + 0.9801814556121826, + -6.33060884475708 + ], + [ + -0.07151716947555542, + -0.9970791935920715, + -0.026802698150277138, + -2.9120969772338867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1055, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_338470935", + "mask_path": "../../mask/hdr_left_01055.png" + }, + { + "file_path": "../../rgb/hdr_left_01056.png", + "transform_matrix": [ + [ + 0.9750051498413086, + -0.07273317128419876, + 0.2099398672580719, + 26.524036407470703 + ], + [ + -0.211552694439888, + -0.015142683871090412, + 0.9772493243217468, + -6.335471153259277 + ], + [ + -0.06789936870336533, + -0.9972364902496338, + -0.030151087790727615, + -2.9238619804382324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_438469409", + "mask_path": "../../mask/hdr_left_01056.png" + }, + { + "file_path": "../../rgb/hdr_left_01057.png", + "transform_matrix": [ + [ + 0.9739294648170471, + -0.08100438863039017, + 0.2118956595659256, + 26.620237350463867 + ], + [ + -0.21430756151676178, + -0.022240370512008667, + 0.9765130281448364, + -6.336843013763428 + ], + [ + -0.07438919693231583, + -0.9964656233787537, + -0.03902040049433708, + -2.939033269882202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1057, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_538469791", + "mask_path": "../../mask/hdr_left_01057.png" + }, + { + "file_path": "../../rgb/hdr_left_01058.png", + "transform_matrix": [ + [ + 0.974433958530426, + -0.08624628931283951, + 0.20746083557605743, + 26.69741439819336 + ], + [ + -0.21041448414325714, + -0.02659612149000168, + 0.9772504568099976, + -6.3342461585998535 + ], + [ + -0.07876655459403992, + -0.9959188103675842, + -0.04406362399458885, + -2.9514272212982178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_638469696", + "mask_path": "../../mask/hdr_left_01058.png" + }, + { + "file_path": "../../rgb/hdr_left_01059.png", + "transform_matrix": [ + [ + 0.9754028916358948, + -0.08819307386875153, + 0.20201776921749115, + 26.776674270629883 + ], + [ + -0.20485126972198486, + -0.02426125854253769, + 0.9784923791885376, + -6.334183216094971 + ], + [ + -0.08139504492282867, + -0.995807945728302, + -0.041730958968400955, + -2.9612181186676025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_738471031", + "mask_path": "../../mask/hdr_left_01059.png" + }, + { + "file_path": "../../rgb/hdr_left_01060.png", + "transform_matrix": [ + [ + 0.9764487147331238, + -0.0939151868224144, + 0.19423632323741913, + 26.871980667114258 + ], + [ + -0.1969532072544098, + -0.020492054522037506, + 0.9801986813545227, + -6.337403774261475 + ], + [ + -0.08807523548603058, + -0.9953693151473999, + -0.03850633651018143, + -2.9739267826080322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1060, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_838470458", + "mask_path": "../../mask/hdr_left_01060.png" + }, + { + "file_path": "../../rgb/hdr_left_01061.png", + "transform_matrix": [ + [ + 0.9762217998504639, + -0.10144130140542984, + 0.1915740668773651, + 26.95637321472168 + ], + [ + -0.19465908408164978, + -0.02134743332862854, + 0.9806386828422546, + -6.338054180145264 + ], + [ + -0.09538764506578445, + -0.994612455368042, + -0.04058629274368286, + -2.9830408096313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1061, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_938470363", + "mask_path": "../../mask/hdr_left_01061.png" + }, + { + "file_path": "../../rgb/hdr_left_01062.png", + "transform_matrix": [ + [ + 0.9760051369667053, + -0.10039784759283066, + 0.19322097301483154, + 27.018892288208008 + ], + [ + -0.19591379165649414, + -0.017597876489162445, + 0.9804632663726807, + -6.339753150939941 + ], + [ + -0.0950361117720604, + -0.9947918653488159, + -0.03684493526816368, + -2.991483688354492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1062, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_38470268", + "mask_path": "../../mask/hdr_left_01062.png" + }, + { + "file_path": "../../rgb/hdr_left_01063.png", + "transform_matrix": [ + [ + 0.9766337275505066, + -0.09735812246799469, + 0.19159340858459473, + 27.10061264038086 + ], + [ + -0.1940789669752121, + -0.016646722331643105, + 0.9808447360992432, + -6.341216564178467 + ], + [ + -0.09230378270149231, + -0.9951102137565613, + -0.03515290841460228, + -3.0056700706481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_138470172", + "mask_path": "../../mask/hdr_left_01063.png" + }, + { + "file_path": "../../rgb/hdr_left_01064.png", + "transform_matrix": [ + [ + 0.9794566035270691, + -0.10175734013319016, + 0.17409878969192505, + 27.204648971557617 + ], + [ + -0.17712341248989105, + -0.02141563594341278, + 0.9839556217193604, + -6.331732273101807 + ], + [ + -0.09639626741409302, + -0.9945787191390991, + -0.0389992855489254, + -3.017326593399048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1064, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_238470554", + "mask_path": "../../mask/hdr_left_01064.png" + }, + { + "file_path": "../../rgb/hdr_left_01065.png", + "transform_matrix": [ + [ + 0.9829076528549194, + -0.1019056960940361, + 0.15332254767417908, + 27.2807559967041 + ], + [ + -0.15640000998973846, + -0.02288057468831539, + 0.9874287247657776, + -6.3152756690979 + ], + [ + -0.09711649268865585, + -0.9945309162139893, + -0.03842753916978836, + -3.024623394012451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_338470458", + "mask_path": "../../mask/hdr_left_01065.png" + }, + { + "file_path": "../../rgb/hdr_left_01066.png", + "transform_matrix": [ + [ + 0.9849307537078857, + -0.09965312480926514, + 0.14135287702083588, + 27.355201721191406 + ], + [ + -0.14358659088611603, + -0.01557424757629633, + 0.9895151257514954, + -6.306000232696533 + ], + [ + -0.09640680998563766, + -0.9949004054069519, + -0.02964840456843376, + -3.0350852012634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1066, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_438470363", + "mask_path": "../../mask/hdr_left_01066.png" + }, + { + "file_path": "../../rgb/hdr_left_01067.png", + "transform_matrix": [ + [ + 0.9853846430778503, + -0.0992920994758606, + 0.1384132355451584, + 27.44890594482422 + ], + [ + -0.1401549130678177, + -0.010751570574939251, + 0.9900712370872498, + -6.304428577423096 + ], + [ + -0.09681808948516846, + -0.9950002431869507, + -0.0245107039809227, + -3.0447146892547607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_538469552", + "mask_path": "../../mask/hdr_left_01067.png" + }, + { + "file_path": "../../rgb/hdr_left_01068.png", + "transform_matrix": [ + [ + 0.9840409159660339, + -0.0960453525185585, + 0.14979541301727295, + 27.533275604248047 + ], + [ + -0.1510397046804428, + -0.005776902195066214, + 0.98851078748703, + -6.3044304847717285 + ], + [ + -0.09407650679349899, + -0.995360255241394, + -0.020191362127661705, + -3.0406999588012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_638469457", + "mask_path": "../../mask/hdr_left_01068.png" + }, + { + "file_path": "../../rgb/hdr_left_01069.png", + "transform_matrix": [ + [ + 0.9821003675460815, + -0.08868936449289322, + 0.16617169976234436, + 27.60535430908203 + ], + [ + -0.1672181785106659, + -0.004450321663171053, + 0.9859098196029663, + -6.299548625946045 + ], + [ + -0.0867002010345459, + -0.9960494041442871, + -0.019201131537556648, + -3.0440094470977783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_738469362", + "mask_path": "../../mask/hdr_left_01069.png" + }, + { + "file_path": "../../rgb/hdr_left_01070.png", + "transform_matrix": [ + [ + 0.9802722334861755, + -0.08417727798223495, + 0.17883066833019257, + 27.703126907348633 + ], + [ + -0.18045347929000854, + -0.012019486166536808, + 0.9835100173950195, + -6.296666622161865 + ], + [ + -0.08063974976539612, + -0.9963783621788025, + -0.026972448453307152, + -3.0581023693084717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1070, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_838469505", + "mask_path": "../../mask/hdr_left_01070.png" + }, + { + "file_path": "../../rgb/hdr_left_01071.png", + "transform_matrix": [ + [ + 0.9800946116447449, + -0.08758784830570221, + 0.17816542088985443, + 27.802188873291016 + ], + [ + -0.17969806492328644, + -0.00987277552485466, + 0.9836722612380981, + -6.289315700531006 + ], + [ + -0.08439873158931732, + -0.9961079359054565, + -0.025415616109967232, + -3.0776546001434326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_938469171", + "mask_path": "../../mask/hdr_left_01071.png" + }, + { + "file_path": "../../rgb/hdr_left_01072.png", + "transform_matrix": [ + [ + 0.9803513288497925, + -0.08985158801078796, + 0.17560696601867676, + 27.86759376525879 + ], + [ + -0.17717985808849335, + -0.00977657362818718, + 0.9841299057006836, + -6.282038688659668 + ], + [ + -0.08670880645513535, + -0.9959073066711426, + -0.02550436183810234, + -3.0913703441619873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1072, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_38469314", + "mask_path": "../../mask/hdr_left_01072.png" + }, + { + "file_path": "../../rgb/hdr_left_01073.png", + "transform_matrix": [ + [ + 0.9800640344619751, + -0.09210768342018127, + 0.17604155838489532, + 27.9512939453125 + ], + [ + -0.17740854620933533, + -0.006805130280554295, + 0.9841137528419495, + -6.2843194007873535 + ], + [ + -0.08944644778966904, + -0.9957258701324463, + -0.023010149598121643, + -3.105835437774658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1073, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_138470888", + "mask_path": "../../mask/hdr_left_01073.png" + }, + { + "file_path": "../../rgb/hdr_left_01074.png", + "transform_matrix": [ + [ + 0.9782493710517883, + -0.09821682423353195, + 0.1827063411474228, + 28.041528701782227 + ], + [ + -0.18393175303936005, + -0.0034928324166685343, + 0.9829328060150146, + -6.290018081665039 + ], + [ + -0.09590236842632294, + -0.9951590299606323, + -0.02148204669356346, + -3.111865997314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1074, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_238470077", + "mask_path": "../../mask/hdr_left_01074.png" + }, + { + "file_path": "../../rgb/hdr_left_01075.png", + "transform_matrix": [ + [ + 0.9758468270301819, + -0.09793671220541, + 0.1952720433473587, + 28.11259651184082 + ], + [ + -0.19624944031238556, + -0.00035353066050447524, + 0.980553925037384, + -6.294609069824219 + ], + [ + -0.09596318006515503, + -0.9951925873756409, + -0.01956501230597496, + -3.1129958629608154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1075, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_338469982", + "mask_path": "../../mask/hdr_left_01075.png" + }, + { + "file_path": "../../rgb/hdr_left_01076.png", + "transform_matrix": [ + [ + 0.9730230569839478, + -0.09399954974651337, + 0.2106897085905075, + 28.1832275390625 + ], + [ + -0.2121918499469757, + -0.006167946383357048, + 0.9772085547447205, + -6.297779083251953 + ], + [ + -0.09055763483047485, + -0.995553195476532, + -0.025947485119104385, + -3.1248245239257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1076, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_438470363", + "mask_path": "../../mask/hdr_left_01076.png" + }, + { + "file_path": "../../rgb/hdr_left_01077.png", + "transform_matrix": [ + [ + 0.9706369638442993, + -0.09758547693490982, + 0.21986553072929382, + 28.27655029296875 + ], + [ + -0.22267019748687744, + -0.018710462376475334, + 0.9747142791748047, + -6.304739475250244 + ], + [ + -0.09100416302680969, + -0.9950513243675232, + -0.039890438318252563, + -3.1387648582458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_538470029", + "mask_path": "../../mask/hdr_left_01077.png" + }, + { + "file_path": "../../rgb/hdr_left_01078.png", + "transform_matrix": [ + [ + 0.969989538192749, + -0.10672847926616669, + 0.21847063302993774, + 28.363492965698242 + ], + [ + -0.2219262272119522, + -0.02150474674999714, + 0.9748263359069824, + -6.307482719421387 + ], + [ + -0.09934356808662415, + -0.9940556287765503, + -0.04454522207379341, + -3.153578758239746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1078, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_638470888", + "mask_path": "../../mask/hdr_left_01078.png" + }, + { + "file_path": "../../rgb/hdr_left_01079.png", + "transform_matrix": [ + [ + 0.9699795246124268, + -0.10680675506591797, + 0.2184765636920929, + 28.437606811523438 + ], + [ + -0.22173501551151276, + -0.019502710551023483, + 0.9749119281768799, + -6.307137966156006 + ], + [ + -0.09986629337072372, + -0.9940885305404663, + -0.04260002449154854, + -3.166755437850952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1079, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_738470554", + "mask_path": "../../mask/hdr_left_01079.png" + }, + { + "file_path": "../../rgb/hdr_left_01080.png", + "transform_matrix": [ + [ + 0.9693838953971863, + -0.10844399034976959, + 0.2203064113855362, + 28.532699584960938 + ], + [ + -0.22330084443092346, + -0.016137920320034027, + 0.9746159911155701, + -6.316066741943359 + ], + [ + -0.10213595628738403, + -0.993971586227417, + -0.03985946625471115, + -3.179295778274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1080, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_838470935", + "mask_path": "../../mask/hdr_left_01080.png" + }, + { + "file_path": "../../rgb/hdr_left_01081.png", + "transform_matrix": [ + [ + 0.967052161693573, + -0.11158948391675949, + 0.22881819307804108, + 28.626483917236328 + ], + [ + -0.23198381066322327, + -0.016085295006632805, + 0.9725865721702576, + -6.327455997467041 + ], + [ + -0.10484982281923294, + -0.993624210357666, + -0.041442275047302246, + -3.1867241859436035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_938470125", + "mask_path": "../../mask/hdr_left_01081.png" + }, + { + "file_path": "../../rgb/hdr_left_01082.png", + "transform_matrix": [ + [ + 0.9639200568199158, + -0.10638812929391861, + 0.24400731921195984, + 28.687095642089844 + ], + [ + -0.24662667512893677, + -0.011998088099062443, + 0.9690362811088562, + -6.333115577697754 + ], + [ + -0.10016632825136185, + -0.9942523241043091, + -0.037803348153829575, + -3.1871330738067627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1082, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_38470745", + "mask_path": "../../mask/hdr_left_01082.png" + }, + { + "file_path": "../../rgb/hdr_left_01083.png", + "transform_matrix": [ + [ + 0.9598828554153442, + -0.10185135155916214, + 0.2612491548061371, + 28.759424209594727 + ], + [ + -0.264039546251297, + -0.01471193227916956, + 0.9643996357917786, + -6.3388872146606445 + ], + [ + -0.0943819209933281, + -0.9946908950805664, + -0.04101451113820076, + -3.198333263397217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1083, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_138470888", + "mask_path": "../../mask/hdr_left_01083.png" + }, + { + "file_path": "../../rgb/hdr_left_01084.png", + "transform_matrix": [ + [ + 0.9570574760437012, + -0.10320459306240082, + 0.2709055542945862, + 28.859724044799805 + ], + [ + -0.2743441164493561, + -0.02045120671391487, + 0.961414098739624, + -6.347713947296143 + ], + [ + -0.09368200600147247, + -0.9944499135017395, + -0.047886550426483154, + -3.2156708240509033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1084, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_238470077", + "mask_path": "../../mask/hdr_left_01084.png" + }, + { + "file_path": "../../rgb/hdr_left_01085.png", + "transform_matrix": [ + [ + 0.957557201385498, + -0.10799712687730789, + 0.2672469913959503, + 28.950958251953125 + ], + [ + -0.2712559998035431, + -0.024039333686232567, + 0.9622069597244263, + -6.352185249328613 + ], + [ + -0.09749114513397217, + -0.9938605427742004, + -0.052313901484012604, + -3.2266361713409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1085, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_338470220", + "mask_path": "../../mask/hdr_left_01085.png" + }, + { + "file_path": "../../rgb/hdr_left_01086.png", + "transform_matrix": [ + [ + 0.958336591720581, + -0.10711170732975006, + 0.2647979259490967, + 29.023395538330078 + ], + [ + -0.2685554623603821, + -0.022061895579099655, + 0.9630115032196045, + -6.356163501739502 + ], + [ + -0.09730786085128784, + -0.9940022230148315, + -0.04990815371274948, + -3.2430219650268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1086, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_438470363", + "mask_path": "../../mask/hdr_left_01086.png" + }, + { + "file_path": "../../rgb/hdr_left_01087.png", + "transform_matrix": [ + [ + 0.9581142067909241, + -0.10958531498908997, + 0.2645907402038574, + 29.11101722717285 + ], + [ + -0.2679942548274994, + -0.017321553081274033, + 0.9632648229598999, + -6.3633294105529785 + ], + [ + -0.10097654908895493, + -0.9938265085220337, + -0.045964259654283524, + -3.2567861080169678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1087, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_538469552", + "mask_path": "../../mask/hdr_left_01087.png" + }, + { + "file_path": "../../rgb/hdr_left_01088.png", + "transform_matrix": [ + [ + 0.9551984667778015, + -0.11765270680189133, + 0.2715763449668884, + 29.19344711303711 + ], + [ + -0.27534401416778564, + -0.016735296696424484, + 0.9612000584602356, + -6.372073650360107 + ], + [ + -0.10854286700487137, + -0.9929137825965881, + -0.04838049039244652, + -3.261734962463379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1088, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_638469696", + "mask_path": "../../mask/hdr_left_01088.png" + }, + { + "file_path": "../../rgb/hdr_left_01089.png", + "transform_matrix": [ + [ + 0.9524460434913635, + -0.11341717839241028, + 0.28281280398368835, + 29.260995864868164 + ], + [ + -0.2861022651195526, + -0.013516091741621494, + 0.9581037163734436, + -6.383513450622559 + ], + [ + -0.1048428937792778, + -0.9934555292129517, + -0.045322250574827194, + -3.265204429626465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1089, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_738470792", + "mask_path": "../../mask/hdr_left_01089.png" + }, + { + "file_path": "../../rgb/hdr_left_01090.png", + "transform_matrix": [ + [ + 0.9492229223251343, + -0.10863728076219559, + 0.29525187611579895, + 29.33591651916504 + ], + [ + -0.2985386848449707, + -0.014974797144532204, + 0.9542800784111023, + -6.3953776359558105 + ], + [ + -0.09924905002117157, + -0.9939687848091125, + -0.0466468520462513, + -3.2785449028015137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1090, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_838469743", + "mask_path": "../../mask/hdr_left_01090.png" + }, + { + "file_path": "../../rgb/hdr_left_01091.png", + "transform_matrix": [ + [ + 0.9481773376464844, + -0.11100880056619644, + 0.29771900177001953, + 29.438024520874023 + ], + [ + -0.3017014265060425, + -0.020599404349923134, + 0.9531798362731934, + -6.4085774421691895 + ], + [ + -0.09967850893735886, + -0.99360591173172, + -0.05302339792251587, + -3.295992851257324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1091, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_938469648", + "mask_path": "../../mask/hdr_left_01091.png" + }, + { + "file_path": "../../rgb/hdr_left_01092.png", + "transform_matrix": [ + [ + 0.9497096538543701, + -0.1171252653002739, + 0.290401816368103, + 29.521150588989258 + ], + [ + -0.29489749670028687, + -0.02269347757101059, + 0.9552593231201172, + -6.412133693695068 + ], + [ + -0.10529476404190063, + -0.9928578734397888, + -0.05609215795993805, + -3.306751251220703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_38470268", + "mask_path": "../../mask/hdr_left_01092.png" + }, + { + "file_path": "../../rgb/hdr_left_01093.png", + "transform_matrix": [ + [ + 0.951741099357605, + -0.11523373425006866, + 0.28444692492485046, + 29.600725173950195 + ], + [ + -0.2884320616722107, + -0.019171370193362236, + 0.9573083519935608, + -6.418421745300293 + ], + [ + -0.10486098378896713, + -0.9931535124778748, + -0.05148327723145485, + -3.321007251739502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1093, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_138470172", + "mask_path": "../../mask/hdr_left_01093.png" + }, + { + "file_path": "../../rgb/hdr_left_01094.png", + "transform_matrix": [ + [ + 0.9528030157089233, + -0.11386788636445999, + 0.28142568469047546, + 29.696775436401367 + ], + [ + -0.2845419645309448, + -0.01176986750215292, + 0.9585912823677063, + -6.43370246887207 + ], + [ + -0.10584042221307755, + -0.9934262037277222, + -0.04361455515027046, + -3.335963010787964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_238470792", + "mask_path": "../../mask/hdr_left_01094.png" + }, + { + "file_path": "../../rgb/hdr_left_01095.png", + "transform_matrix": [ + [ + 0.9509926438331604, + -0.11608133465051651, + 0.28659719228744507, + 29.788408279418945 + ], + [ + -0.28949281573295593, + -0.008539784699678421, + 0.9571421146392822, + -6.452509880065918 + ], + [ + -0.10865884274244308, + -0.9932030439376831, + -0.04172597825527191, + -3.3374826908111572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1095, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_338470458", + "mask_path": "../../mask/hdr_left_01095.png" + }, + { + "file_path": "../../rgb/hdr_left_01096.png", + "transform_matrix": [ + [ + 0.9490955471992493, + -0.11352714896202087, + 0.29381799697875977, + 29.84939193725586 + ], + [ + -0.2963184416294098, + -0.0054320842027664185, + 0.9550737738609314, + -6.4618659019470215 + ], + [ + -0.10683074593544006, + -0.9935200810432434, + -0.038795746862888336, + -3.3408923149108887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_438470125", + "mask_path": "../../mask/hdr_left_01096.png" + }, + { + "file_path": "../../rgb/hdr_left_01097.png", + "transform_matrix": [ + [ + 0.9489447474479675, + -0.10850918292999268, + 0.2961917221546173, + 29.924856185913086 + ], + [ + -0.29875248670578003, + -0.007779720239341259, + 0.9542987942695618, + -6.469866752624512 + ], + [ + -0.10124590247869492, + -0.9940650463104248, + -0.03979990631341934, + -3.356524705886841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1097, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_538469552", + "mask_path": "../../mask/hdr_left_01097.png" + }, + { + "file_path": "../../rgb/hdr_left_01098.png", + "transform_matrix": [ + [ + 0.9523841738700867, + -0.10786882787942886, + 0.2851819396018982, + 30.027965545654297 + ], + [ + -0.2877773344516754, + -0.00897929072380066, + 0.9576552510261536, + -6.477909564971924 + ], + [ + -0.10074041038751602, + -0.9941246509552002, + -0.039593927562236786, + -3.3739519119262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1098, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_638470888", + "mask_path": "../../mask/hdr_left_01098.png" + }, + { + "file_path": "../../rgb/hdr_left_01099.png", + "transform_matrix": [ + [ + 0.9604189991950989, + -0.11212451010942459, + 0.25499656796455383, + 30.116647720336914 + ], + [ + -0.2576344609260559, + -0.009456682950258255, + 0.9661961793899536, + -6.473025798797607 + ], + [ + -0.10592284053564072, + -0.9936492443084717, + -0.03796951472759247, + -3.382441282272339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1099, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_738470315", + "mask_path": "../../mask/hdr_left_01099.png" + }, + { + "file_path": "../../rgb/hdr_left_01100.png", + "transform_matrix": [ + [ + 0.9683920741081238, + -0.11037104576826096, + 0.22368527948856354, + 30.1949462890625 + ], + [ + -0.22543741762638092, + -0.003498425707221031, + 0.9742513298988342, + -6.460781097412109 + ], + [ + -0.10674658417701721, + -0.9938843250274658, + -0.028269609436392784, + -3.395883798599243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_838469505", + "mask_path": "../../mask/hdr_left_01100.png" + }, + { + "file_path": "../../rgb/hdr_left_01101.png", + "transform_matrix": [ + [ + 0.9742695093154907, + -0.11150301992893219, + 0.19587190449237823, + 30.290714263916016 + ], + [ + -0.19609405100345612, + 0.009079252369701862, + 0.9805430769920349, + -6.452391147613525 + ], + [ + -0.11111187189817429, + -0.993722677230835, + -0.013019433245062828, + -3.410426616668701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1101, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_938470363", + "mask_path": "../../mask/hdr_left_01101.png" + }, + { + "file_path": "../../rgb/hdr_left_01102.png", + "transform_matrix": [ + [ + 0.9772850275039673, + -0.11658616364002228, + 0.17697879672050476, + 30.385465621948242 + ], + [ + -0.17650993168354034, + 0.014416828751564026, + 0.9841932654380798, + -6.449642181396484 + ], + [ + -0.1172947809100151, + -0.993075966835022, + -0.006489264313131571, + -3.416771173477173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1102, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_38469791", + "mask_path": "../../mask/hdr_left_01102.png" + }, + { + "file_path": "../../rgb/hdr_left_01103.png", + "transform_matrix": [ + [ + 0.9804843664169312, + -0.11395379155874252, + 0.16020283102989197, + 30.453109741210938 + ], + [ + -0.15899044275283813, + 0.019708992913365364, + 0.987083375453949, + -6.441535949707031 + ], + [ + -0.115639328956604, + -0.9932906031608582, + 0.001206798478960991, + -3.421654224395752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1103, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_138469934", + "mask_path": "../../mask/hdr_left_01103.png" + }, + { + "file_path": "../../rgb/hdr_left_01104.png", + "transform_matrix": [ + [ + 0.9833101034164429, + -0.10996321588754654, + 0.14494605362415314, + 30.533554077148438 + ], + [ + -0.14377158880233765, + 0.018577538430690765, + 0.9894364476203918, + -6.42587423324585 + ], + [ + -0.11149435490369797, + -0.9937620759010315, + 0.0024578955490142107, + -3.4368021488189697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1104, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_238469839", + "mask_path": "../../mask/hdr_left_01104.png" + }, + { + "file_path": "../../rgb/hdr_left_01105.png", + "transform_matrix": [ + [ + 0.9848406910896301, + -0.11262670904397964, + 0.13192406296730042, + 30.635618209838867 + ], + [ + -0.13151037693023682, + 0.01112769078463316, + 0.9912523627281189, + -6.408907890319824 + ], + [ + -0.11310949921607971, + -0.9935750961303711, + -0.003852573921903968, + -3.45809268951416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1105, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_338469743", + "mask_path": "../../mask/hdr_left_01105.png" + }, + { + "file_path": "../../rgb/hdr_left_01106.png", + "transform_matrix": [ + [ + 0.9862945079803467, + -0.1148565486073494, + 0.11845250427722931, + 30.71932029724121 + ], + [ + -0.11819103360176086, + 0.009108250960707664, + 0.9929490685462952, + -6.390758037567139 + ], + [ + -0.11512558907270432, + -0.9933403730392456, + -0.004591590724885464, + -3.4731063842773438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1106, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_438470840", + "mask_path": "../../mask/hdr_left_01106.png" + }, + { + "file_path": "../../rgb/hdr_left_01107.png", + "transform_matrix": [ + [ + 0.9870485067367554, + -0.11136694252490997, + 0.11546657234430313, + 30.79524803161621 + ], + [ + -0.11514108628034592, + 0.009371397085487843, + 0.9933048486709595, + -6.379638671875 + ], + [ + -0.11170340329408646, + -0.9937351942062378, + -0.003572886809706688, + -3.487663745880127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1107, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_538469552", + "mask_path": "../../mask/hdr_left_01107.png" + }, + { + "file_path": "../../rgb/hdr_left_01108.png", + "transform_matrix": [ + [ + 0.9866411089897156, + -0.11301112920045853, + 0.117335245013237, + 30.883071899414062 + ], + [ + -0.11685524880886078, + 0.010885503143072128, + 0.9930892586708069, + -6.373020648956299 + ], + [ + -0.11350739002227783, + -0.9935341477394104, + -0.0024658548645675182, + -3.499483108520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1108, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_638470888", + "mask_path": "../../mask/hdr_left_01108.png" + }, + { + "file_path": "../../rgb/hdr_left_01109.png", + "transform_matrix": [ + [ + 0.984764039516449, + -0.12032995373010635, + 0.1255408227443695, + 30.965476989746094 + ], + [ + -0.1252468079328537, + 0.010033676400780678, + 0.9920748472213745, + -6.371087551116943 + ], + [ + -0.12063594162464142, + -0.9926832318305969, + -0.005190134048461914, + -3.4990649223327637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1109, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_738470792", + "mask_path": "../../mask/hdr_left_01109.png" + }, + { + "file_path": "../../rgb/hdr_left_01110.png", + "transform_matrix": [ + [ + 0.9841189384460449, + -0.11605729907751083, + 0.13431523740291595, + 31.034198760986328 + ], + [ + -0.13381585478782654, + 0.012119778431952, + 0.9909321069717407, + -6.367137432098389 + ], + [ + -0.11663276702165604, + -0.9931686520576477, + -0.003602999961003661, + -3.5011134147644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1110, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_838470697", + "mask_path": "../../mask/hdr_left_01110.png" + }, + { + "file_path": "../../rgb/hdr_left_01111.png", + "transform_matrix": [ + [ + 0.9836967587471008, + -0.10702421516180038, + 0.14452213048934937, + 31.10726547241211 + ], + [ + -0.14409363269805908, + 0.011767042800784111, + 0.9894940853118896, + -6.359727382659912 + ], + [ + -0.10760042071342468, + -0.9941868185997009, + -0.0038463047239929438, + -3.510127305984497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1111, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_938469409", + "mask_path": "../../mask/hdr_left_01111.png" + }, + { + "file_path": "../../rgb/hdr_left_01112.png", + "transform_matrix": [ + [ + 0.9836792349815369, + -0.10116108506917953, + 0.1488005816936493, + 31.20545196533203 + ], + [ + -0.14915403723716736, + 0.004103581886738539, + 0.9888055324554443, + -6.353803634643555 + ], + [ + -0.1006392389535904, + -0.9948616027832031, + -0.011051971465349197, + -3.522376537322998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1112, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_38470745", + "mask_path": "../../mask/hdr_left_01112.png" + }, + { + "file_path": "../../rgb/hdr_left_01113.png", + "transform_matrix": [ + [ + 0.9838857054710388, + -0.10461536049842834, + 0.14499852061271667, + 31.288799285888672 + ], + [ + -0.14612406492233276, + -0.0031348089687526226, + 0.9892612099647522, + -6.347092628479004 + ], + [ + -0.10303737968206406, + -0.9945078492164612, + -0.018371110782027245, + -3.5346014499664307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_138469696", + "mask_path": "../../mask/hdr_left_01113.png" + }, + { + "file_path": "../../rgb/hdr_left_01114.png", + "transform_matrix": [ + [ + 0.9842699766159058, + -0.10466700792312622, + 0.14232806861400604, + 31.34946632385254 + ], + [ + -0.14354005455970764, + -0.004100352060049772, + 0.9896360635757446, + -6.3389434814453125 + ], + [ + -0.10299863666296005, + -0.9944989085197449, + -0.019059758633375168, + -3.547067403793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1114, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_238469123", + "mask_path": "../../mask/hdr_left_01114.png" + }, + { + "file_path": "../../rgb/hdr_left_01115.png", + "transform_matrix": [ + [ + 0.9838811159133911, + -0.10751610994338989, + 0.14289194345474243, + 31.42458724975586 + ], + [ + -0.14415445923805237, + -0.004023250658065081, + 0.9895470142364502, + -6.335946559906006 + ], + [ + -0.10581735521554947, + -0.9941952228546143, + -0.019457323476672173, + -3.557185649871826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1115, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_338469982", + "mask_path": "../../mask/hdr_left_01115.png" + }, + { + "file_path": "../../rgb/hdr_left_01116.png", + "transform_matrix": [ + [ + 0.982244610786438, + -0.11253007501363754, + 0.15010873973369598, + 31.504438400268555 + ], + [ + -0.15213629603385925, + -0.009603267535567284, + 0.9883129000663757, + -6.341668605804443 + ], + [ + -0.10977337509393692, + -0.99360191822052, + -0.02655266411602497, + -3.5588583946228027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1116, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_438470363", + "mask_path": "../../mask/hdr_left_01116.png" + }, + { + "file_path": "../../rgb/hdr_left_01117.png", + "transform_matrix": [ + [ + 0.9808081388473511, + -0.11028844118118286, + 0.1607850193977356, + 31.564945220947266 + ], + [ + -0.16292183101177216, + -0.010585405863821507, + 0.9865821003913879, + -6.3436713218688965 + ], + [ + -0.10710663348436356, + -0.9938433170318604, + -0.028350641950964928, + -3.5605783462524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1117, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_538471221", + "mask_path": "../../mask/hdr_left_01117.png" + }, + { + "file_path": "../../rgb/hdr_left_01118.png", + "transform_matrix": [ + [ + 0.9789735674858093, + -0.10608170181512833, + 0.17423349618911743, + 31.627553939819336 + ], + [ + -0.1768684685230255, + -0.015886731445789337, + 0.9841062426567078, + -6.34561824798584 + ], + [ + -0.1016276553273201, + -0.9942305088043213, + -0.03431519493460655, + -3.5722599029541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1118, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_638470888", + "mask_path": "../../mask/hdr_left_01118.png" + }, + { + "file_path": "../../rgb/hdr_left_01119.png", + "transform_matrix": [ + [ + 0.977543830871582, + -0.10657759755849838, + 0.18179406225681305, + 31.718902587890625 + ], + [ + -0.18558499217033386, + -0.026717958971858025, + 0.9822649955749512, + -6.3506317138671875 + ], + [ + -0.0998302549123764, + -0.9939453601837158, + -0.04589717835187912, + -3.5889360904693604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1119, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_738470077", + "mask_path": "../../mask/hdr_left_01119.png" + }, + { + "file_path": "../../rgb/hdr_left_01120.png", + "transform_matrix": [ + [ + 0.9772517681121826, + -0.11270342022180557, + 0.1796577423810959, + 31.80086898803711 + ], + [ + -0.18469597399234772, + -0.03589446842670441, + 0.9821399450302124, + -6.352144241333008 + ], + [ + -0.10424181818962097, + -0.9929801821708679, + -0.055893801152706146, + -3.6057076454162598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1120, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_838467836", + "mask_path": "../../mask/hdr_left_01120.png" + }, + { + "file_path": "../../rgb/hdr_left_01121.png", + "transform_matrix": [ + [ + 0.9775398373603821, + -0.11137132346630096, + 0.17892012000083923, + 31.87026023864746 + ], + [ + -0.18416930735111237, + -0.03869546204805374, + 0.9821325540542603, + -6.35496711730957 + ], + [ + -0.10245798528194427, + -0.9930252432823181, + -0.05833752453327179, + -3.61771821975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1121, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_938470602", + "mask_path": "../../mask/hdr_left_01121.png" + }, + { + "file_path": "../../rgb/hdr_left_01122.png", + "transform_matrix": [ + [ + 0.9768444895744324, + -0.11317547410726547, + 0.18156570196151733, + 31.949993133544922 + ], + [ + -0.1867031455039978, + -0.03649115189909935, + 0.9817383885383606, + -6.364834785461426 + ], + [ + -0.10448315739631653, + -0.9929047226905823, + -0.05677638575434685, + -3.6272263526916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1122, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_38469552", + "mask_path": "../../mask/hdr_left_01122.png" + }, + { + "file_path": "../../rgb/hdr_left_01123.png", + "transform_matrix": [ + [ + 0.9741642475128174, + -0.12039119750261307, + 0.19107550382614136, + 32.02785110473633 + ], + [ + -0.19628481566905975, + -0.032898031175136566, + 0.9799948930740356, + -6.378903388977051 + ], + [ + -0.1116967424750328, + -0.9921813607215881, + -0.055679045617580414, + -3.630889654159546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1123, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_138469696", + "mask_path": "../../mask/hdr_left_01123.png" + }, + { + "file_path": "../../rgb/hdr_left_01126.png", + "transform_matrix": [ + [ + 0.9665254950523376, + -0.11836560815572739, + 0.22763563692569733, + 32.204036712646484 + ], + [ + -0.23364940285682678, + -0.039504628628492355, + 0.9715180397033691, + -6.408044815063477 + ], + [ + -0.10600166022777557, + -0.9921839833259583, + -0.0658382773399353, + -3.6588425636291504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1126, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_438469409", + "mask_path": "../../mask/hdr_left_01126.png" + }, + { + "file_path": "../../rgb/hdr_left_01127.png", + "transform_matrix": [ + [ + 0.9655546545982361, + -0.12715935707092285, + 0.22701235115528107, + 32.28617858886719 + ], + [ + -0.2343631386756897, + -0.04598668962717056, + 0.9710608124732971, + -6.415750026702881 + ], + [ + -0.11303991824388504, + -0.9908156991004944, + -0.07420412451028824, + -3.6721031665802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1127, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_538465976", + "mask_path": "../../mask/hdr_left_01127.png" + }, + { + "file_path": "../../rgb/hdr_left_01128.png", + "transform_matrix": [ + [ + 0.9651684165000916, + -0.1291109174489975, + 0.22755274176597595, + 32.35451126098633 + ], + [ + -0.2353363335132599, + -0.04842505231499672, + 0.9707068800926208, + -6.419288635253906 + ], + [ + -0.11430960148572922, + -0.9904470443725586, + -0.07712282240390778, + -3.6850039958953857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1128, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_638469457", + "mask_path": "../../mask/hdr_left_01128.png" + }, + { + "file_path": "../../rgb/hdr_left_01129.png", + "transform_matrix": [ + [ + 0.9651594758033752, + -0.13034281134605408, + 0.22688749432563782, + 32.43782424926758 + ], + [ + -0.23444914817810059, + -0.04573535919189453, + 0.9710519313812256, + -6.423027515411377 + ], + [ + -0.11619285494089127, + -0.9904136061668396, + -0.07470067590475082, + -3.6967077255249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_738469600", + "mask_path": "../../mask/hdr_left_01129.png" + }, + { + "file_path": "../../rgb/hdr_left_01130.png", + "transform_matrix": [ + [ + 0.9634360671043396, + -0.13614143431186676, + 0.23077313601970673, + 32.5308837890625 + ], + [ + -0.2380363792181015, + -0.039506614208221436, + 0.9704524278640747, + -6.433506965637207 + ], + [ + -0.12300172448158264, + -0.9899014234542847, + -0.0704687163233757, + -3.7128424644470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1130, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_838468074", + "mask_path": "../../mask/hdr_left_01130.png" + }, + { + "file_path": "../../rgb/hdr_left_01131.png", + "transform_matrix": [ + [ + 0.9609564542770386, + -0.1395084708929062, + 0.23895595967769623, + 32.60365676879883 + ], + [ + -0.2461698204278946, + -0.0367162749171257, + 0.9685310125350952, + -6.440530776977539 + ], + [ + -0.126344695687294, + -0.9895399808883667, + -0.06962551176548004, + -3.717801332473755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1131, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_938468933", + "mask_path": "../../mask/hdr_left_01131.png" + }, + { + "file_path": "../../rgb/hdr_left_01132.png", + "transform_matrix": [ + [ + 0.9586667418479919, + -0.13512007892131805, + 0.2504006624221802, + 32.66270446777344 + ], + [ + -0.2572530210018158, + -0.035605672746896744, + 0.9656879305839539, + -6.4414753913879395 + ], + [ + -0.12156815081834793, + -0.9901893734931946, + -0.06889402866363525, + -3.7290945053100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1132, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_38470029", + "mask_path": "../../mask/hdr_left_01132.png" + }, + { + "file_path": "../../rgb/hdr_left_01133.png", + "transform_matrix": [ + [ + 0.9563737511634827, + -0.13296723365783691, + 0.2601325213909149, + 32.74892044067383 + ], + [ + -0.2672552764415741, + -0.038552574813365936, + 0.962854266166687, + -6.444182395935059 + ], + [ + -0.11799928545951843, + -0.9903703331947327, + -0.07240686565637589, + -3.7483532428741455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1133, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_138468980", + "mask_path": "../../mask/hdr_left_01133.png" + }, + { + "file_path": "../../rgb/hdr_left_01134.png", + "transform_matrix": [ + [ + 0.9557052254676819, + -0.13931778073310852, + 0.25926437973976135, + 32.84591293334961 + ], + [ + -0.26717621088027954, + -0.041127726435661316, + 0.962769627571106, + -6.443552494049072 + ], + [ + -0.12346798181533813, + -0.9893932938575745, + -0.07652837783098221, + -3.765993595123291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1134, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_238470315", + "mask_path": "../../mask/hdr_left_01134.png" + }, + { + "file_path": "../../rgb/hdr_left_01135.png", + "transform_matrix": [ + [ + 0.9566044807434082, + -0.13860009610652924, + 0.2563158869743347, + 32.91481018066406 + ], + [ + -0.26425647735595703, + -0.04198228567838669, + 0.9635382294654846, + -6.441145420074463 + ], + [ + -0.12278575450181961, + -0.9894582033157349, + -0.07678639888763428, + -3.775020122528076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1135, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_338470697", + "mask_path": "../../mask/hdr_left_01135.png" + }, + { + "file_path": "../../rgb/hdr_left_01136.png", + "transform_matrix": [ + [ + 0.9573696851730347, + -0.1361299753189087, + 0.2547779381275177, + 32.99135208129883 + ], + [ + -0.26187756657600403, + -0.03677143156528473, + 0.9644004106521606, + -6.446125030517578 + ], + [ + -0.12191521376371384, + -0.9900084137916565, + -0.07085322588682175, + -3.786431074142456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1136, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_438470840", + "mask_path": "../../mask/hdr_left_01136.png" + }, + { + "file_path": "../../rgb/hdr_left_01137.png", + "transform_matrix": [ + [ + 0.9564139246940613, + -0.13701914250850677, + 0.25787249207496643, + 33.08004379272461 + ], + [ + -0.26445746421813965, + -0.031934257596731186, + 0.9638685584068298, + -6.453717231750488 + ], + [ + -0.12383344024419785, + -0.9900535941123962, + -0.06677809357643127, + -3.800692081451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1137, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_538469791", + "mask_path": "../../mask/hdr_left_01137.png" + }, + { + "file_path": "../../rgb/hdr_left_01138.png", + "transform_matrix": [ + [ + 0.9532141089439392, + -0.13792477548122406, + 0.2689973711967468, + 33.14739990234375 + ], + [ + -0.2757282853126526, + -0.03190678730607033, + 0.9607059359550476, + -6.462092876434326 + ], + [ + -0.12392230331897736, + -0.989928662776947, + -0.06844376027584076, + -3.8032407760620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1138, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_638469219", + "mask_path": "../../mask/hdr_left_01138.png" + }, + { + "file_path": "../../rgb/hdr_left_01139.png", + "transform_matrix": [ + [ + 0.9500699043273926, + -0.1323586404323578, + 0.28257444500923157, + 33.20069885253906 + ], + [ + -0.28902631998062134, + -0.03197053447365761, + 0.9567872285842896, + -6.471073150634766 + ], + [ + -0.11760497093200684, + -0.9906862378120422, + -0.06862937659025192, + -3.812121629714966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1139, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_738465785", + "mask_path": "../../mask/hdr_left_01139.png" + }, + { + "file_path": "../../rgb/hdr_left_01140.png", + "transform_matrix": [ + [ + 0.9469752311706543, + -0.1279018521308899, + 0.294752299785614, + 33.27275085449219 + ], + [ + -0.30139413475990295, + -0.03567903861403465, + 0.9528318643569946, + -6.483250617980957 + ], + [ + -0.11135247349739075, + -0.9911449551582336, + -0.07233603298664093, + -3.825004816055298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_838467836", + "mask_path": "../../mask/hdr_left_01140.png" + }, + { + "file_path": "../../rgb/hdr_left_01141.png", + "transform_matrix": [ + [ + 0.9457018375396729, + -0.12955281138420105, + 0.2981007993221283, + 33.3620719909668 + ], + [ + -0.3054991364479065, + -0.04111470654606819, + 0.9513042569160461, + -6.487998962402344 + ], + [ + -0.11098781228065491, + -0.9907197952270508, + -0.07846051454544067, + -3.8360538482666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1141, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_938469409", + "mask_path": "../../mask/hdr_left_01141.png" + }, + { + "file_path": "../../rgb/hdr_left_01142.png", + "transform_matrix": [ + [ + 0.9459357857704163, + -0.12940821051597595, + 0.29742059111595154, + 33.432613372802734 + ], + [ + -0.30499768257141113, + -0.04285480082035065, + 0.9513882994651794, + -6.493394374847412 + ], + [ + -0.11037156730890274, + -0.9906648993492126, + -0.08000709116458893, + -3.844238519668579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1142, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_38469076", + "mask_path": "../../mask/hdr_left_01142.png" + }, + { + "file_path": "../../rgb/hdr_left_01143.png", + "transform_matrix": [ + [ + 0.9466447830200195, + -0.12527601420879364, + 0.29693344235420227, + 33.50324630737305 + ], + [ + -0.30375078320503235, + -0.038926102221012115, + 0.951956033706665, + -6.498802185058594 + ], + [ + -0.10769878327846527, + -0.9913580417633057, + -0.07490186393260956, + -3.8547606468200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1143, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_138469219", + "mask_path": "../../mask/hdr_left_01143.png" + }, + { + "file_path": "../../rgb/hdr_left_01144.png", + "transform_matrix": [ + [ + 0.946521520614624, + -0.12320898473262787, + 0.2981886565685272, + 33.59347915649414 + ], + [ + -0.30442750453948975, + -0.03492356464266777, + 0.9518950581550598, + -6.510737895965576 + ], + [ + -0.1068682000041008, + -0.9917660355567932, + -0.07056409865617752, + -3.870096206665039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1144, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_238469123", + "mask_path": "../../mask/hdr_left_01144.png" + }, + { + "file_path": "../../rgb/hdr_left_01145.png", + "transform_matrix": [ + [ + 0.9438486695289612, + -0.12436718493700027, + 0.30607596039772034, + 33.676910400390625 + ], + [ + -0.3122176229953766, + -0.03284303843975067, + 0.9494426846504211, + -6.525801181793213 + ], + [ + -0.10802704840898514, + -0.9916926622390747, + -0.06982848048210144, + -3.870638608932495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1145, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_338467121", + "mask_path": "../../mask/hdr_left_01145.png" + }, + { + "file_path": "../../rgb/hdr_left_01146.png", + "transform_matrix": [ + [ + 0.9412662982940674, + -0.11718850582838058, + 0.31667715311050415, + 33.73184585571289 + ], + [ + -0.32213687896728516, + -0.03051786497235298, + 0.9462010860443115, + -6.534828186035156 + ], + [ + -0.1012195572257042, + -0.9926406741142273, + -0.06647617369890213, + -3.874933958053589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1146, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_438469171", + "mask_path": "../../mask/hdr_left_01146.png" + }, + { + "file_path": "../../rgb/hdr_left_01147.png", + "transform_matrix": [ + [ + 0.9386293888092041, + -0.11049856245517731, + 0.3267490267753601, + 33.80635452270508 + ], + [ + -0.3321327269077301, + -0.03392431512475014, + 0.9426224231719971, + -6.5465192794799805 + ], + [ + -0.09307368099689484, + -0.9932971596717834, + -0.06854254007339478, + -3.8896708488464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1147, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_538469314", + "mask_path": "../../mask/hdr_left_01147.png" + }, + { + "file_path": "../../rgb/hdr_left_01148.png", + "transform_matrix": [ + [ + 0.9381264448165894, + -0.11067956686019897, + 0.32812929153442383, + 33.9077262878418 + ], + [ + -0.3342817425727844, + -0.04204333573579788, + 0.9415350556373596, + -6.558518409729004 + ], + [ + -0.09041303396224976, + -0.9929665327072144, + -0.07644011080265045, + -3.9000284671783447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1148, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_638468503", + "mask_path": "../../mask/hdr_left_01148.png" + }, + { + "file_path": "../../rgb/hdr_left_01149.png", + "transform_matrix": [ + [ + 0.9399599432945251, + -0.11234935373067856, + 0.32226210832595825, + 33.98590850830078 + ], + [ + -0.32897689938545227, + -0.046974074095487595, + 0.9431689381599426, + -6.566954135894775 + ], + [ + -0.09082645177841187, + -0.9925578236579895, + -0.08111409097909927, + -3.9075095653533936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1149, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_738468647", + "mask_path": "../../mask/hdr_left_01149.png" + }, + { + "file_path": "../../rgb/hdr_left_01150.png", + "transform_matrix": [ + [ + 0.9419904947280884, + -0.10903947055339813, + 0.3174337148666382, + 34.06045913696289 + ], + [ + -0.32363253831863403, + -0.04437802731990814, + 0.945141613483429, + -6.576192855834961 + ], + [ + -0.08897065371274948, + -0.9930463433265686, + -0.07709239423274994, + -3.9236443042755127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1150, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_838468551", + "mask_path": "../../mask/hdr_left_01150.png" + }, + { + "file_path": "../../rgb/hdr_left_01151.png", + "transform_matrix": [ + [ + 0.9423236846923828, + -0.10963647812604904, + 0.3162369132041931, + 34.1536865234375 + ], + [ + -0.32214730978012085, + -0.04073621332645416, + 0.9458127021789551, + -6.596621513366699 + ], + [ + -0.0908132791519165, + -0.9931366443634033, + -0.07370578497648239, + -3.9347991943359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1151, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_938468933", + "mask_path": "../../mask/hdr_left_01151.png" + }, + { + "file_path": "../../rgb/hdr_left_01152.png", + "transform_matrix": [ + [ + 0.9391508102416992, + -0.11699278652667999, + 0.322968065738678, + 34.23155975341797 + ], + [ + -0.32929083704948425, + -0.0389576181769371, + 0.9434244632720947, + -6.6172966957092285 + ], + [ + -0.09779179096221924, + -0.9923683404922485, + -0.07511173188686371, + -3.9322521686553955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1152, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_38468122", + "mask_path": "../../mask/hdr_left_01152.png" + }, + { + "file_path": "../../rgb/hdr_left_01153.png", + "transform_matrix": [ + [ + 0.9360385537147522, + -0.11373095214366913, + 0.3330117464065552, + 34.28518295288086 + ], + [ + -0.33896976709365845, + -0.037264324724674225, + 0.9400589466094971, + -6.627524375915527 + ], + [ + -0.09450434148311615, + -0.9928125143051147, + -0.07343219965696335, + -3.938662528991699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1153, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_138469219", + "mask_path": "../../mask/hdr_left_01153.png" + }, + { + "file_path": "../../rgb/hdr_left_01154.png", + "transform_matrix": [ + [ + 0.9339098930358887, + -0.10712725669145584, + 0.34108057618141174, + 34.35954666137695 + ], + [ + -0.34657400846481323, + -0.03713827207684517, + 0.9372871518135071, + -6.638751983642578 + ], + [ + -0.08774185925722122, + -0.9935514330863953, + -0.07181132584810257, + -3.9497084617614746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_238469123", + "mask_path": "../../mask/hdr_left_01154.png" + }, + { + "file_path": "../../rgb/hdr_left_01155.png", + "transform_matrix": [ + [ + 0.936330258846283, + -0.10699532181024551, + 0.33442142605781555, + 34.44805908203125 + ], + [ + -0.340318500995636, + -0.042115841060876846, + 0.9393665790557861, + -6.648031711578369 + ], + [ + -0.08642338961362839, + -0.9933671951293945, + -0.07584682106971741, + -3.956389904022217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1155, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_338469982", + "mask_path": "../../mask/hdr_left_01155.png" + }, + { + "file_path": "../../rgb/hdr_left_01156.png", + "transform_matrix": [ + [ + 0.9414648413658142, + -0.11117913573980331, + 0.3182500898838043, + 34.5286865234375 + ], + [ + -0.324727326631546, + -0.04556088522076607, + 0.9447095990180969, + -6.65677547454834 + ], + [ + -0.09053223580121994, + -0.9927554726600647, + -0.07899688184261322, + -3.961573839187622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1156, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_438469648", + "mask_path": "../../mask/hdr_left_01156.png" + }, + { + "file_path": "../../rgb/hdr_left_01157.png", + "transform_matrix": [ + [ + 0.9467355608940125, + -0.1079813539981842, + 0.3033673167228699, + 34.601314544677734 + ], + [ + -0.3091373145580292, + -0.04104983061552048, + 0.9501309990882874, + -6.659853458404541 + ], + [ + -0.09014324843883514, + -0.9933050870895386, + -0.07224438339471817, + -3.976733684539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1157, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_538469314", + "mask_path": "../../mask/hdr_left_01157.png" + }, + { + "file_path": "../../rgb/hdr_left_01158.png", + "transform_matrix": [ + [ + 0.9503716826438904, + -0.10862890630960464, + 0.2915359437465668, + 34.69173812866211 + ], + [ + -0.2966083884239197, + -0.033540185540914536, + 0.9544099569320679, + -6.666396617889404 + ], + [ + -0.09389834105968475, + -0.9935164451599121, + -0.0640958920121193, + -3.992933988571167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1158, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_638469457", + "mask_path": "../../mask/hdr_left_01158.png" + }, + { + "file_path": "../../rgb/hdr_left_01159.png", + "transform_matrix": [ + [ + 0.9503676295280457, + -0.11627920717000961, + 0.28858354687690735, + 34.77248001098633 + ], + [ + -0.2936639189720154, + -0.028851423412561417, + 0.9554731845855713, + -6.678362846374512 + ], + [ + -0.10277562588453293, + -0.9927974939346313, + -0.061566464602947235, + -3.9960741996765137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1159, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_738470315", + "mask_path": "../../mask/hdr_left_01159.png" + }, + { + "file_path": "../../rgb/hdr_left_01160.png", + "transform_matrix": [ + [ + 0.9507968425750732, + -0.1145959421992302, + 0.2878420054912567, + 34.828304290771484 + ], + [ + -0.29293495416641235, + -0.030039789155125618, + 0.9556604027748108, + -6.6886701583862305 + ], + [ + -0.10086807608604431, + -0.9929580092430115, + -0.0621308870613575, + -4.001589775085449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1160, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_838470458", + "mask_path": "../../mask/hdr_left_01160.png" + }, + { + "file_path": "../../rgb/hdr_left_01161.png", + "transform_matrix": [ + [ + 0.9508799314498901, + -0.1100013256072998, + 0.2893562316894531, + 34.90222930908203 + ], + [ + -0.29433363676071167, + -0.03172524273395538, + 0.9551758766174316, + -6.699443817138672 + ], + [ + -0.09589073061943054, + -0.9934250116348267, + -0.06254397332668304, + -4.019021987915039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1161, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_938469648", + "mask_path": "../../mask/hdr_left_01161.png" + }, + { + "file_path": "../../rgb/hdr_left_01162.png", + "transform_matrix": [ + [ + 0.9521620869636536, + -0.109559066593647, + 0.28527912497520447, + 34.99696731567383 + ], + [ + -0.29045456647872925, + -0.03426983207464218, + 0.9562748670578003, + -6.707148551940918 + ], + [ + -0.09499211609363556, + -0.993389368057251, + -0.06445235013961792, + -4.033705711364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1162, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_38470029", + "mask_path": "../../mask/hdr_left_01162.png" + }, + { + "file_path": "../../rgb/hdr_left_01163.png", + "transform_matrix": [ + [ + 0.9548779129981995, + -0.11090360581874847, + 0.27551519870758057, + 35.08164596557617 + ], + [ + -0.28122976422309875, + -0.039378684014081955, + 0.9588322639465332, + -6.711357116699219 + ], + [ + -0.09548849612474442, + -0.993050754070282, + -0.0687912255525589, + -4.032080173492432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1163, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_138470411", + "mask_path": "../../mask/hdr_left_01163.png" + }, + { + "file_path": "../../rgb/hdr_left_01164.png", + "transform_matrix": [ + [ + 0.9574310183525085, + -0.10986042022705078, + 0.26693904399871826, + 35.145965576171875 + ], + [ + -0.2726536691188812, + -0.04050052911043167, + 0.9612594246864319, + -6.714094161987305 + ], + [ + -0.09479318559169769, + -0.9931215643882751, + -0.06873030960559845, + -4.041032791137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1164, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_238469600", + "mask_path": "../../mask/hdr_left_01164.png" + }, + { + "file_path": "../../rgb/hdr_left_03087.png", + "transform_matrix": [ + [ + -0.9933660626411438, + -0.11425285041332245, + 0.013043869286775589, + 33.621402740478516 + ], + [ + -0.01004747487604618, + -0.026762694120407104, + -0.9995912909507751, + -4.931650638580322 + ], + [ + 0.1145552396774292, + -0.9930911660194397, + 0.02543720044195652, + -3.911651611328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3087, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_538469552", + "mask_path": "../../mask/hdr_left_03087.png" + }, + { + "file_path": "../../rgb/hdr_left_03089.png", + "transform_matrix": [ + [ + -0.9930696487426758, + -0.1174970418214798, + 0.0026373453438282013, + 33.532501220703125 + ], + [ + 0.0008658235310576856, + -0.02975354716181755, + -0.9995569586753845, + -4.943899631500244 + ], + [ + 0.1175234243273735, + -0.9926274418830872, + 0.029649073258042336, + -3.9018499851226807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3089, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_738469362", + "mask_path": "../../mask/hdr_left_03089.png" + }, + { + "file_path": "../../rgb/hdr_left_03090.png", + "transform_matrix": [ + [ + -0.9936065077781677, + -0.11282581090927124, + 0.004046883434057236, + 33.48163986206055 + ], + [ + -0.001530566718429327, + -0.02238033525645733, + -0.9997484087944031, + -4.955873489379883 + ], + [ + 0.11288799345493317, + -0.9933627247810364, + 0.022064561024308205, + -3.8934688568115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3090, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_838469743", + "mask_path": "../../mask/hdr_left_03090.png" + }, + { + "file_path": "../../rgb/hdr_left_03092.png", + "transform_matrix": [ + [ + -0.994142472743988, + -0.1078871339559555, + 0.006394505500793457, + 33.40441131591797 + ], + [ + -0.004815633408725262, + -0.014888498932123184, + -0.9998775720596313, + -4.972397327423096 + ], + [ + 0.10796912014484406, + -0.9940516948699951, + 0.014281745068728924, + -3.904664993286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_38470029", + "mask_path": "../../mask/hdr_left_03092.png" + }, + { + "file_path": "../../rgb/hdr_left_03094.png", + "transform_matrix": [ + [ + -0.9955387711524963, + -0.09415582567453384, + -0.00609764875844121, + 33.31311798095703 + ], + [ + 0.007665110286325216, + -0.016294732689857483, + -0.9998378157615662, + -4.986023902893066 + ], + [ + 0.09404119104146957, + -0.9954242706298828, + 0.016943758353590965, + -3.889103889465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_238470554", + "mask_path": "../../mask/hdr_left_03094.png" + }, + { + "file_path": "../../rgb/hdr_left_03096.png", + "transform_matrix": [ + [ + -0.9950675964355469, + -0.09455472230911255, + -0.02999618649482727, + 33.22298049926758 + ], + [ + 0.03221657872200012, + -0.022043606266379356, + -0.9992378354072571, + -5.001575469970703 + ], + [ + 0.09382142871618271, + -0.995275616645813, + 0.02498110942542553, + -3.881148338317871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_438470363", + "mask_path": "../../mask/hdr_left_03096.png" + }, + { + "file_path": "../../rgb/hdr_left_03097.png", + "transform_matrix": [ + [ + -0.995254635810852, + -0.09069737046957016, + -0.03524581715464592, + 33.16408157348633 + ], + [ + 0.03703927993774414, + -0.01816699281334877, + -0.9991486072540283, + -5.020117282867432 + ], + [ + 0.08997983485460281, + -0.9957128167152405, + 0.02144014835357666, + -3.8736166954040527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3097, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_538469791", + "mask_path": "../../mask/hdr_left_03097.png" + }, + { + "file_path": "../../rgb/hdr_left_03098.png", + "transform_matrix": [ + [ + -0.9956284165382385, + -0.08788199722766876, + -0.031635068356990814, + 33.11543655395508 + ], + [ + 0.032543495297431946, + -0.008923083543777466, + -0.9994304776191711, + -5.03412389755249 + ], + [ + 0.08754964917898178, + -0.9960909485816956, + 0.011744063347578049, + -3.8737125396728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3098, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_638469696", + "mask_path": "../../mask/hdr_left_03098.png" + }, + { + "file_path": "../../rgb/hdr_left_03100.png", + "transform_matrix": [ + [ + -0.9966044425964355, + -0.0756644457578659, + -0.03247077763080597, + 33.0297737121582 + ], + [ + 0.032777003943920135, + -0.0028080889023840427, + -0.9994587898254395, + -5.058452129364014 + ], + [ + 0.07553230971097946, + -0.9971293807029724, + 0.005278605502098799, + -3.8707003593444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_838469743", + "mask_path": "../../mask/hdr_left_03100.png" + }, + { + "file_path": "../../rgb/hdr_left_03101.png", + "transform_matrix": [ + [ + -0.9971047639846802, + -0.06591049581766129, + -0.037918709218502045, + 32.97919845581055 + ], + [ + 0.03838968276977539, + -0.0058935051783919334, + -0.9992454051971436, + -5.065623760223389 + ], + [ + 0.06563728302717209, + -0.9978081583976746, + 0.008406727574765682, + -3.8661041259765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3101, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_938470363", + "mask_path": "../../mask/hdr_left_03101.png" + }, + { + "file_path": "../../rgb/hdr_left_03104.png", + "transform_matrix": [ + [ + -0.9954491257667542, + -0.07052650302648544, + -0.06408513337373734, + 32.840789794921875 + ], + [ + 0.06554026156663895, + -0.018512871116399765, + -0.9976781606674194, + -5.089803695678711 + ], + [ + 0.06917635351419449, + -0.9973381757736206, + 0.023050950840115547, + -3.845900297164917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3104, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_238470315", + "mask_path": "../../mask/hdr_left_03104.png" + }, + { + "file_path": "../../rgb/hdr_left_03105.png", + "transform_matrix": [ + [ + -0.9953100085258484, + -0.07144676148891449, + -0.06521785259246826, + 32.786712646484375 + ], + [ + 0.06646502763032913, + -0.015217455103993416, + -0.9976726770401001, + -5.102038860321045 + ], + [ + 0.0702880248427391, + -0.9973284006118774, + 0.01989479549229145, + -3.831511974334717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3105, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_338469743", + "mask_path": "../../mask/hdr_left_03105.png" + }, + { + "file_path": "../../rgb/hdr_left_03107.png", + "transform_matrix": [ + [ + -0.9953945279121399, + -0.07166935503482819, + -0.0636649802327156, + 32.70502471923828 + ], + [ + 0.06392765790224075, + -0.0013750001089647412, + -0.9979535341262817, + -5.122673988342285 + ], + [ + 0.07143514603376389, + -0.9974275827407837, + 0.005950324237346649, + -3.832000970840454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3107, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_538469076", + "mask_path": "../../mask/hdr_left_03107.png" + }, + { + "file_path": "../../rgb/hdr_left_03109.png", + "transform_matrix": [ + [ + -0.9953272342681885, + -0.0646202564239502, + -0.07174856215715408, + 32.62096405029297 + ], + [ + 0.07221676409244537, + -0.004935845732688904, + -0.9973767399787903, + -5.137582778930664 + ], + [ + 0.064096599817276, + -0.997897744178772, + 0.009579448960721493, + -3.8181095123291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3109, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_738469839", + "mask_path": "../../mask/hdr_left_03109.png" + }, + { + "file_path": "../../rgb/hdr_left_03112.png", + "transform_matrix": [ + [ + -0.9925187826156616, + -0.0791155993938446, + -0.09298988431692123, + 32.574684143066406 + ], + [ + 0.09458527714014053, + -0.016653943806886673, + -0.9953775405883789, + -5.156622886657715 + ], + [ + 0.0772012323141098, + -0.996726393699646, + 0.024012519046664238, + -3.8067855834960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3112, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_38469791", + "mask_path": "../../mask/hdr_left_03112.png" + }, + { + "file_path": "../../rgb/hdr_left_03115.png", + "transform_matrix": [ + [ + -0.991921067237854, + -0.08013636618852615, + -0.09833920001983643, + 32.50785827636719 + ], + [ + 0.0984162762761116, + 0.00299720442853868, + -0.995140790939331, + -5.174190521240234 + ], + [ + 0.08004171401262283, + -0.9967795014381409, + 0.004913738928735256, + -3.800584077835083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3115, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_338467359", + "mask_path": "../../mask/hdr_left_03115.png" + }, + { + "file_path": "../../rgb/hdr_left_03117.png", + "transform_matrix": [ + [ + -0.9911977648735046, + -0.07999905943870544, + -0.1054845079779625, + 32.43798828125 + ], + [ + 0.10577435046434402, + 0.0006180736818350852, + -0.9943899512290955, + -5.187551975250244 + ], + [ + 0.07961545884609222, + -0.9967948198318481, + 0.00784921646118164, + -3.7909765243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3117, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_538469552", + "mask_path": "../../mask/hdr_left_03117.png" + }, + { + "file_path": "../../rgb/hdr_left_03119.png", + "transform_matrix": [ + [ + -0.9877563714981079, + -0.09180548787117004, + -0.12613116204738617, + 32.36027908325195 + ], + [ + 0.12767331302165985, + -0.011099922470748425, + -0.9917541742324829, + -5.186538219451904 + ], + [ + 0.08964843302965164, + -0.9957150816917419, + 0.022685131058096886, + -3.76741361618042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3119, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_738469123", + "mask_path": "../../mask/hdr_left_03119.png" + }, + { + "file_path": "../../rgb/hdr_left_03121.png", + "transform_matrix": [ + [ + -0.9845312237739563, + -0.10598904639482498, + -0.13951483368873596, + 32.2744140625 + ], + [ + 0.142727330327034, + -0.02331721782684326, + -0.9894872903823853, + -5.197305202484131 + ], + [ + 0.10162170231342316, + -0.9940938949584961, + 0.038084063678979874, + -3.743025302886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3121, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_938469409", + "mask_path": "../../mask/hdr_left_03121.png" + }, + { + "file_path": "../../rgb/hdr_left_03123.png", + "transform_matrix": [ + [ + -0.9842711091041565, + -0.10777733474969864, + -0.13997989892959595, + 32.18498611450195 + ], + [ + 0.14245909452438354, + -0.015619561076164246, + -0.989677369594574, + -5.210627555847168 + ], + [ + 0.10447835922241211, + -0.9940524101257324, + 0.030727747827768326, + -3.7401111125946045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3123, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_138469934", + "mask_path": "../../mask/hdr_left_03123.png" + }, + { + "file_path": "../../rgb/hdr_left_03125.png", + "transform_matrix": [ + [ + -0.9831174612045288, + -0.10822227597236633, + -0.14753948152065277, + 32.09628677368164 + ], + [ + 0.14954246580600739, + -0.01058660913258791, + -0.9886986613273621, + -5.216375350952148 + ], + [ + 0.1054372638463974, + -0.9940704107284546, + 0.026591707020998, + -3.724417209625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3125, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_338468790", + "mask_path": "../../mask/hdr_left_03125.png" + }, + { + "file_path": "../../rgb/hdr_left_03127.png", + "transform_matrix": [ + [ + -0.978122353553772, + -0.12427867203950882, + -0.16682764887809753, + 32.02054977416992 + ], + [ + 0.1698153018951416, + -0.013771920464932919, + -0.985379695892334, + -5.213012218475342 + ], + [ + 0.12016412615776062, + -0.9921518564224243, + 0.03457504138350487, + -3.7047998905181885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3127, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_538469791", + "mask_path": "../../mask/hdr_left_03127.png" + }, + { + "file_path": "../../rgb/hdr_left_03129.png", + "transform_matrix": [ + [ + -0.9749729633331299, + -0.13755972683429718, + -0.17465677857398987, + 31.939773559570312 + ], + [ + 0.17883464694023132, + -0.018524816259741783, + -0.983704686164856, + -5.214674472808838 + ], + [ + 0.13208264112472534, + -0.9903202652931213, + 0.0426616407930851, + -3.6798436641693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_738466501", + "mask_path": "../../mask/hdr_left_03129.png" + }, + { + "file_path": "../../rgb/hdr_left_03159.png", + "transform_matrix": [ + [ + -0.9218243956565857, + -0.16168943047523499, + -0.35227271914482117, + 31.753564834594727 + ], + [ + 0.3626598119735718, + -0.0389992892742157, + -0.9311051368713379, + -5.232738018035889 + ], + [ + 0.1368114948272705, + -0.9860708117485046, + 0.0945887640118599, + -3.6549477577209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3159, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_738469362", + "mask_path": "../../mask/hdr_left_03159.png" + }, + { + "file_path": "../../rgb/hdr_left_03160.png", + "transform_matrix": [ + [ + -0.9167982935905457, + -0.16594690084457397, + -0.36323878169059753, + 31.692914962768555 + ], + [ + 0.37345069646835327, + -0.03403075411915779, + -0.9270256757736206, + -5.227097511291504 + ], + [ + 0.14147573709487915, + -0.9855473637580872, + 0.09317231923341751, + -3.641791343688965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3160, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_838468551", + "mask_path": "../../mask/hdr_left_03160.png" + }, + { + "file_path": "../../rgb/hdr_left_03161.png", + "transform_matrix": [ + [ + -0.9168551564216614, + -0.15934385359287262, + -0.36604100465774536, + 31.631017684936523 + ], + [ + 0.3750615119934082, + -0.0296917911618948, + -0.92652428150177, + -5.223794460296631 + ], + [ + 0.13676755130290985, + -0.98677659034729, + 0.08698682487010956, + -3.626866102218628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3161, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_938469171", + "mask_path": "../../mask/hdr_left_03161.png" + }, + { + "file_path": "../../rgb/hdr_left_03163.png", + "transform_matrix": [ + [ + -0.9176236987113953, + -0.14689907431602478, + -0.369306743144989, + 31.543241500854492 + ], + [ + 0.3771600127220154, + -0.02874777838587761, + -0.9257018566131592, + -5.214320182800293 + ], + [ + 0.12536798417568207, + -0.98873370885849, + 0.08178410679101944, + -3.629530191421509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3163, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_138469457", + "mask_path": "../../mask/hdr_left_03163.png" + }, + { + "file_path": "../../rgb/hdr_left_03164.png", + "transform_matrix": [ + [ + -0.917443037033081, + -0.1387810856103897, + -0.3728778064250946, + 31.49041748046875 + ], + [ + 0.37957820296287537, + -0.02442789450287819, + -0.9248371124267578, + -5.197094440460205 + ], + [ + 0.11924126744270325, + -0.990021824836731, + 0.0750894770026207, + -3.618703603744507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3164, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_238469600", + "mask_path": "../../mask/hdr_left_03164.png" + }, + { + "file_path": "../../rgb/hdr_left_03165.png", + "transform_matrix": [ + [ + -0.9144669771194458, + -0.14013655483722687, + -0.3796207308769226, + 31.440683364868164 + ], + [ + 0.3855387270450592, + -0.016749996691942215, + -0.9225395917892456, + -5.181972503662109 + ], + [ + 0.1229228600859642, + -0.9899905323982239, + 0.0693453848361969, + -3.6050920486450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3165, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_338469982", + "mask_path": "../../mask/hdr_left_03165.png" + }, + { + "file_path": "../../rgb/hdr_left_03166.png", + "transform_matrix": [ + [ + -0.9141967296600342, + -0.14350400865077972, + -0.3790130615234375, + 31.389192581176758 + ], + [ + 0.38549554347991943, + -0.019348764792084694, + -0.9225068092346191, + -5.179357051849365 + ], + [ + 0.12504999339580536, + -0.9894606471061707, + 0.07300873100757599, + -3.5976030826568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3166, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_438469886", + "mask_path": "../../mask/hdr_left_03166.png" + }, + { + "file_path": "../../rgb/hdr_left_03167.png", + "transform_matrix": [ + [ + -0.9187213182449341, + -0.14444348216056824, + -0.36754199862480164, + 31.328777313232422 + ], + [ + 0.37437549233436584, + -0.022380633279681206, + -0.9270070195198059, + -5.176857948303223 + ], + [ + 0.125674307346344, + -0.9892600178718567, + 0.07463767379522324, + -3.585254192352295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3167, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_538470506", + "mask_path": "../../mask/hdr_left_03167.png" + }, + { + "file_path": "../../rgb/hdr_left_03168.png", + "transform_matrix": [ + [ + -0.9292157888412476, + -0.1373140513896942, + -0.34307825565338135, + 31.263925552368164 + ], + [ + 0.34859684109687805, + -0.01762867346405983, + -0.9371069669723511, + -5.179914951324463 + ], + [ + 0.12262993305921555, + -0.9903708100318909, + 0.06424808502197266, + -3.574932813644409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3168, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_638471364", + "mask_path": "../../mask/hdr_left_03168.png" + }, + { + "file_path": "../../rgb/hdr_left_03170.png", + "transform_matrix": [ + [ + -0.9530354738235474, + -0.13040250539779663, + -0.2733467221260071, + 31.163766860961914 + ], + [ + 0.2772200405597687, + -0.01218025665730238, + -0.9607293009757996, + -5.197075843811035 + ], + [ + 0.12195206433534622, + -0.991386353969574, + 0.04775840416550636, + -3.5714075565338135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3170, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_838469982", + "mask_path": "../../mask/hdr_left_03170.png" + }, + { + "file_path": "../../rgb/hdr_left_03171.png", + "transform_matrix": [ + [ + -0.9644811153411865, + -0.1277576982975006, + -0.23120132088661194, + 31.10281753540039 + ], + [ + 0.23498669266700745, + -0.015187369659543037, + -0.9718798995018005, + -5.206779956817627 + ], + [ + 0.12065378576517105, + -0.991689145565033, + 0.04466928914189339, + -3.5592992305755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3171, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_938469409", + "mask_path": "../../mask/hdr_left_03171.png" + }, + { + "file_path": "../../rgb/hdr_left_03173.png", + "transform_matrix": [ + [ + -0.9791486263275146, + -0.1331162303686142, + -0.1534535139799118, + 31.007930755615234 + ], + [ + 0.15858148038387299, + -0.028752349317073822, + -0.9869270920753479, + -5.232399940490723 + ], + [ + 0.12696385383605957, + -0.9906833171844482, + 0.04926259443163872, + -3.539081335067749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3173, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_138470888", + "mask_path": "../../mask/hdr_left_03173.png" + }, + { + "file_path": "../../rgb/hdr_left_03175.png", + "transform_matrix": [ + [ + -0.988271951675415, + -0.1316830813884735, + -0.07731799781322479, + 30.89275360107422 + ], + [ + 0.08338344097137451, + -0.04117899760603905, + -0.9956663846969604, + -5.280727863311768 + ], + [ + 0.12792854011058807, + -0.9904362559318542, + 0.05167623981833458, + -3.5178112983703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3175, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_338470220", + "mask_path": "../../mask/hdr_left_03175.png" + }, + { + "file_path": "../../rgb/hdr_left_03180.png", + "transform_matrix": [ + [ + -0.9928200840950012, + -0.11921686679124832, + 0.009775204584002495, + 30.654682159423828 + ], + [ + -0.0037755963858217, + -0.0504474937915802, + -0.9987195730209351, + -5.37269926071167 + ], + [ + 0.11955734342336655, + -0.9915857911109924, + 0.04963516816496849, + -3.4763495922088623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3180, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_838470458", + "mask_path": "../../mask/hdr_left_03180.png" + }, + { + "file_path": "../../rgb/hdr_left_03181.png", + "transform_matrix": [ + [ + -0.9924271702766418, + -0.12282372266054153, + -0.0016458581667393446, + 30.590055465698242 + ], + [ + 0.008151095360517502, + -0.0524803064763546, + -0.9985886812210083, + -5.384596824645996 + ], + [ + 0.12256398051977158, + -0.9910399913787842, + 0.05308402702212334, + -3.462345838546753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3181, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_938468933", + "mask_path": "../../mask/hdr_left_03181.png" + }, + { + "file_path": "../../rgb/hdr_left_03182.png", + "transform_matrix": [ + [ + -0.9923391938209534, + -0.12321697920560837, + -0.008975246921181679, + 30.511899948120117 + ], + [ + 0.01550548430532217, + -0.052141427993774414, + -0.9985194206237793, + -5.401529788970947 + ], + [ + 0.12256656587123871, + -0.9910091161727905, + 0.05365251377224922, + -3.449476718902588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3182, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_38469552", + "mask_path": "../../mask/hdr_left_03182.png" + }, + { + "file_path": "../../rgb/hdr_left_03183.png", + "transform_matrix": [ + [ + -0.9926581978797913, + -0.12069520354270935, + -0.007891319692134857, + 30.44076919555664 + ], + [ + 0.01299402303993702, + -0.04154904931783676, + -0.9990519285202026, + -5.415579795837402 + ], + [ + 0.12025289237499237, + -0.9918197393417358, + 0.042812321335077286, + -3.4457333087921143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3183, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_138469457", + "mask_path": "../../mask/hdr_left_03183.png" + }, + { + "file_path": "../../rgb/hdr_left_03184.png", + "transform_matrix": [ + [ + -0.992851972579956, + -0.11905396729707718, + -0.008432711474597454, + 30.373186111450195 + ], + [ + 0.012837188318371773, + -0.036277394741773605, + -0.9992592930793762, + -5.423168182373047 + ], + [ + 0.1186598688364029, + -0.9922248125076294, + 0.03754639998078346, + -3.4454169273376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3184, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_238469600", + "mask_path": "../../mask/hdr_left_03184.png" + }, + { + "file_path": "../../rgb/hdr_left_03185.png", + "transform_matrix": [ + [ + -0.9926741123199463, + -0.12020060420036316, + -0.012240377254784107, + 30.293663024902344 + ], + [ + 0.016335023567080498, + -0.03313901647925377, + -0.9993172287940979, + -5.426650047302246 + ], + [ + 0.11971290409564972, + -0.9921963810920715, + 0.03485972434282303, + -3.4318766593933105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3185, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_338468313", + "mask_path": "../../mask/hdr_left_03185.png" + }, + { + "file_path": "../../rgb/hdr_left_03186.png", + "transform_matrix": [ + [ + -0.9923287630081177, + -0.12171377241611481, + -0.02166692353785038, + 30.215932846069336 + ], + [ + 0.026096545159816742, + -0.03491812199354172, + -0.9990494251251221, + -5.428359031677246 + ], + [ + 0.12084148079156876, + -0.9919508695602417, + 0.03782656043767929, + -3.408663272857666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3186, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_438469171", + "mask_path": "../../mask/hdr_left_03186.png" + }, + { + "file_path": "../../rgb/hdr_left_03187.png", + "transform_matrix": [ + [ + -0.9916484355926514, + -0.12518295645713806, + -0.031022729352116585, + 30.152441024780273 + ], + [ + 0.036623477935791016, + -0.04268929362297058, + -0.9984169006347656, + -5.4360671043396 + ], + [ + 0.12366043031215668, + -0.9912148714065552, + 0.04691741243004799, + -3.402299404144287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3187, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_538469076", + "mask_path": "../../mask/hdr_left_03187.png" + }, + { + "file_path": "../../rgb/hdr_left_03188.png", + "transform_matrix": [ + [ + -0.9912295341491699, + -0.1266161948442459, + -0.03784638270735741, + 30.081817626953125 + ], + [ + 0.04412881284952164, + -0.04718545824289322, + -0.9979109168052673, + -5.449486255645752 + ], + [ + 0.12456584721803665, + -0.9908289313316345, + 0.05235904082655907, + -3.391728639602661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3188, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_638468980", + "mask_path": "../../mask/hdr_left_03188.png" + }, + { + "file_path": "../../rgb/hdr_left_03189.png", + "transform_matrix": [ + [ + -0.9920462369918823, + -0.11975026875734329, + -0.03878205642104149, + 30.000669479370117 + ], + [ + 0.04407992586493492, + -0.04191261902451515, + -0.9981484413146973, + -5.468904972076416 + ], + [ + 0.11790307611227036, + -0.9919190406799316, + 0.046857841312885284, + -3.378865957260132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3189, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_738468647", + "mask_path": "../../mask/hdr_left_03189.png" + }, + { + "file_path": "../../rgb/hdr_left_03190.png", + "transform_matrix": [ + [ + -0.9925953149795532, + -0.11650846153497696, + -0.034357063472270966, + 29.933334350585938 + ], + [ + 0.039137646555900574, + -0.03899480774998665, + -0.9984726905822754, + -5.4835638999938965 + ], + [ + 0.11499074846506119, + -0.9924240112304688, + 0.0432659275829792, + -3.3750545978546143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3190, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_838469743", + "mask_path": "../../mask/hdr_left_03190.png" + }, + { + "file_path": "../../rgb/hdr_left_03191.png", + "transform_matrix": [ + [ + -0.9930791854858398, + -0.11282894760370255, + -0.03260825201869011, + 29.868839263916016 + ], + [ + 0.037242092192173004, + -0.03920800983905792, + -0.9985367059707642, + -5.495810508728027 + ], + [ + 0.11138533800840378, + -0.992840588092804, + 0.04313864931464195, + -3.376478910446167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3191, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_938469409", + "mask_path": "../../mask/hdr_left_03191.png" + }, + { + "file_path": "../../rgb/hdr_left_03192.png", + "transform_matrix": [ + [ + -0.9934031963348389, + -0.10937128216028214, + -0.03446504473686218, + 29.793506622314453 + ], + [ + 0.03909727931022644, + -0.040494587272405624, + -0.9984145164489746, + -5.509979724884033 + ], + [ + 0.10780223459005356, + -0.9931758046150208, + 0.04450357332825661, + -3.3714466094970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3192, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_38469552", + "mask_path": "../../mask/hdr_left_03192.png" + }, + { + "file_path": "../../rgb/hdr_left_03193.png", + "transform_matrix": [ + [ + -0.9932772517204285, + -0.1070660799741745, + -0.04401282221078873, + 29.723526000976562 + ], + [ + 0.04874114692211151, + -0.04195324704051018, + -0.9979299306869507, + -5.5195698738098145 + ], + [ + 0.10499796271324158, + -0.9933664202690125, + 0.04688973352313042, + -3.349365472793579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3193, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_138469219", + "mask_path": "../../mask/hdr_left_03193.png" + }, + { + "file_path": "../../rgb/hdr_left_03194.png", + "transform_matrix": [ + [ + -0.9921829104423523, + -0.11165530234575272, + -0.0557321235537529, + 29.65641212463379 + ], + [ + 0.06112847849726677, + -0.04550224542617798, + -0.9970921874046326, + -5.527781963348389 + ], + [ + 0.1087946891784668, + -0.9927047491073608, + 0.05197187140583992, + -3.3353183269500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3194, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_238470077", + "mask_path": "../../mask/hdr_left_03194.png" + }, + { + "file_path": "../../rgb/hdr_left_03195.png", + "transform_matrix": [ + [ + -0.9915096163749695, + -0.11241380870342255, + -0.06535924971103668, + 29.579408645629883 + ], + [ + 0.07121626287698746, + -0.04889707639813423, + -0.9962615966796875, + -5.540596008300781 + ], + [ + 0.10879768431186676, + -0.9924576878547668, + 0.056487612426280975, + -3.324962854385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3195, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_338469266", + "mask_path": "../../mask/hdr_left_03195.png" + }, + { + "file_path": "../../rgb/hdr_left_03196.png", + "transform_matrix": [ + [ + -0.9921157360076904, + -0.10512138158082962, + -0.06823383271694183, + 29.497018814086914 + ], + [ + 0.0730372816324234, + -0.04253891482949257, + -0.9964216351509094, + -5.554711818695068 + ], + [ + 0.10184261202812195, + -0.9935491681098938, + 0.049881305545568466, + -3.3151443004608154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3196, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_438468456", + "mask_path": "../../mask/hdr_left_03196.png" + }, + { + "file_path": "../../rgb/hdr_left_03197.png", + "transform_matrix": [ + [ + -0.9927523732185364, + -0.10011400282382965, + -0.06648264825344086, + 29.4310245513916 + ], + [ + 0.07003024220466614, + -0.03234439343214035, + -0.9970203638076782, + -5.566551208496094 + ], + [ + 0.09766535460948944, + -0.9944500923156738, + 0.039120979607105255, + -3.3121159076690674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3197, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_538469076", + "mask_path": "../../mask/hdr_left_03197.png" + }, + { + "file_path": "../../rgb/hdr_left_03198.png", + "transform_matrix": [ + [ + -0.9930754899978638, + -0.09583897888660431, + -0.06793881207704544, + 29.361080169677734 + ], + [ + 0.07083236426115036, + -0.027115900069475174, + -0.9971195459365845, + -5.575252532958984 + ], + [ + 0.0937206968665123, + -0.995027482509613, + 0.03371664136648178, + -3.3139233589172363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3198, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_638468265", + "mask_path": "../../mask/hdr_left_03198.png" + }, + { + "file_path": "../../rgb/hdr_left_03199.png", + "transform_matrix": [ + [ + -0.9929089546203613, + -0.09473416209220886, + -0.07181484997272491, + 29.279550552368164 + ], + [ + 0.07449312508106232, + -0.025039996951818466, + -0.9969071745872498, + -5.585145950317383 + ], + [ + 0.0926429033279419, + -0.9951876997947693, + 0.03191947564482689, + -3.3052451610565186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3199, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_738468170", + "mask_path": "../../mask/hdr_left_03199.png" + }, + { + "file_path": "../../rgb/hdr_left_03200.png", + "transform_matrix": [ + [ + -0.9917666912078857, + -0.09860333055257797, + -0.08170855790376663, + 29.202890396118164 + ], + [ + 0.08441267907619476, + -0.023564180359244347, + -0.9961522221565247, + -5.588995456695557 + ], + [ + 0.09629852324724197, + -0.9948478937149048, + 0.03169354051351547, + -3.2849810123443604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3200, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_838469505", + "mask_path": "../../mask/hdr_left_03200.png" + }, + { + "file_path": "../../rgb/hdr_left_03201.png", + "transform_matrix": [ + [ + -0.9902905225753784, + -0.1040855273604393, + -0.09214578568935394, + 29.13248062133789 + ], + [ + 0.09563076496124268, + -0.02899216115474701, + -0.9949946403503418, + -5.596190929412842 + ], + [ + 0.10089302062988281, + -0.9941457509994507, + 0.03866443783044815, + -3.2747364044189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3201, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_938470363", + "mask_path": "../../mask/hdr_left_03201.png" + }, + { + "file_path": "../../rgb/hdr_left_03202.png", + "transform_matrix": [ + [ + -0.9893293976783752, + -0.1074189692735672, + -0.09843023121356964, + 29.04862403869629 + ], + [ + 0.1024145558476448, + -0.032214198261499405, + -0.9942200183868408, + -5.606167793273926 + ], + [ + 0.10362723469734192, + -0.9936918616294861, + 0.04287171736359596, + -3.262960195541382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3202, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_38468599", + "mask_path": "../../mask/hdr_left_03202.png" + }, + { + "file_path": "../../rgb/hdr_left_03203.png", + "transform_matrix": [ + [ + -0.9900371432304382, + -0.10218232870101929, + -0.0968770980834961, + 28.96039390563965 + ], + [ + 0.09999032318592072, + -0.02578648552298546, + -0.9946541786193848, + -5.614534854888916 + ], + [ + 0.09913796186447144, + -0.9944314360618591, + 0.035746823996305466, + -3.2522976398468018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3203, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_138469457", + "mask_path": "../../mask/hdr_left_03203.png" + }, + { + "file_path": "../../rgb/hdr_left_03204.png", + "transform_matrix": [ + [ + -0.9906622171401978, + -0.09804180264472961, + -0.09474275261163712, + 28.895109176635742 + ], + [ + 0.09706225991249084, + -0.019154857844114304, + -0.9950939416885376, + -5.62008810043335 + ], + [ + 0.0957460105419159, + -0.9949979782104492, + 0.02849215641617775, + -3.2499938011169434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3204, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_238469839", + "mask_path": "../../mask/hdr_left_03204.png" + }, + { + "file_path": "../../rgb/hdr_left_03205.png", + "transform_matrix": [ + [ + -0.9908175468444824, + -0.09579416364431381, + -0.09541391581296921, + 28.824522018432617 + ], + [ + 0.09753936529159546, + -0.017745014280080795, + -0.9950733780860901, + -5.625652313232422 + ], + [ + 0.09362909942865372, + -0.9952430129051208, + 0.02692577615380287, + -3.2457773685455322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3205, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_338470220", + "mask_path": "../../mask/hdr_left_03205.png" + }, + { + "file_path": "../../rgb/hdr_left_03206.png", + "transform_matrix": [ + [ + -0.9900301098823547, + -0.09812378883361816, + -0.10105497390031815, + 28.740833282470703 + ], + [ + 0.10334045439958572, + -0.018482783809304237, + -0.9944742918014526, + -5.625990390777588 + ], + [ + 0.09571380168199539, + -0.9950026273727417, + 0.028438666835427284, + -3.2295327186584473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3206, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_438470602", + "mask_path": "../../mask/hdr_left_03206.png" + }, + { + "file_path": "../../rgb/hdr_left_03207.png", + "transform_matrix": [ + [ + -0.98850417137146, + -0.10241413861513138, + -0.1112244501709938, + 28.66727066040039 + ], + [ + 0.11393757909536362, + -0.021016037091612816, + -0.9932656288146973, + -5.6262526512146 + ], + [ + 0.09938693046569824, + -0.994519829750061, + 0.03244325518608093, + -3.2155563831329346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3207, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_538469791", + "mask_path": "../../mask/hdr_left_03207.png" + }, + { + "file_path": "../../rgb/hdr_left_03208.png", + "transform_matrix": [ + [ + -0.9873762726783752, + -0.10369182378053665, + -0.11973308026790619, + 28.602602005004883 + ], + [ + 0.12300070375204086, + -0.025690386071801186, + -0.9920740723609924, + -5.635646343231201 + ], + [ + 0.09979396313428879, + -0.9942777156829834, + 0.038120243698358536, + -3.21199631690979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_638470172", + "mask_path": "../../mask/hdr_left_03208.png" + }, + { + "file_path": "../../rgb/hdr_left_03209.png", + "transform_matrix": [ + [ + -0.9867745637893677, + -0.1029115840792656, + -0.1252402514219284, + 28.517486572265625 + ], + [ + 0.12839843332767487, + -0.024633342400193214, + -0.9914166331291199, + -5.6465744972229 + ], + [ + 0.09894317388534546, + -0.9943855404853821, + 0.03752124682068825, + -3.201817274093628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3209, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_738470315", + "mask_path": "../../mask/hdr_left_03209.png" + }, + { + "file_path": "../../rgb/hdr_left_03210.png", + "transform_matrix": [ + [ + -0.9876386523246765, + -0.0988364964723587, + -0.12166020274162292, + 28.43903160095215 + ], + [ + 0.12402013689279556, + -0.01807163655757904, + -0.9921150803565979, + -5.653666019439697 + ], + [ + 0.09585856646299362, + -0.9949396848678589, + 0.030105961486697197, + -3.194096803665161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_838470458", + "mask_path": "../../mask/hdr_left_03210.png" + }, + { + "file_path": "../../rgb/hdr_left_03211.png", + "transform_matrix": [ + [ + -0.9883608222007751, + -0.09456246346235275, + -0.1191667914390564, + 28.370948791503906 + ], + [ + 0.12097932398319244, + -0.013651207089424133, + -0.9925611615180969, + -5.6586127281188965 + ], + [ + 0.09223223477602005, + -0.9954254031181335, + 0.024932419881224632, + -3.195478916168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3211, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_938469886", + "mask_path": "../../mask/hdr_left_03211.png" + }, + { + "file_path": "../../rgb/hdr_left_03212.png", + "transform_matrix": [ + [ + -0.9885717034339905, + -0.08960261195898056, + -0.12123215198516846, + 28.2998046875 + ], + [ + 0.1228087916970253, + -0.012276437133550644, + -0.9923545122146606, + -5.663157939910889 + ], + [ + 0.08742924779653549, + -0.9959020018577576, + 0.02314012497663498, + -3.1929516792297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3212, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_38471698", + "mask_path": "../../mask/hdr_left_03212.png" + }, + { + "file_path": "../../rgb/hdr_left_03213.png", + "transform_matrix": [ + [ + -0.9877873063087463, + -0.08515666425228119, + -0.13047774136066437, + 28.232807159423828 + ], + [ + 0.13184767961502075, + -0.010642138309776783, + -0.9912128448486328, + -5.665855407714844 + ], + [ + 0.08301980793476105, + -0.996310830116272, + 0.021739881485700607, + -3.1738102436065674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3213, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_138469934", + "mask_path": "../../mask/hdr_left_03213.png" + }, + { + "file_path": "../../rgb/hdr_left_03214.png", + "transform_matrix": [ + [ + -0.9857663512229919, + -0.09147326648235321, + -0.14105769991874695, + 28.169227600097656 + ], + [ + 0.14319320023059845, + -0.017185373231768608, + -0.9895455241203308, + -5.669005870819092 + ], + [ + 0.08809283375740051, + -0.9956592321395874, + 0.030039111152291298, + -3.1614441871643066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3214, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_238470315", + "mask_path": "../../mask/hdr_left_03214.png" + }, + { + "file_path": "../../rgb/hdr_left_03215.png", + "transform_matrix": [ + [ + -0.984514594078064, + -0.09512413293123245, + -0.1472492218017578, + 28.097545623779297 + ], + [ + 0.1500125527381897, + -0.022543495520949364, + -0.9884271025657654, + -5.673016548156738 + ], + [ + 0.09070374816656113, + -0.9952101707458496, + 0.03646421432495117, + -3.148812770843506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3215, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_338469505", + "mask_path": "../../mask/hdr_left_03215.png" + }, + { + "file_path": "../../rgb/hdr_left_03216.png", + "transform_matrix": [ + [ + -0.9847217202186584, + -0.09287252277135849, + -0.14730198681354523, + 28.019779205322266 + ], + [ + 0.14975304901599884, + -0.019961023703217506, + -0.9885218739509583, + -5.680095672607422 + ], + [ + 0.088866226375103, + -0.9954779744148254, + 0.033563993871212006, + -3.13783597946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3216, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_438469171", + "mask_path": "../../mask/hdr_left_03216.png" + }, + { + "file_path": "../../rgb/hdr_left_03217.png", + "transform_matrix": [ + [ + -0.9853178858757019, + -0.09273025393486023, + -0.14335131645202637, + 27.960369110107422 + ], + [ + 0.1455053985118866, + -0.016866018995642662, + -0.9892137050628662, + -5.686638832092285 + ], + [ + 0.08931225538253784, + -0.99554842710495, + 0.030111141502857208, + -3.1378302574157715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3217, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_538470029", + "mask_path": "../../mask/hdr_left_03217.png" + }, + { + "file_path": "../../rgb/hdr_left_03218.png", + "transform_matrix": [ + [ + -0.9856287837028503, + -0.09097722917795181, + -0.14233504235744476, + 27.899595260620117 + ], + [ + 0.1444653868675232, + -0.01724282279610634, + -0.9893595576286316, + -5.6933512687683105 + ], + [ + 0.087554931640625, + -0.9957036972045898, + 0.030138080939650536, + -3.1366937160491943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3218, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_638470172", + "mask_path": "../../mask/hdr_left_03218.png" + }, + { + "file_path": "../../rgb/hdr_left_03219.png", + "transform_matrix": [ + [ + -0.9853836894035339, + -0.08831004053354263, + -0.14567185938358307, + 27.838552474975586 + ], + [ + 0.14775937795639038, + -0.017545735463500023, + -0.9888677000999451, + -5.693001747131348 + ], + [ + 0.08477102220058441, + -0.9959384799003601, + 0.03033791482448578, + -3.1276230812072754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3219, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_738469362", + "mask_path": "../../mask/hdr_left_03219.png" + }, + { + "file_path": "../../rgb/hdr_left_03220.png", + "transform_matrix": [ + [ + -0.9837302565574646, + -0.09048502147197723, + -0.15520049631595612, + 27.78299903869629 + ], + [ + 0.15735682845115662, + -0.017161499708890915, + -0.9873926043510437, + -5.691470146179199 + ], + [ + 0.08668076246976852, + -0.9957499504089355, + 0.031120723113417625, + -3.1160309314727783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3220, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_838470458", + "mask_path": "../../mask/hdr_left_03220.png" + }, + { + "file_path": "../../rgb/hdr_left_03221.png", + "transform_matrix": [ + [ + -0.9817055463790894, + -0.09578930586576462, + -0.16455528140068054, + 27.723785400390625 + ], + [ + 0.16726075112819672, + -0.02088017202913761, + -0.985691487789154, + -5.692895889282227 + ], + [ + 0.09098275005817413, + -0.9951826930046082, + 0.03651997819542885, + -3.107673168182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3221, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_938470125", + "mask_path": "../../mask/hdr_left_03221.png" + }, + { + "file_path": "../../rgb/hdr_left_03222.png", + "transform_matrix": [ + [ + -0.9802369475364685, + -0.09954813122749329, + -0.17095503211021423, + 27.64661979675293 + ], + [ + 0.17410701513290405, + -0.023821499198675156, + -0.9844385385513306, + -5.695149898529053 + ], + [ + 0.09392659366130829, + -0.9947475790977478, + 0.04068273678421974, + -3.0962820053100586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3222, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_38470268", + "mask_path": "../../mask/hdr_left_03222.png" + }, + { + "file_path": "../../rgb/hdr_left_03223.png", + "transform_matrix": [ + [ + -0.9808139204978943, + -0.09604616463184357, + -0.1696440428495407, + 27.56725311279297 + ], + [ + 0.1721503883600235, + -0.018379023298621178, + -0.9848991632461548, + -5.698483467102051 + ], + [ + 0.0914778932929039, + -0.9952071905136108, + 0.03456078842282295, + -3.083442449569702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3223, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_138470411", + "mask_path": "../../mask/hdr_left_03223.png" + }, + { + "file_path": "../../rgb/hdr_left_03224.png", + "transform_matrix": [ + [ + -0.9814091324806213, + -0.09375594556331635, + -0.16746920347213745, + 27.504840850830078 + ], + [ + 0.1693541556596756, + -0.01246588584035635, + -0.9854764342308044, + -5.700766086578369 + ], + [ + 0.0903066098690033, + -0.9955171942710876, + 0.02811209298670292, + -3.084984064102173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_238470792", + "mask_path": "../../mask/hdr_left_03224.png" + }, + { + "file_path": "../../rgb/hdr_left_03225.png", + "transform_matrix": [ + [ + -0.9815676808357239, + -0.09054480493068695, + -0.1683049499988556, + 27.43692970275879 + ], + [ + 0.17002809047698975, + -0.011610708199441433, + -0.9853708148002625, + -5.701423168182373 + ], + [ + 0.08726606518030167, + -0.9958247542381287, + 0.026791855692863464, + -3.081483840942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3225, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_338470697", + "mask_path": "../../mask/hdr_left_03225.png" + }, + { + "file_path": "../../rgb/hdr_left_03226.png", + "transform_matrix": [ + [ + -0.9808733463287354, + -0.08591477572917938, + -0.17465971410274506, + 27.368539810180664 + ], + [ + 0.17619037628173828, + -0.010509085841476917, + -0.9843000173568726, + -5.698033809661865 + ], + [ + 0.08273038268089294, + -0.9962470531463623, + 0.02544543892145157, + -3.065951108932495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_438470125", + "mask_path": "../../mask/hdr_left_03226.png" + }, + { + "file_path": "../../rgb/hdr_left_03227.png", + "transform_matrix": [ + [ + -0.9789268374443054, + -0.09082444757223129, + -0.18290188908576965, + 27.308683395385742 + ], + [ + 0.18489880859851837, + -0.014010028913617134, + -0.9826577305793762, + -5.693835735321045 + ], + [ + 0.086686871945858, + -0.9957683682441711, + 0.030508127063512802, + -3.0518248081207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3227, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_538469314", + "mask_path": "../../mask/hdr_left_03227.png" + }, + { + "file_path": "../../rgb/hdr_left_03228.png", + "transform_matrix": [ + [ + -0.9772631525993347, + -0.09504248946905136, + -0.18953505158424377, + 27.243125915527344 + ], + [ + 0.1923540234565735, + -0.02134755812585354, + -0.9810933470726013, + -5.692709445953369 + ], + [ + 0.08919943869113922, + -0.9952443242073059, + 0.039143990725278854, + -3.043989896774292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3228, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_638469934", + "mask_path": "../../mask/hdr_left_03228.png" + }, + { + "file_path": "../../rgb/hdr_left_03229.png", + "transform_matrix": [ + [ + -0.9764395952224731, + -0.0974791869521141, + -0.192518413066864, + 27.166807174682617 + ], + [ + 0.1956559717655182, + -0.023631084710359573, + -0.9803878664970398, + -5.696049213409424 + ], + [ + 0.09101797640323639, + -0.9949570894241333, + 0.0421467162668705, + -3.0331640243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3229, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_738470315", + "mask_path": "../../mask/hdr_left_03229.png" + }, + { + "file_path": "../../rgb/hdr_left_03230.png", + "transform_matrix": [ + [ + -0.9777690768241882, + -0.0941862016916275, + -0.1873408704996109, + 27.09831428527832 + ], + [ + 0.18951162695884705, + -0.014576179906725883, + -0.981770396232605, + -5.699618339538574 + ], + [ + 0.08973850309848785, + -0.9954479932785034, + 0.03210151568055153, + -3.0267996788024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3230, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_838470220", + "mask_path": "../../mask/hdr_left_03230.png" + }, + { + "file_path": "../../rgb/hdr_left_03231.png", + "transform_matrix": [ + [ + -0.9784896969795227, + -0.09282669425010681, + -0.18423140048980713, + 27.03640365600586 + ], + [ + 0.18602247536182404, + -0.010951456613838673, + -0.9824844002723694, + -5.698519706726074 + ], + [ + 0.08918317407369614, + -0.9956220984458923, + 0.027983739972114563, + -3.026577949523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3231, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_938469648", + "mask_path": "../../mask/hdr_left_03231.png" + }, + { + "file_path": "../../rgb/hdr_left_03232.png", + "transform_matrix": [ + [ + -0.9782986044883728, + -0.09043707698583603, + -0.1864214539527893, + 26.970062255859375 + ], + [ + 0.18780480325222015, + -0.006959768012166023, + -0.9821817278862, + -5.695871353149414 + ], + [ + 0.08752817660570145, + -0.9958779215812683, + 0.02379324845969677, + -3.018834114074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3232, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_38471937", + "mask_path": "../../mask/hdr_left_03232.png" + }, + { + "file_path": "../../rgb/hdr_left_03233.png", + "transform_matrix": [ + [ + -0.9770385026931763, + -0.08628444373607635, + -0.19480951130390167, + 26.907983779907227 + ], + [ + 0.19588059186935425, + -0.0040436009876430035, + -0.9806193709373474, + -5.694335460662842 + ], + [ + 0.08382446318864822, + -0.9962623715400696, + 0.02085220441222191, + -3.00193452835083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3233, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_138471603", + "mask_path": "../../mask/hdr_left_03233.png" + }, + { + "file_path": "../../rgb/hdr_left_03234.png", + "transform_matrix": [ + [ + -0.9746851921081543, + -0.09202911704778671, + -0.20376314222812653, + 26.854990005493164 + ], + [ + 0.2054862529039383, + -0.009551873430609703, + -0.9786134362220764, + -5.6902031898498535 + ], + [ + 0.08811458945274353, + -0.995710551738739, + 0.028220785781741142, + -2.9931480884552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3234, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_238470554", + "mask_path": "../../mask/hdr_left_03234.png" + }, + { + "file_path": "../../rgb/hdr_left_03235.png", + "transform_matrix": [ + [ + -0.973031759262085, + -0.09435509145259857, + -0.21049080789089203, + 26.794200897216797 + ], + [ + 0.2129947543144226, + -0.017187699675559998, + -0.9769021272659302, + -5.6858086585998535 + ], + [ + 0.08855783194303513, + -0.9953902363777161, + 0.03682131692767143, + -2.98319935798645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3235, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_338469982", + "mask_path": "../../mask/hdr_left_03235.png" + }, + { + "file_path": "../../rgb/hdr_left_03236.png", + "transform_matrix": [ + [ + -0.9723305702209473, + -0.09433718025684357, + -0.21371378004550934, + 26.720064163208008 + ], + [ + 0.21624834835529327, + -0.017395636066794395, + -0.976183295249939, + -5.687962055206299 + ], + [ + 0.08837269246578217, + -0.9953883290290833, + 0.03731457144021988, + -2.970980167388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3236, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_438471317", + "mask_path": "../../mask/hdr_left_03236.png" + }, + { + "file_path": "../../rgb/hdr_left_03237.png", + "transform_matrix": [ + [ + -0.9732922315597534, + -0.0925402045249939, + -0.21009185910224915, + 26.65555191040039 + ], + [ + 0.21200743317604065, + -0.01126804668456316, + -0.9772031307220459, + -5.694394111633301 + ], + [ + 0.08806324750185013, + -0.9956452250480652, + 0.03058631159365177, + -2.9695234298706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3237, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_538470029", + "mask_path": "../../mask/hdr_left_03237.png" + }, + { + "file_path": "../../rgb/hdr_left_03238.png", + "transform_matrix": [ + [ + -0.9741206169128418, + -0.0901564285159111, + -0.20726986229419708, + 26.599836349487305 + ], + [ + 0.2090030014514923, + -0.010123416781425476, + -0.9778626561164856, + -5.697354793548584 + ], + [ + 0.08606230467557907, + -0.9958762526512146, + 0.028704389929771423, + -2.9718339443206787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3238, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_638470172", + "mask_path": "../../mask/hdr_left_03238.png" + }, + { + "file_path": "../../rgb/hdr_left_03239.png", + "transform_matrix": [ + [ + -0.9744818806648254, + -0.08628487586975098, + -0.20721960067749023, + 26.54062271118164 + ], + [ + 0.20880447328090668, + -0.009667291305959225, + -0.9779096841812134, + -5.696798801422119 + ], + [ + 0.08237555623054504, + -0.9962236881256104, + 0.02743726782500744, + -2.9648401737213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3239, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_738471984", + "mask_path": "../../mask/hdr_left_03239.png" + }, + { + "file_path": "../../rgb/hdr_left_03240.png", + "transform_matrix": [ + [ + -0.9739681482315063, + -0.08594516664743423, + -0.20976044237613678, + 26.481550216674805 + ], + [ + 0.21114186942577362, + -0.007208404131233692, + -0.9774289727210999, + -5.694316387176514 + ], + [ + 0.08249323815107346, + -0.9962738156318665, + 0.025167373940348625, + -2.946612596511841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3240, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_838469505", + "mask_path": "../../mask/hdr_left_03240.png" + }, + { + "file_path": "../../rgb/hdr_left_03241.png", + "transform_matrix": [ + [ + -0.9735119938850403, + -0.0920252874493599, + -0.20929792523384094, + 26.42296028137207 + ], + [ + 0.2110573798418045, + -0.00971236266195774, + -0.9774253964424133, + -5.6931633949279785 + ], + [ + 0.08791507035493851, + -0.9957093596458435, + 0.02887771837413311, + -2.9390666484832764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3241, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_938470840", + "mask_path": "../../mask/hdr_left_03241.png" + }, + { + "file_path": "../../rgb/hdr_left_03242.png", + "transform_matrix": [ + [ + -0.9738396406173706, + -0.0957271158695221, + -0.2060891091823578, + 26.35677719116211 + ], + [ + 0.20853394269943237, + -0.01617005467414856, + -0.9778814315795898, + -5.694124221801758 + ], + [ + 0.0902772918343544, + -0.9952763319015503, + 0.03570939227938652, + -2.9309074878692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3242, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_38470268", + "mask_path": "../../mask/hdr_left_03242.png" + }, + { + "file_path": "../../rgb/hdr_left_03243.png", + "transform_matrix": [ + [ + -0.9757868051528931, + -0.09587647020816803, + -0.19659022986888885, + 26.28150749206543 + ], + [ + 0.1992664337158203, + -0.019091546535491943, + -0.9797593355178833, + -5.700339317321777 + ], + [ + 0.09018265455961227, + -0.9952102303504944, + 0.03773424029350281, + -2.9187114238739014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3243, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_138470172", + "mask_path": "../../mask/hdr_left_03243.png" + }, + { + "file_path": "../../rgb/hdr_left_03244.png", + "transform_matrix": [ + [ + -0.9791127443313599, + -0.09433035552501678, + -0.18011118471622467, + 26.212322235107422 + ], + [ + 0.18173491954803467, + -0.008843968622386456, + -0.9833077192306519, + -5.7107367515563965 + ], + [ + 0.09116286039352417, + -0.995501697063446, + 0.025802360847592354, + -2.9097890853881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3244, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_238470554", + "mask_path": "../../mask/hdr_left_03244.png" + }, + { + "file_path": "../../rgb/hdr_left_03245.png", + "transform_matrix": [ + [ + -0.9826659560203552, + -0.08874932676553726, + -0.16276094317436218, + 26.14909553527832 + ], + [ + 0.16386942565441132, + -0.00530121149495244, + -0.9864677786827087, + -5.716398239135742 + ], + [ + 0.08668550848960876, + -0.9960399270057678, + 0.01975261978805065, + -2.91180682182312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3245, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_338470458", + "mask_path": "../../mask/hdr_left_03245.png" + }, + { + "file_path": "../../rgb/hdr_left_03246.png", + "transform_matrix": [ + [ + -0.9856594800949097, + -0.08443283289670944, + -0.1461041122674942, + 26.080507278442383 + ], + [ + 0.1470481902360916, + -0.005038892850279808, + -0.9891164898872375, + -5.71879768371582 + ], + [ + 0.08277770131826401, + -0.996416449546814, + 0.01738232932984829, + -2.902383327484131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3246, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_438469409", + "mask_path": "../../mask/hdr_left_03246.png" + }, + { + "file_path": "../../rgb/hdr_left_03247.png", + "transform_matrix": [ + [ + -0.9867710471153259, + -0.08976662158966064, + -0.13499943912029266, + 26.018712997436523 + ], + [ + 0.13622580468654633, + -0.007650070823729038, + -0.9906482696533203, + -5.723649501800537 + ], + [ + 0.08789438754320145, + -0.995933473110199, + 0.01977740041911602, + -2.8895487785339355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3247, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_538467884", + "mask_path": "../../mask/hdr_left_03247.png" + }, + { + "file_path": "../../rgb/hdr_left_03248.png", + "transform_matrix": [ + [ + -0.9878352284431458, + -0.09290468692779541, + -0.12470069527626038, + 25.95636558532715 + ], + [ + 0.12656177580356598, + -0.014393988065421581, + -0.9918542504310608, + -5.73270320892334 + ], + [ + 0.09035296738147736, + -0.995570957660675, + 0.02597707137465477, + -2.8830831050872803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3248, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_638466596", + "mask_path": "../../mask/hdr_left_03248.png" + }, + { + "file_path": "../../rgb/hdr_left_03249.png", + "transform_matrix": [ + [ + -0.9891079068183899, + -0.0903003141283989, + -0.11623840034008026, + 25.88524055480957 + ], + [ + 0.11807770282030106, + -0.01528251450508833, + -0.9928867816925049, + -5.742228031158447 + ], + [ + 0.08788155764341354, + -0.995797336101532, + 0.02577850967645645, + -2.8795666694641113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3249, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_738469123", + "mask_path": "../../mask/hdr_left_03249.png" + }, + { + "file_path": "../../rgb/hdr_left_03250.png", + "transform_matrix": [ + [ + -0.9905518293380737, + -0.0845559611916542, + -0.10796886682510376, + 25.81947135925293 + ], + [ + 0.10923953354358673, + -0.010534131899476051, + -0.9939596056938171, + -5.750988006591797 + ], + [ + 0.08290784060955048, + -0.99636310338974, + 0.01967145875096321, + -2.878859281539917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3250, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_838469266", + "mask_path": "../../mask/hdr_left_03250.png" + }, + { + "file_path": "../../rgb/hdr_left_03251.png", + "transform_matrix": [ + [ + -0.9910829663276672, + -0.08237146586179733, + -0.10473483055830002, + 25.765640258789062 + ], + [ + 0.10561580210924149, + -0.006399515550583601, + -0.9943863749504089, + -5.7541327476501465 + ], + [ + 0.08123881369829178, + -0.9965811967849731, + 0.015042181126773357, + -2.8776228427886963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3251, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_938469171", + "mask_path": "../../mask/hdr_left_03251.png" + }, + { + "file_path": "../../rgb/hdr_left_03252.png", + "transform_matrix": [ + [ + -0.9911420345306396, + -0.07905316352844238, + -0.10671457648277283, + 25.709440231323242 + ], + [ + 0.10725747793912888, + -0.0026412762235850096, + -0.9942277669906616, + -5.755764007568359 + ], + [ + 0.07831498980522156, + -0.9968669414520264, + 0.011096922680735588, + -2.873225688934326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3252, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_38469076", + "mask_path": "../../mask/hdr_left_03252.png" + }, + { + "file_path": "../../rgb/hdr_left_03253.png", + "transform_matrix": [ + [ + -0.9906481504440308, + -0.0736595168709755, + -0.11484996974468231, + 25.653732299804688 + ], + [ + 0.11514987051486969, + 0.00017605721950531006, + -0.9933480620384216, + -5.755746841430664 + ], + [ + 0.07318975776433945, + -0.9972835183143616, + 0.00830747839063406, + -2.8615849018096924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3253, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_138467311", + "mask_path": "../../mask/hdr_left_03253.png" + }, + { + "file_path": "../../rgb/hdr_left_03254.png", + "transform_matrix": [ + [ + -0.988905131816864, + -0.07840374112129211, + -0.1261722296476364, + 25.599096298217773 + ], + [ + 0.12695735692977905, + -0.00509107019752264, + -0.9918951392173767, + -5.754619121551514 + ], + [ + 0.0771259218454361, + -0.9969087243080139, + 0.01498851552605629, + -2.8523221015930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3254, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_238469362", + "mask_path": "../../mask/hdr_left_03254.png" + }, + { + "file_path": "../../rgb/hdr_left_03255.png", + "transform_matrix": [ + [ + -0.9876756072044373, + -0.0804743766784668, + -0.13424143195152283, + 25.537092208862305 + ], + [ + 0.13556785881519318, + -0.011226940900087357, + -0.9907044768333435, + -5.757500171661377 + ], + [ + 0.07821919769048691, + -0.99669349193573, + 0.021998314186930656, + -2.8446898460388184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3255, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_338469266", + "mask_path": "../../mask/hdr_left_03255.png" + }, + { + "file_path": "../../rgb/hdr_left_03256.png", + "transform_matrix": [ + [ + -0.9877265691757202, + -0.07689175754785538, + -0.13595564663410187, + 25.46746063232422 + ], + [ + 0.13707895576953888, + -0.009500172920525074, + -0.9905145168304443, + -5.7638115882873535 + ], + [ + 0.07487078756093979, + -0.9969942569732666, + 0.01992381550371647, + -2.8399479389190674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3256, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_438469171", + "mask_path": "../../mask/hdr_left_03256.png" + }, + { + "file_path": "../../rgb/hdr_left_03257.png", + "transform_matrix": [ + [ + -0.9886782169342041, + -0.0734538733959198, + -0.13084249198436737, + 25.405942916870117 + ], + [ + 0.13152894377708435, + -0.004566085059195757, + -0.9913018345832825, + -5.768771171569824 + ], + [ + 0.07221751660108566, + -0.9972882270812988, + 0.014175702817738056, + -2.8415157794952393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3257, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_538467168", + "mask_path": "../../mask/hdr_left_03257.png" + }, + { + "file_path": "../../rgb/hdr_left_03258.png", + "transform_matrix": [ + [ + -0.9891977310180664, + -0.07007789611816406, + -0.12875135242938995, + 25.347185134887695 + ], + [ + 0.12936493754386902, + -0.0042696790769696236, + -0.9915878176689148, + -5.772025108337402 + ], + [ + 0.06893865019083023, + -0.9975324273109436, + 0.013289176858961582, + -2.840507984161377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3258, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_638468742", + "mask_path": "../../mask/hdr_left_03258.png" + }, + { + "file_path": "../../rgb/hdr_left_03259.png", + "transform_matrix": [ + [ + -0.9890977740287781, + -0.06739632785320282, + -0.13093255460262299, + 25.28512954711914 + ], + [ + 0.13136440515518188, + -0.0019970987923443317, + -0.9913321137428284, + -5.770657062530518 + ], + [ + 0.06655066460371017, + -0.9977243542671204, + 0.010828807950019836, + -2.8300507068634033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3259, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_738469600", + "mask_path": "../../mask/hdr_left_03259.png" + }, + { + "file_path": "../../rgb/hdr_left_03260.png", + "transform_matrix": [ + [ + -0.9881622195243835, + -0.07298457622528076, + -0.1349395215511322, + 25.23068618774414 + ], + [ + 0.1355261355638504, + -0.003123078029602766, + -0.9907687902450562, + -5.773336887359619 + ], + [ + 0.07188940793275833, + -0.9973282814025879, + 0.01297742873430252, + -2.8180313110351562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3260, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_838469266", + "mask_path": "../../mask/hdr_left_03260.png" + }, + { + "file_path": "../../rgb/hdr_left_03261.png", + "transform_matrix": [ + [ + -0.9882311820983887, + -0.07760883122682571, + -0.1318182796239853, + 25.17232894897461 + ], + [ + 0.13295307755470276, + -0.009618718177080154, + -0.9910756349563599, + -5.781808376312256 + ], + [ + 0.07564830780029297, + -0.9969375729560852, + 0.01982385478913784, + -2.8102610111236572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3261, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_938469648", + "mask_path": "../../mask/hdr_left_03261.png" + }, + { + "file_path": "../../rgb/hdr_left_03262.png", + "transform_matrix": [ + [ + -0.9894214272499084, + -0.07665657997131348, + -0.12316229939460754, + 25.10296058654785 + ], + [ + 0.12428457289934158, + -0.010027657262980938, + -0.9921959042549133, + -5.793837547302246 + ], + [ + 0.07482331246137619, + -0.9970071911811829, + 0.019448811188340187, + -2.8050551414489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3262, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_38469076", + "mask_path": "../../mask/hdr_left_03262.png" + }, + { + "file_path": "../../rgb/hdr_left_03263.png", + "transform_matrix": [ + [ + -0.9913575053215027, + -0.07343140244483948, + -0.10871098935604095, + 25.042264938354492 + ], + [ + 0.10927727818489075, + -0.0037266211584210396, + -0.9940042495727539, + -5.804495334625244 + ], + [ + 0.07258599251508713, + -0.9972934126853943, + 0.01171880029141903, + -2.807600498199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3263, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_138469696", + "mask_path": "../../mask/hdr_left_03263.png" + }, + { + "file_path": "../../rgb/hdr_left_03264.png", + "transform_matrix": [ + [ + -0.9925047755241394, + -0.07327363640069962, + -0.0978020653128624, + 24.9894962310791 + ], + [ + 0.09815610945224762, + -0.0012376591330394149, + -0.9951702356338501, + -5.812907695770264 + ], + [ + 0.07279869168996811, + -0.9973111152648926, + 0.008420637808740139, + -2.8076202869415283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3264, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_238470554", + "mask_path": "../../mask/hdr_left_03264.png" + }, + { + "file_path": "../../rgb/hdr_left_03265.png", + "transform_matrix": [ + [ + -0.9930613040924072, + -0.07340217381715775, + -0.09187639504671097, + 24.93616485595703 + ], + [ + 0.09223698079586029, + -0.0015306499553844333, + -0.9957358837127686, + -5.817931175231934 + ], + [ + 0.07294855266809464, + -0.9973012804985046, + 0.008290426805615425, + -2.7989909648895264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3265, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_338469982", + "mask_path": "../../mask/hdr_left_03265.png" + }, + { + "file_path": "../../rgb/hdr_left_03266.png", + "transform_matrix": [ + [ + -0.9928238391876221, + -0.07586349546909332, + -0.0924418568611145, + 24.884180068969727 + ], + [ + 0.09288331866264343, + -0.002303734887391329, + -0.9956743717193604, + -5.821869850158691 + ], + [ + 0.07532237470149994, + -0.9971156120300293, + 0.0093336571007967, + -2.7840287685394287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3266, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_438472986", + "mask_path": "../../mask/hdr_left_03266.png" + }, + { + "file_path": "../../rgb/hdr_left_03268.png", + "transform_matrix": [ + [ + -0.9922680258750916, + -0.08376526832580566, + -0.09158220142126083, + 24.772706985473633 + ], + [ + 0.09287245571613312, + -0.011630029417574406, + -0.9956101179122925, + -5.833925247192383 + ], + [ + 0.08233243227005005, + -0.9964177012443542, + 0.019319595769047737, + -2.768868923187256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3268, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_638469934", + "mask_path": "../../mask/hdr_left_03268.png" + }, + { + "file_path": "../../rgb/hdr_right_01028.png", + "transform_matrix": [ + [ + -0.9648751616477966, + -0.09382317960262299, + 0.24538342654705048, + 25.233612060546875 + ], + [ + -0.24597026407718658, + -0.005438472609966993, + -0.9692621231079102, + -6.136321067810059 + ], + [ + 0.0922737643122673, + -0.9955739974975586, + -0.017830263823270798, + -2.8137004375457764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1028, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594269_938470363", + "mask_path": "../../mask/hdr_right_01028.png" + }, + { + "file_path": "../../rgb/hdr_right_01029.png", + "transform_matrix": [ + [ + -0.9697301387786865, + -0.08462639153003693, + 0.22904522716999054, + 25.315887451171875 + ], + [ + -0.22921279072761536, + -0.00786270946264267, + -0.973344624042511, + -6.131056785583496 + ], + [ + 0.08417154848575592, + -0.9963817000389099, + -0.011772743426263332, + -2.8237252235412598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_38470029", + "mask_path": "../../mask/hdr_right_01029.png" + }, + { + "file_path": "../../rgb/hdr_right_01030.png", + "transform_matrix": [ + [ + -0.9720630645751953, + -0.08191283792257309, + 0.2199632227420807, + 25.426132202148438 + ], + [ + -0.21963492035865784, + -0.013109579682350159, + -0.9754940867424011, + -6.1249823570251465 + ], + [ + 0.0827891081571579, + -0.9965533018112183, + -0.005247579887509346, + -2.8382108211517334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1030, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_138469457", + "mask_path": "../../mask/hdr_right_01030.png" + }, + { + "file_path": "../../rgb/hdr_right_01031.png", + "transform_matrix": [ + [ + -0.97126704454422, + -0.08635283261537552, + 0.22177350521087646, + 25.510169982910156 + ], + [ + -0.22125351428985596, + -0.015668287873268127, + -0.975090503692627, + -6.112792491912842 + ], + [ + 0.08767664432525635, + -0.9961414337158203, + -0.003887774655595422, + -2.8508408069610596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_238469362", + "mask_path": "../../mask/hdr_right_01031.png" + }, + { + "file_path": "../../rgb/hdr_right_01032.png", + "transform_matrix": [ + [ + -0.9709980487823486, + -0.08618725836277008, + 0.223012313246727, + 25.5822811126709 + ], + [ + -0.22258177399635315, + -0.014696468599140644, + -0.9748032689094543, + -6.106233596801758 + ], + [ + 0.0872931107878685, + -0.9961705207824707, + -0.00491347024217248, + -2.861285924911499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1032, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_338469266", + "mask_path": "../../mask/hdr_right_01032.png" + }, + { + "file_path": "../../rgb/hdr_right_01033.png", + "transform_matrix": [ + [ + -0.9714303016662598, + -0.08591639250516891, + 0.22122728824615479, + 25.677560806274414 + ], + [ + -0.22083978354930878, + -0.014108715578913689, + -0.975208044052124, + -6.104861259460449 + ], + [ + 0.08690759539604187, + -0.9962024092674255, + -0.0052681248635053635, + -2.8687007427215576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_438469648", + "mask_path": "../../mask/hdr_right_01033.png" + }, + { + "file_path": "../../rgb/hdr_right_01034.png", + "transform_matrix": [ + [ + -0.9736924171447754, + -0.08273337781429291, + 0.21231631934642792, + 25.773359298706055 + ], + [ + -0.21148639917373657, + -0.018770506605505943, + -0.9772007465362549, + -6.106629371643066 + ], + [ + 0.08483240008354187, + -0.9963948726654053, + 0.0007797176367603242, + -2.8693065643310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1034, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_538469314", + "mask_path": "../../mask/hdr_right_01034.png" + }, + { + "file_path": "../../rgb/hdr_right_01035.png", + "transform_matrix": [ + [ + -0.9775343537330627, + -0.07652373611927032, + 0.1963944435119629, + 25.846593856811523 + ], + [ + -0.19583916664123535, + -0.014768431894481182, + -0.9805248379707336, + -6.10819149017334 + ], + [ + 0.07793385535478592, + -0.9969583749771118, + -0.0005496940575540066, + -2.8678879737854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_638469219", + "mask_path": "../../mask/hdr_right_01035.png" + }, + { + "file_path": "../../rgb/hdr_right_01036.png", + "transform_matrix": [ + [ + -0.9807888865470886, + -0.07161316275596619, + 0.18145158886909485, + 25.929584503173828 + ], + [ + -0.18047791719436646, + -0.019895274192094803, + -0.9833778738975525, + -6.107886791229248 + ], + [ + 0.07403282076120377, + -0.9972339868545532, + 0.006588473450392485, + -2.8750412464141846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1036, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_738471984", + "mask_path": "../../mask/hdr_right_01036.png" + }, + { + "file_path": "../../rgb/hdr_right_01037.png", + "transform_matrix": [ + [ + -0.9817398190498352, + -0.07307989150285721, + 0.17563113570213318, + 26.034868240356445 + ], + [ + -0.17408251762390137, + -0.027096597477793694, + -0.9843582510948181, + -6.106348991394043 + ], + [ + 0.07669580727815628, + -0.9969578981399536, + 0.013879882171750069, + -2.8898942470550537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1037, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_838469743", + "mask_path": "../../mask/hdr_right_01037.png" + }, + { + "file_path": "../../rgb/hdr_right_01038.png", + "transform_matrix": [ + [ + -0.9811550378799438, + -0.07582604885101318, + 0.17772243916988373, + 26.11402130126953 + ], + [ + -0.17586281895637512, + -0.030588682740926743, + -0.9839392900466919, + -6.103516578674316 + ], + [ + 0.08004452288150787, + -0.9966517090797424, + 0.016677260398864746, + -2.902189254760742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1038, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594270_938469409", + "mask_path": "../../mask/hdr_right_01038.png" + }, + { + "file_path": "../../rgb/hdr_right_01039.png", + "transform_matrix": [ + [ + -0.981076180934906, + -0.07426460832357407, + 0.17881396412849426, + 26.18992042541504 + ], + [ + -0.17699654400348663, + -0.030426058918237686, + -0.9837411642074585, + -6.10500955581665 + ], + [ + 0.0784977599978447, + -0.9967743754386902, + 0.016705702990293503, + -2.9092698097229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_38469552", + "mask_path": "../../mask/hdr_right_01039.png" + }, + { + "file_path": "../../rgb/hdr_right_01040.png", + "transform_matrix": [ + [ + -0.9816228151321411, + -0.0736762210726738, + 0.1760355681180954, + 26.2866268157959 + ], + [ + -0.17442138493061066, + -0.027848981320858, + -0.9842771887779236, + -6.112380504608154 + ], + [ + 0.07742024213075638, + -0.9968933463096619, + 0.014486487954854965, + -2.9179422855377197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1040, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_138467311", + "mask_path": "../../mask/hdr_right_01040.png" + }, + { + "file_path": "../../rgb/hdr_right_01041.png", + "transform_matrix": [ + [ + -0.983403742313385, + -0.07479626685380936, + 0.16529545187950134, + 26.378196716308594 + ], + [ + -0.16373513638973236, + -0.026575662195682526, + -0.9861463308334351, + -6.1193013191223145 + ], + [ + 0.07815290987491608, + -0.9968445897102356, + 0.013887829147279263, + -2.9184012413024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1041, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_238468647", + "mask_path": "../../mask/hdr_right_01041.png" + }, + { + "file_path": "../../rgb/hdr_right_01042.png", + "transform_matrix": [ + [ + -0.9861806631088257, + -0.07079217582941055, + 0.1497868001461029, + 26.444921493530273 + ], + [ + -0.14859415590763092, + -0.021853826940059662, + -0.988656759262085, + -6.123598098754883 + ], + [ + 0.07326258718967438, + -0.9972516298294067, + 0.011032519862055779, + -2.916102409362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1042, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_338470935", + "mask_path": "../../mask/hdr_right_01042.png" + }, + { + "file_path": "../../rgb/hdr_right_01043.png", + "transform_matrix": [ + [ + -0.9883517622947693, + -0.0682603269815445, + 0.1360195130109787, + 26.53272247314453 + ], + [ + -0.13460774719715118, + -0.024893971160054207, + -0.9905862808227539, + -6.1285786628723145 + ], + [ + 0.07100380212068558, + -0.9973568916320801, + 0.015415634959936142, + -2.928677797317505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_438469409", + "mask_path": "../../mask/hdr_right_01043.png" + }, + { + "file_path": "../../rgb/hdr_right_01044.png", + "transform_matrix": [ + [ + -0.9880337119102478, + -0.0765547826886177, + 0.13389909267425537, + 26.629350662231445 + ], + [ + -0.13178910315036774, + -0.03200264647603035, + -0.9907611608505249, + -6.130011558532715 + ], + [ + 0.0801326334476471, + -0.9965516328811646, + 0.021530603989958763, + -2.94543194770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1044, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_538469791", + "mask_path": "../../mask/hdr_right_01044.png" + }, + { + "file_path": "../../rgb/hdr_right_01045.png", + "transform_matrix": [ + [ + -0.9870111346244812, + -0.08175504952669144, + 0.1382935643196106, + 26.70560073852539 + ], + [ + -0.13571374118328094, + -0.03633943572640419, + -0.9900814890861511, + -6.127405166625977 + ], + [ + 0.08596966415643692, + -0.9959896802902222, + 0.024772148579359055, + -2.9587018489837646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1045, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_638469696", + "mask_path": "../../mask/hdr_right_01045.png" + }, + { + "file_path": "../../rgb/hdr_right_01046.png", + "transform_matrix": [ + [ + -0.986070990562439, + -0.08364875614643097, + 0.14376035332679749, + 26.783714294433594 + ], + [ + -0.14135956764221191, + -0.033979590982198715, + -0.9893749952316284, + -6.1272807121276855 + ], + [ + 0.08764490485191345, + -0.9959157705307007, + 0.021681735292077065, + -2.9679243564605713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_738471031", + "mask_path": "../../mask/hdr_right_01046.png" + }, + { + "file_path": "../../rgb/hdr_right_01047.png", + "transform_matrix": [ + [ + -0.9844170212745667, + -0.08929699659347534, + 0.15149009227752686, + 26.87738800048828 + ], + [ + -0.14935408532619476, + -0.030174454674124718, + -0.9883232712745667, + -6.130425453186035 + ], + [ + 0.09282542765140533, + -0.995547890663147, + 0.01636737398803234, + -2.979740858078003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1047, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_838470458", + "mask_path": "../../mask/hdr_right_01047.png" + }, + { + "file_path": "../../rgb/hdr_right_01048.png", + "transform_matrix": [ + [ + -0.9833188056945801, + -0.0968012735247612, + 0.15399236977100372, + 26.961238861083984 + ], + [ + -0.15166333317756653, + -0.031018804758787155, + -0.9879454970359802, + -6.131066799163818 + ], + [ + 0.10041104257106781, + -0.994820237159729, + 0.01582016795873642, + -2.989022731781006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594271_938470363", + "mask_path": "../../mask/hdr_right_01048.png" + }, + { + "file_path": "../../rgb/hdr_right_01049.png", + "transform_matrix": [ + [ + -0.9836737513542175, + -0.09577342122793198, + 0.1523597091436386, + 27.02410125732422 + ], + [ + -0.15041238069534302, + -0.02727602794766426, + -0.9882470965385437, + -6.132753849029541 + ], + [ + 0.0988035574555397, + -0.9950294494628906, + 0.012425207532942295, + -2.9967143535614014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1049, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_38470268", + "mask_path": "../../mask/hdr_right_01049.png" + }, + { + "file_path": "../../rgb/hdr_right_01050.png", + "transform_matrix": [ + [ + -0.9836999177932739, + -0.09271584451198578, + 0.15407279133796692, + 27.105470657348633 + ], + [ + -0.1522642821073532, + -0.02631640061736107, + -0.9879894852638245, + -6.134202480316162 + ], + [ + 0.09565691649913788, + -0.9953447580337524, + 0.011770129203796387, + -3.010651111602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_138470172", + "mask_path": "../../mask/hdr_right_01050.png" + }, + { + "file_path": "../../rgb/hdr_right_01051.png", + "transform_matrix": [ + [ + -0.9803981781005859, + -0.09694643318653107, + 0.17152512073516846, + 27.20583152770996 + ], + [ + -0.16927862167358398, + -0.031002694740891457, + -0.9850805401802063, + -6.12468147277832 + ], + [ + 0.10081778466701508, + -0.9948065876960754, + 0.013984025456011295, + -3.02294921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1051, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_238470554", + "mask_path": "../../mask/hdr_right_01051.png" + }, + { + "file_path": "../../rgb/hdr_right_01052.png", + "transform_matrix": [ + [ + -0.9765541553497314, + -0.09689418226480484, + 0.19223272800445557, + 27.277576446533203 + ], + [ + -0.18994800746440887, + -0.03236407786607742, + -0.9812605977058411, + -6.108242034912109 + ], + [ + 0.10129987448453903, + -0.9947683215141296, + 0.013200422748923302, + -3.030104160308838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_338470458", + "mask_path": "../../mask/hdr_right_01052.png" + }, + { + "file_path": "../../rgb/hdr_right_01053.png", + "transform_matrix": [ + [ + -0.9743651151657104, + -0.09452594816684723, + 0.2041507512331009, + 27.349510192871094 + ], + [ + -0.20268160104751587, + -0.024993667379021645, + -0.9789256453514099, + -6.098980903625488 + ], + [ + 0.09763635694980621, + -0.9952086210250854, + 0.005194289144128561, + -3.0387990474700928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1053, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_438470363", + "mask_path": "../../mask/hdr_right_01053.png" + }, + { + "file_path": "../../rgb/hdr_right_01054.png", + "transform_matrix": [ + [ + -0.9737876057624817, + -0.0941367819905281, + 0.20706504583358765, + 27.44260025024414 + ], + [ + -0.2060820311307907, + -0.020153969526290894, + -0.9783271551132202, + -6.097410678863525 + ], + [ + 0.09626975655555725, + -0.9953552484512329, + 0.00022578703647013754, + -3.047365188598633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_538469552", + "mask_path": "../../mask/hdr_right_01054.png" + }, + { + "file_path": "../../rgb/hdr_right_01055.png", + "transform_matrix": [ + [ + -0.9763978719711304, + -0.09099660068750381, + 0.19587452709674835, + 27.529342651367188 + ], + [ + -0.19530251622200012, + -0.01523620169609785, + -0.9806247353553772, + -6.097345352172852 + ], + [ + 0.09221789240837097, + -0.9957346320152283, + -0.0028952707070857286, + -3.042564868927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_638469457", + "mask_path": "../../mask/hdr_right_01055.png" + }, + { + "file_path": "../../rgb/hdr_right_01056.png", + "transform_matrix": [ + [ + -0.9801381230354309, + -0.08379413187503815, + 0.17974399030208588, + 27.604841232299805 + ], + [ + -0.1792033463716507, + -0.01399142574518919, + -0.9837125539779663, + -6.0924272537231445 + ], + [ + 0.0849442258477211, + -0.996384859085083, + -0.001302663004025817, + -3.045930862426758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_738469362", + "mask_path": "../../mask/hdr_right_01056.png" + }, + { + "file_path": "../../rgb/hdr_right_01057.png", + "transform_matrix": [ + [ + -0.9827246069908142, + -0.07940277457237244, + 0.16717512905597687, + 27.705265045166016 + ], + [ + -0.16596707701683044, + -0.021624678745865822, + -0.9858941435813904, + -6.089580535888672 + ], + [ + 0.08189784735441208, + -0.9966080784797668, + 0.008072856813669205, + -3.0618226528167725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1057, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_838469505", + "mask_path": "../../mask/hdr_right_01057.png" + }, + { + "file_path": "../../rgb/hdr_right_01058.png", + "transform_matrix": [ + [ + -0.9823412895202637, + -0.08280857652425766, + 0.16777487099170685, + 27.8041934967041 + ], + [ + -0.16672582924365997, + -0.019474627450108528, + -0.9858109951019287, + -6.082220554351807 + ], + [ + 0.08490094542503357, + -0.9963751435279846, + 0.0053244042210280895, + -3.080925464630127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594272_938469171", + "mask_path": "../../mask/hdr_right_01058.png" + }, + { + "file_path": "../../rgb/hdr_right_01059.png", + "transform_matrix": [ + [ + -0.9817168116569519, + -0.08504856377840042, + 0.1702905148267746, + 27.86906623840332 + ], + [ + -0.1692487597465515, + -0.01936616189777851, + -0.985383152961731, + -6.07493782043457 + ], + [ + 0.08710329234600067, + -0.9961886405944824, + 0.0046177213080227375, + -3.094578266143799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1059, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_38469314", + "mask_path": "../../mask/hdr_right_01059.png" + }, + { + "file_path": "../../rgb/hdr_right_01060.png", + "transform_matrix": [ + [ + -0.9816020131111145, + -0.08731011301279068, + 0.16980715095996857, + 27.952861785888672 + ], + [ + -0.16901901364326477, + -0.01639622263610363, + -0.9854764342308044, + -6.077210903167725 + ], + [ + 0.0888262465596199, + -0.996046245098114, + 0.001337495632469654, + -3.10843825340271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1060, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_138470888", + "mask_path": "../../mask/hdr_right_01060.png" + }, + { + "file_path": "../../rgb/hdr_right_01061.png", + "transform_matrix": [ + [ + -0.9821891784667969, + -0.09348779916763306, + 0.16298623383045197, + 28.04451560974121 + ], + [ + -0.16247402131557465, + -0.013115931302309036, + -0.9866256713867188, + -6.082919120788574 + ], + [ + 0.09437517821788788, + -0.9955340623855591, + -0.002307011280208826, + -3.1139302253723145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1061, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_238470077", + "mask_path": "../../mask/hdr_right_01061.png" + }, + { + "file_path": "../../rgb/hdr_right_01062.png", + "transform_matrix": [ + [ + -0.98421710729599, + -0.09333105385303497, + 0.15035252273082733, + 28.11823272705078 + ], + [ + -0.1500740647315979, + -0.010035614483058453, + -0.988623857498169, + -6.08756160736084 + ], + [ + 0.09377817809581757, + -0.9955845475196838, + -0.004129347391426563, + -3.1146669387817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1062, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_338469982", + "mask_path": "../../mask/hdr_right_01062.png" + }, + { + "file_path": "../../rgb/hdr_right_01063.png", + "transform_matrix": [ + [ + -0.9868107438087463, + -0.08954466879367828, + 0.13485684990882874, + 28.192113876342773 + ], + [ + -0.13396506011486053, + -0.01592351123690605, + -0.9908581972122192, + -6.090863227844238 + ], + [ + 0.09087345004081726, + -0.9958555102348328, + 0.003717635525390506, + -3.127987861633301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1063, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_438470363", + "mask_path": "../../mask/hdr_right_01063.png" + }, + { + "file_path": "../../rgb/hdr_right_01064.png", + "transform_matrix": [ + [ + -0.9877095818519592, + -0.09322453290224075, + 0.12545479834079742, + 28.287389755249023 + ], + [ + -0.12330357730388641, + -0.02851128578186035, + -0.9919593930244446, + -6.097979545593262 + ], + [ + 0.09605181962251663, + -0.9952368140220642, + 0.016665954142808914, + -3.144758462905884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_538470029", + "mask_path": "../../mask/hdr_right_01064.png" + }, + { + "file_path": "../../rgb/hdr_right_01065.png", + "transform_matrix": [ + [ + -0.9866535663604736, + -0.10235919058322906, + 0.12663891911506653, + 28.374061584472656 + ], + [ + -0.1240498498082161, + -0.0313015878200531, + -0.9917822480201721, + -6.100728511810303 + ], + [ + 0.10548201948404312, + -0.9942548871040344, + 0.01818617805838585, + -3.1602301597595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1065, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_638470888", + "mask_path": "../../mask/hdr_right_01065.png" + }, + { + "file_path": "../../rgb/hdr_right_01066.png", + "transform_matrix": [ + [ + -0.9866464138031006, + -0.1024375781416893, + 0.1266307532787323, + 28.448177337646484 + ], + [ + -0.1242525577545166, + -0.029299171641469002, + -0.9918179512023926, + -6.10037088394165 + ], + [ + 0.1053096130490303, + -0.994307816028595, + 0.01617979072034359, + -3.1729915142059326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1066, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_738470554", + "mask_path": "../../mask/hdr_right_01066.png" + }, + { + "file_path": "../../rgb/hdr_right_01067.png", + "transform_matrix": [ + [ + -0.9867159128189087, + -0.10409426689147949, + 0.1247243657708168, + 28.543663024902344 + ], + [ + -0.12266923487186432, + -0.025942103937268257, + -0.9921085238456726, + -6.109302043914795 + ], + [ + 0.10650841891765594, + -0.9942290186882019, + 0.012828321196138859, + -3.1848926544189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1067, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_838470935", + "mask_path": "../../mask/hdr_right_01067.png" + }, + { + "file_path": "../../rgb/hdr_right_01068.png", + "transform_matrix": [ + [ + -0.9874380826950073, + -0.1073276549577713, + 0.11596054583787918, + 28.63926124572754 + ], + [ + -0.11381476372480392, + -0.02592790685594082, + -0.9931635856628418, + -6.12080192565918 + ], + [ + 0.10960053652524948, + -0.9938855171203613, + 0.013386736623942852, + -3.192548990249634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594273_938470125", + "mask_path": "../../mask/hdr_right_01068.png" + }, + { + "file_path": "../../rgb/hdr_right_01069.png", + "transform_matrix": [ + [ + -0.9896599650382996, + -0.10227717459201813, + 0.10056152194738388, + 28.703088760375977 + ], + [ + -0.09882654249668121, + -0.021904634311795235, + -0.9948636293411255, + -6.126669883728027 + ], + [ + 0.10395460575819016, + -0.9945147037506104, + 0.011570443399250507, + -3.1923794746398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1069, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_38470745", + "mask_path": "../../mask/hdr_right_01069.png" + }, + { + "file_path": "../../rgb/hdr_right_01070.png", + "transform_matrix": [ + [ + -0.9917333722114563, + -0.0979146882891655, + 0.08293108642101288, + 28.779083251953125 + ], + [ + -0.08088509738445282, + -0.02469050884246826, + -0.9964175820350647, + -6.132781982421875 + ], + [ + 0.09961152076721191, + -0.9948884844779968, + 0.016566568985581398, + -3.2044379711151123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1070, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_138470888", + "mask_path": "../../mask/hdr_right_01070.png" + }, + { + "file_path": "../../rgb/hdr_right_01071.png", + "transform_matrix": [ + [ + -0.9923763275146484, + -0.09936893731355667, + 0.07290452718734741, + 28.881452560424805 + ], + [ + -0.07019815593957901, + -0.030470097437500954, + -0.9970676302909851, + -6.141863822937012 + ], + [ + 0.10129895806312561, + -0.9945839643478394, + 0.02326228655874729, + -3.223202705383301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1071, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_238470077", + "mask_path": "../../mask/hdr_right_01071.png" + }, + { + "file_path": "../../rgb/hdr_right_01072.png", + "transform_matrix": [ + [ + -0.9916127324104309, + -0.10412656515836716, + 0.07656308263540268, + 28.9719181060791 + ], + [ + -0.073382668197155, + -0.034044962376356125, + -0.9967226386070251, + -6.146285057067871 + ], + [ + 0.10639189183712006, + -0.9939811825752258, + 0.026118332520127296, + -3.234938144683838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1072, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_338470220", + "mask_path": "../../mask/hdr_right_01072.png" + }, + { + "file_path": "../../rgb/hdr_right_01073.png", + "transform_matrix": [ + [ + -0.9915070533752441, + -0.10321515053510666, + 0.07912193983793259, + 29.043827056884766 + ], + [ + -0.07618946582078934, + -0.032057177275419235, + -0.9965779185295105, + -6.150191307067871 + ], + [ + 0.10539836436510086, + -0.9941423535346985, + 0.023921014741063118, + -3.2508394718170166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1073, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_438470363", + "mask_path": "../../mask/hdr_right_01073.png" + }, + { + "file_path": "../../rgb/hdr_right_01074.png", + "transform_matrix": [ + [ + -0.991235077381134, + -0.10568826645612717, + 0.07926621288061142, + 29.13141441345215 + ], + [ + -0.07678861916065216, + -0.027315674349665642, + -0.9966732263565063, + -6.157320022583008 + ], + [ + 0.10750187188386917, + -0.9940240383148193, + 0.01896059885621071, + -3.263669729232788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1074, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_538469552", + "mask_path": "../../mask/hdr_right_01074.png" + }, + { + "file_path": "../../rgb/hdr_right_01075.png", + "transform_matrix": [ + [ + -0.9909027814865112, + -0.11383393406867981, + 0.07178817689418793, + 29.215362548828125 + ], + [ + -0.0691736713051796, + -0.02675899676978588, + -0.9972457885742188, + -6.166228294372559 + ], + [ + 0.11544137448072433, + -0.9931393265724182, + 0.018641255795955658, + -3.2688465118408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1075, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_638469696", + "mask_path": "../../mask/hdr_right_01075.png" + }, + { + "file_path": "../../rgb/hdr_right_01076.png", + "transform_matrix": [ + [ + -0.9921359419822693, + -0.10971283912658691, + 0.060243938118219376, + 29.285306930541992 + ], + [ + -0.057994529604911804, + -0.023582587018609047, + -0.9980383515357971, + -6.177920818328857 + ], + [ + 0.110918328166008, + -0.9936835169792175, + 0.017034387215971947, + -3.2718214988708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1076, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_738470792", + "mask_path": "../../mask/hdr_right_01076.png" + }, + { + "file_path": "../../rgb/hdr_right_01077.png", + "transform_matrix": [ + [ + -0.9933354258537292, + -0.10506076365709305, + 0.04740319028496742, + 29.362882614135742 + ], + [ + -0.04500437155365944, + -0.025088367983698845, + -0.9986717700958252, + -6.190132141113281 + ], + [ + 0.10611049085855484, + -0.994149386882782, + 0.02019297331571579, + -3.2856285572052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1077, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_838469743", + "mask_path": "../../mask/hdr_right_01077.png" + }, + { + "file_path": "../../rgb/hdr_right_01078.png", + "transform_matrix": [ + [ + -0.9932016730308533, + -0.10746005177497864, + 0.044751837849617004, + 29.46552848815918 + ], + [ + -0.041673582047224045, + -0.03072354756295681, + -0.9986587762832642, + -6.203451633453369 + ], + [ + 0.10869085043668747, + -0.9937345385551453, + 0.02603643573820591, + -3.3043630123138428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1078, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594274_938469648", + "mask_path": "../../mask/hdr_right_01078.png" + }, + { + "file_path": "../../rgb/hdr_right_01079.png", + "transform_matrix": [ + [ + -0.9921646118164062, + -0.11350347846746445, + 0.05221518874168396, + 29.547101974487305 + ], + [ + -0.048785194754600525, + -0.03279159218072891, + -0.9982708096504211, + -6.206823348999023 + ], + [ + 0.11501943320035934, + -0.992996335029602, + 0.026997365057468414, + -3.3155505657196045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_38470268", + "mask_path": "../../mask/hdr_right_01079.png" + }, + { + "file_path": "../../rgb/hdr_right_01080.png", + "transform_matrix": [ + [ + -0.9920365810394287, + -0.11154785752296448, + 0.05848608911037445, + 29.625391006469727 + ], + [ + -0.055550817400217056, + -0.02924569509923458, + -0.9980274438858032, + -6.212915897369385 + ], + [ + 0.11303829401731491, + -0.9933287501335144, + 0.02281622216105461, + -3.32888126373291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1080, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_138470172", + "mask_path": "../../mask/hdr_right_01080.png" + }, + { + "file_path": "../../rgb/hdr_right_01081.png", + "transform_matrix": [ + [ + -0.991999626159668, + -0.1101493164896965, + 0.06167415902018547, + 29.72079086303711 + ], + [ + -0.059622086584568024, + -0.021830614656209946, + -0.9979822635650635, + -6.228063106536865 + ], + [ + 0.11127346009016037, + -0.9936752915382385, + 0.01508862804621458, + -3.342196464538574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_238470792", + "mask_path": "../../mask/hdr_right_01081.png" + }, + { + "file_path": "../../rgb/hdr_right_01082.png", + "transform_matrix": [ + [ + -0.9920693039894104, + -0.11241868883371353, + 0.05621833726763725, + 29.813539505004883 + ], + [ + -0.054463841021060944, + -0.018620116636157036, + -0.9983422160148621, + -6.246989727020264 + ], + [ + 0.11327909678220749, + -0.9934864640235901, + 0.012349695898592472, + -3.3432319164276123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1082, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_338470458", + "mask_path": "../../mask/hdr_right_01082.png" + }, + { + "file_path": "../../rgb/hdr_right_01083.png", + "transform_matrix": [ + [ + -0.9927417039871216, + -0.1099388524889946, + 0.048757702112197876, + 29.876066207885742 + ], + [ + -0.04733242839574814, + -0.015538739040493965, + -0.9987584352493286, + -6.256525993347168 + ], + [ + 0.11055997759103775, + -0.9938168525695801, + 0.010222281329333782, + -3.3461074829101562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_438470125", + "mask_path": "../../mask/hdr_right_01083.png" + }, + { + "file_path": "../../rgb/hdr_right_01084.png", + "transform_matrix": [ + [ + -0.993394136428833, + -0.10494253039360046, + 0.046423524618148804, + 29.952024459838867 + ], + [ + -0.04478737711906433, + -0.01789524219930172, + -0.9988362193107605, + -6.264602184295654 + ], + [ + 0.10565116256475449, + -0.9943172335624695, + 0.013076926581561565, + -3.3621408939361572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1084, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_538469552", + "mask_path": "../../mask/hdr_right_01084.png" + }, + { + "file_path": "../../rgb/hdr_right_01085.png", + "transform_matrix": [ + [ + -0.9928687810897827, + -0.1041855439543724, + 0.057938989251852036, + 30.052766799926758 + ], + [ + -0.05625282600522041, + -0.01905297115445137, + -0.998234748840332, + -6.272345066070557 + ], + [ + 0.10510554164648056, + -0.9943753480911255, + 0.013056367635726929, + -3.3795435428619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1085, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_638470888", + "mask_path": "../../mask/hdr_right_01085.png" + }, + { + "file_path": "../../rgb/hdr_right_01086.png", + "transform_matrix": [ + [ + -0.9901361465454102, + -0.10813011229038239, + 0.08909663558006287, + 30.13500213623047 + ], + [ + -0.0875023826956749, + -0.019409790635108948, + -0.9959752559661865, + -6.266772270202637 + ], + [ + 0.10942424833774567, + -0.9939472675323486, + 0.00975669827312231, + -3.387519598007202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1086, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_738470315", + "mask_path": "../../mask/hdr_right_01086.png" + }, + { + "file_path": "../../rgb/hdr_right_01087.png", + "transform_matrix": [ + [ + -0.9869424700737, + -0.10605660080909729, + 0.12122982740402222, + 30.206632614135742 + ], + [ + -0.12049707025289536, + -0.01331394910812378, + -0.9926244616508484, + -6.254003047943115 + ], + [ + 0.10688841342926025, + -0.9942709803581238, + 0.000360593490768224, + -3.3989531993865967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_838469505", + "mask_path": "../../mask/hdr_right_01087.png" + }, + { + "file_path": "../../rgb/hdr_right_01088.png", + "transform_matrix": [ + [ + -0.9829814434051514, + -0.10691187530755997, + 0.14938989281654358, + 30.2965145111084 + ], + [ + -0.15018701553344727, + -0.0006022807210683823, + -0.9886574149131775, + -6.245341777801514 + ], + [ + 0.1057891994714737, + -0.9942683577537537, + -0.015464745461940765, + -3.4102299213409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1088, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594275_938470363", + "mask_path": "../../mask/hdr_right_01088.png" + }, + { + "file_path": "../../rgb/hdr_right_01089.png", + "transform_matrix": [ + [ + -0.9793858528137207, + -0.11181309819221497, + 0.16822952032089233, + 30.387296676635742 + ], + [ + -0.16982468962669373, + 0.004829611629247665, + -0.985462486743927, + -6.242527008056641 + ], + [ + 0.10937513411045074, + -0.9937174916267395, + -0.02371867746114731, + -3.415024518966675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1089, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_38469791", + "mask_path": "../../mask/hdr_right_01089.png" + }, + { + "file_path": "../../rgb/hdr_right_01090.png", + "transform_matrix": [ + [ + -0.9766613245010376, + -0.10901625454425812, + 0.18506260216236115, + 30.45140838623047 + ], + [ + -0.18726244568824768, + 0.0102093406021595, + -0.9822568893432617, + -6.234437942504883 + ], + [ + 0.10519259423017502, + -0.9939875602722168, + -0.030385717749595642, + -3.4183945655822754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1090, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_138469934", + "mask_path": "../../mask/hdr_right_01090.png" + }, + { + "file_path": "../../rgb/hdr_right_01091.png", + "transform_matrix": [ + [ + -0.9740997552871704, + -0.10487671941518784, + 0.20032630860805511, + 30.528642654418945 + ], + [ + -0.2023743987083435, + 0.009155635721981525, + -0.9792654514312744, + -6.218829154968262 + ], + [ + 0.10086803138256073, + -0.9944430589675903, + -0.03014286793768406, + -3.4334323406219482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1091, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_238469839", + "mask_path": "../../mask/hdr_right_01091.png" + }, + { + "file_path": "../../rgb/hdr_right_01092.png", + "transform_matrix": [ + [ + -0.9711039066314697, + -0.10741840302944183, + 0.21311591565608978, + 30.62799072265625 + ], + [ + -0.21454262733459473, + 0.0017694919370114803, + -0.9767131209373474, + -6.201928615570068 + ], + [ + 0.10453984141349792, + -0.9942123293876648, + -0.024764183908700943, + -3.4559545516967773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1092, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_338469743", + "mask_path": "../../mask/hdr_right_01092.png" + }, + { + "file_path": "../../rgb/hdr_right_01093.png", + "transform_matrix": [ + [ + -0.9678813219070435, + -0.10952308028936386, + 0.22629748284816742, + 30.70888900756836 + ], + [ + -0.22764791548252106, + -0.0001787289511412382, + -0.9737435579299927, + -6.183900356292725 + ], + [ + 0.10668783634901047, + -0.9939842820167542, + -0.02475970797240734, + -3.471048355102539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1093, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_438470840", + "mask_path": "../../mask/hdr_right_01093.png" + }, + { + "file_path": "../../rgb/hdr_right_01094.png", + "transform_matrix": [ + [ + -0.9675604104995728, + -0.10600318759679794, + 0.22932551801204681, + 30.7841854095459 + ], + [ + -0.2306353896856308, + 0.00010096313781104982, + -0.9730401635169983, + -6.172814846038818 + ], + [ + 0.10312221199274063, + -0.9943657517433167, + -0.02454577572643757, + -3.485517740249634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1094, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_538469552", + "mask_path": "../../mask/hdr_right_01094.png" + }, + { + "file_path": "../../rgb/hdr_right_01095.png", + "transform_matrix": [ + [ + -0.9678201675415039, + -0.10766594856977463, + 0.22744695842266083, + 30.872404098510742 + ], + [ + -0.22894582152366638, + 0.0016058089677244425, + -0.9734378457069397, + -6.166179180145264 + ], + [ + 0.10444087535142899, + -0.9941858053207397, + -0.026203801855444908, + -3.4970479011535645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1095, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_638470888", + "mask_path": "../../mask/hdr_right_01095.png" + }, + { + "file_path": "../../rgb/hdr_right_01096.png", + "transform_matrix": [ + [ + -0.9688780307769775, + -0.11506688594818115, + 0.21916884183883667, + 30.95654296875 + ], + [ + -0.22071437537670135, + 0.0007087654666975141, + -0.9753382802009583, + -6.16416072845459 + ], + [ + 0.11207377910614014, + -0.9933574199676514, + -0.02608362026512623, + -3.4969356060028076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1096, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_738470792", + "mask_path": "../../mask/hdr_right_01096.png" + }, + { + "file_path": "../../rgb/hdr_right_01097.png", + "transform_matrix": [ + [ + -0.9712520241737366, + -0.11087396740913391, + 0.21065732836723328, + 31.027082443237305 + ], + [ + -0.21226313710212708, + 0.002749442122876644, + -0.9772087335586548, + -6.160141944885254 + ], + [ + 0.10776782035827637, + -0.993830680847168, + -0.02620485983788967, + -3.49880051612854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1097, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_838470697", + "mask_path": "../../mask/hdr_right_01097.png" + }, + { + "file_path": "../../rgb/hdr_right_01098.png", + "transform_matrix": [ + [ + -0.9743093252182007, + -0.10193176567554474, + 0.2008265107870102, + 31.102256774902344 + ], + [ + -0.2021125853061676, + 0.002342966152355075, + -0.97935950756073, + -6.152666091918945 + ], + [ + 0.09935731440782547, + -0.994788646697998, + -0.022884465754032135, + -3.508181095123291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1098, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594276_938469409", + "mask_path": "../../mask/hdr_right_01098.png" + }, + { + "file_path": "../../rgb/hdr_right_01099.png", + "transform_matrix": [ + [ + -0.9757343530654907, + -0.09610582143068314, + 0.19673877954483032, + 31.201322555541992 + ], + [ + -0.19714480638504028, + -0.005346688907593489, + -0.9803599715232849, + -6.146714210510254 + ], + [ + 0.09527018666267395, + -0.9953567385673523, + -0.013729812577366829, + -3.5221457481384277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1099, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_38470745", + "mask_path": "../../mask/hdr_right_01099.png" + }, + { + "file_path": "../../rgb/hdr_right_01100.png", + "transform_matrix": [ + [ + -0.9746420383453369, + -0.09952592104673386, + 0.20041844248771667, + 31.283884048461914 + ], + [ + -0.20017099380493164, + -0.012569086626172066, + -0.9796803593635559, + -6.140023708343506 + ], + [ + 0.10002267360687256, + -0.9949555993080139, + -0.007671843748539686, + -3.535780429840088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1100, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_138469696", + "mask_path": "../../mask/hdr_right_01100.png" + }, + { + "file_path": "../../rgb/hdr_right_01101.png", + "transform_matrix": [ + [ + -0.9740923643112183, + -0.09955216944217682, + 0.20306017994880676, + 31.343992233276367 + ], + [ + -0.20273083448410034, + -0.013521171174943447, + -0.9791412353515625, + -6.131889343261719 + ], + [ + 0.10022123157978058, + -0.994940459728241, + -0.007011418230831623, + -3.5483884811401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1101, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_238469123", + "mask_path": "../../mask/hdr_right_01101.png" + }, + { + "file_path": "../../rgb/hdr_right_01102.png", + "transform_matrix": [ + [ + -0.9739280939102173, + -0.10240844637155533, + 0.20242679119110107, + 31.419239044189453 + ], + [ + -0.20212267339229584, + -0.013447261415421963, + -0.9792678952217102, + -6.1288886070251465 + ], + [ + 0.10300739109516144, + -0.9946514964103699, + -0.0076024034060537815, + -3.5584888458251953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_338469982", + "mask_path": "../../mask/hdr_right_01102.png" + }, + { + "file_path": "../../rgb/hdr_right_01103.png", + "transform_matrix": [ + [ + -0.9748676419258118, + -0.10749462246894836, + 0.19513647258281708, + 31.5006160736084 + ], + [ + -0.19421613216400146, + -0.01906769908964634, + -0.9807735085487366, + -6.134589672088623 + ], + [ + 0.10914867371320724, + -0.9940227270126343, + -0.002288706135004759, + -3.5614712238311768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_438470363", + "mask_path": "../../mask/hdr_right_01103.png" + }, + { + "file_path": "../../rgb/hdr_right_01104.png", + "transform_matrix": [ + [ + -0.9771528840065002, + -0.10535402595996857, + 0.18458817899227142, + 31.5633544921875 + ], + [ + -0.18349036574363708, + -0.020104296505451202, + -0.9828159213066101, + -6.136569499969482 + ], + [ + 0.10725463181734085, + -0.9942315220832825, + 0.00031351789948530495, + -3.5636518001556396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1104, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_538471221", + "mask_path": "../../mask/hdr_right_01104.png" + }, + { + "file_path": "../../rgb/hdr_right_01105.png", + "transform_matrix": [ + [ + -0.9800037145614624, + -0.10127481073141098, + 0.17127814888954163, + 31.62877655029297 + ], + [ + -0.16955244541168213, + -0.025473760440945625, + -0.9851919412612915, + -6.1385393142700195 + ], + [ + 0.10413822531700134, + -0.9945322871208191, + 0.007792990189045668, + -3.5767428874969482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1105, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_638470888", + "mask_path": "../../mask/hdr_right_01105.png" + }, + { + "file_path": "../../rgb/hdr_right_01106.png", + "transform_matrix": [ + [ + -0.9812408089637756, + -0.10184479504823685, + 0.16368891298770905, + 31.72171974182129 + ], + [ + -0.16076451539993286, + -0.03634462133049965, + -0.9863234758377075, + -6.143635272979736 + ], + [ + 0.10640110075473785, + -0.9941361546516418, + 0.019289802759885788, + -3.59584641456604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1106, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_738470077", + "mask_path": "../../mask/hdr_right_01106.png" + }, + { + "file_path": "../../rgb/hdr_right_01107.png", + "transform_matrix": [ + [ + -0.9802564978599548, + -0.10795380175113678, + 0.16566020250320435, + 31.803253173828125 + ], + [ + -0.16158613562583923, + -0.0455138124525547, + -0.9858085513114929, + -6.145214080810547 + ], + [ + 0.1139616072177887, + -0.9931135177612305, + 0.027171367779374123, + -3.6145033836364746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1107, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_838467836", + "mask_path": "../../mask/hdr_right_01107.png" + }, + { + "file_path": "../../rgb/hdr_right_01108.png", + "transform_matrix": [ + [ + -0.9802713990211487, + -0.10661359131336212, + 0.16643810272216797, + 31.87248420715332 + ], + [ + -0.16208739578723907, + -0.04831119254231453, + -0.9855931401252747, + -6.148059844970703 + ], + [ + 0.11311843246221542, + -0.9931261539459229, + 0.030077362433075905, + -3.627075433731079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1108, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594277_938470602", + "mask_path": "../../mask/hdr_right_01108.png" + }, + { + "file_path": "../../rgb/hdr_right_01109.png", + "transform_matrix": [ + [ + -0.9805260300636292, + -0.10844482481479645, + 0.16373267769813538, + 31.95277976989746 + ], + [ + -0.15956427156925201, + -0.046119920909404755, + -0.9861096143722534, + -6.157917022705078 + ], + [ + 0.1144898310303688, + -0.9930320382118225, + 0.02791786380112171, + -3.6361937522888184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1109, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_38469552", + "mask_path": "../../mask/hdr_right_01109.png" + }, + { + "file_path": "../../rgb/hdr_right_01110.png", + "transform_matrix": [ + [ + -0.9812737107276917, + -0.11575902998447418, + 0.15395362675189972, + 32.03266906738281 + ], + [ + -0.1499515026807785, + -0.04257366806268692, + -0.9877762794494629, + -6.172002792358398 + ], + [ + 0.12089838832616806, + -0.9923645853996277, + 0.02441818080842495, + -3.6393802165985107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1110, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_138469696", + "mask_path": "../../mask/hdr_right_01110.png" + }, + { + "file_path": "../../rgb/hdr_right_01113.png", + "transform_matrix": [ + [ + -0.9865606427192688, + -0.11409662663936615, + 0.11696198582649231, + 32.216583251953125 + ], + [ + -0.11195753514766693, + -0.04934743046760559, + -0.9924870133399963, + -6.201574802398682 + ], + [ + 0.11901120096445084, + -0.9922432899475098, + 0.03591025620698929, + -3.6696062088012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1113, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_438469409", + "mask_path": "../../mask/hdr_right_01113.png" + }, + { + "file_path": "../../rgb/hdr_right_01114.png", + "transform_matrix": [ + [ + -0.9854628443717957, + -0.12289077043533325, + 0.11730695515871048, + 32.298622131347656 + ], + [ + -0.1111508309841156, + -0.05582978203892708, + -0.9922341108322144, + -6.209355354309082 + ], + [ + 0.12848563492298126, + -0.9908485412597656, + 0.041358765214681625, + -3.6843271255493164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1114, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_538465976", + "mask_path": "../../mask/hdr_right_01114.png" + }, + { + "file_path": "../../rgb/hdr_right_01115.png", + "transform_matrix": [ + [ + -0.9852902293205261, + -0.1248493418097496, + 0.11668726056814194, + 32.3670768737793 + ], + [ + -0.11012286692857742, + -0.05827122554183006, + -0.9922084212303162, + -6.212934494018555 + ], + [ + 0.13067607581615448, + -0.9904630184173584, + 0.04366530478000641, + -3.6977791786193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1115, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_638469457", + "mask_path": "../../mask/hdr_right_01115.png" + }, + { + "file_path": "../../rgb/hdr_right_01116.png", + "transform_matrix": [ + [ + -0.985058605670929, + -0.12607550621032715, + 0.1173221617937088, + 32.45025634765625 + ], + [ + -0.11106617003679276, + -0.055578939616680145, + -0.9922577142715454, + -6.216630935668945 + ], + [ + 0.13162003457546234, + -0.9904624819755554, + 0.040745798498392105, + -3.7089226245880127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_738469600", + "mask_path": "../../mask/hdr_right_01116.png" + }, + { + "file_path": "../../rgb/hdr_right_01117.png", + "transform_matrix": [ + [ + -0.9847823977470398, + -0.13191825151443481, + 0.11314143240451813, + 32.544158935546875 + ], + [ + -0.10747023671865463, + -0.0493684820830822, + -0.9929818511009216, + -6.2271013259887695 + ], + [ + 0.1365780532360077, + -0.9900304675102234, + 0.03443992882966995, + -3.723954439163208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1117, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_838468074", + "mask_path": "../../mask/hdr_right_01117.png" + }, + { + "file_path": "../../rgb/hdr_right_01118.png", + "transform_matrix": [ + [ + -0.9852540493011475, + -0.13537129759788513, + 0.10463861376047134, + 32.61868667602539 + ], + [ + -0.09916061908006668, + -0.04661411792039871, + -0.9939790964126587, + -6.234229564666748 + ], + [ + 0.1394338607788086, + -0.9896977543830872, + 0.03250324726104736, + -3.728623867034912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1118, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594278_938468933", + "mask_path": "../../mask/hdr_right_01118.png" + }, + { + "file_path": "../../rgb/hdr_right_01119.png", + "transform_matrix": [ + [ + -0.9869926571846008, + -0.13109616935253143, + 0.09305493533611298, + 32.68015670776367 + ], + [ + -0.08776901662349701, + -0.04555045813322067, + -0.995098888874054, + -6.235365867614746 + ], + [ + 0.13469235599040985, + -0.9903227090835571, + 0.03345179185271263, + -3.7399356365203857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1119, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_38470029", + "mask_path": "../../mask/hdr_right_01119.png" + }, + { + "file_path": "../../rgb/hdr_right_01120.png", + "transform_matrix": [ + [ + -0.9881508350372314, + -0.12904176115989685, + 0.08310304582118988, + 32.76844024658203 + ], + [ + -0.07740938663482666, + -0.04853719472885132, + -0.9958173036575317, + -6.23830509185791 + ], + [ + 0.13253560662269592, + -0.9904505610466003, + 0.037973031401634216, + -3.7600364685058594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1120, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_138468980", + "mask_path": "../../mask/hdr_right_01120.png" + }, + { + "file_path": "../../rgb/hdr_right_01121.png", + "transform_matrix": [ + [ + -0.987246036529541, + -0.1353887915611267, + 0.08375619351863861, + 32.865272521972656 + ], + [ + -0.07746283710002899, + -0.05111096054315567, + -0.9956843256950378, + -6.237698078155518 + ], + [ + 0.13908535242080688, + -0.9894733428955078, + 0.0399714894592762, + -3.7783257961273193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1121, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_238470315", + "mask_path": "../../mask/hdr_right_01121.png" + }, + { + "file_path": "../../rgb/hdr_right_01122.png", + "transform_matrix": [ + [ + -0.9870830774307251, + -0.13464003801345825, + 0.08682706207036972, + 32.93354034423828 + ], + [ + -0.08047230541706085, + -0.05195329338312149, + -0.9954019784927368, + -6.235236644744873 + ], + [ + 0.138531893491745, + -0.9895316362380981, + 0.0404474213719368, + -3.787429094314575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1122, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_338470697", + "mask_path": "../../mask/hdr_right_01122.png" + }, + { + "file_path": "../../rgb/hdr_right_01123.png", + "transform_matrix": [ + [ + -0.9872700572013855, + -0.13215191662311554, + 0.08850835263729095, + 33.009742736816406 + ], + [ + -0.08298634737730026, + -0.04673483967781067, + -0.9954543113708496, + -6.240118026733398 + ], + [ + 0.13568761944770813, + -0.9901271462440491, + 0.03517310693860054, + -3.7976596355438232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1123, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_438470840", + "mask_path": "../../mask/hdr_right_01123.png" + }, + { + "file_path": "../../rgb/hdr_right_01124.png", + "transform_matrix": [ + [ + -0.9874301552772522, + -0.13307376205921173, + 0.08528267592191696, + 33.099098205566406 + ], + [ + -0.08036472648382187, + -0.041909970343112946, + -0.995884120464325, + -6.247723579406738 + ], + [ + 0.13610023260116577, + -0.9902196526527405, + 0.030688734725117683, + -3.8110218048095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1124, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_538469791", + "mask_path": "../../mask/hdr_right_01124.png" + }, + { + "file_path": "../../rgb/hdr_right_01125.png", + "transform_matrix": [ + [ + -0.9882208108901978, + -0.1340954601764679, + 0.07374349981546402, + 33.16883850097656 + ], + [ + -0.06869112700223923, + -0.04192784056067467, + -0.9967566132545471, + -6.256350994110107 + ], + [ + 0.1367524415254593, + -0.9900810122489929, + 0.03222279995679855, + -3.8139073848724365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1125, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_638469219", + "mask_path": "../../mask/hdr_right_01125.png" + }, + { + "file_path": "../../rgb/hdr_right_01126.png", + "transform_matrix": [ + [ + -0.9898802042007446, + -0.1286664456129074, + 0.05985184386372566, + 33.22502517700195 + ], + [ + -0.054854296147823334, + -0.04204346984624863, + -0.9976089596748352, + -6.2656660079956055 + ], + [ + 0.13087515532970428, + -0.9907963275909424, + 0.034560102969408035, + -3.823047637939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1126, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_738465785", + "mask_path": "../../mask/hdr_right_01126.png" + }, + { + "file_path": "../../rgb/hdr_right_01127.png", + "transform_matrix": [ + [ + -0.9911121129989624, + -0.12433438748121262, + 0.04730375483632088, + 33.29967498779297 + ], + [ + -0.0418907105922699, + -0.04579734802246094, + -0.9980720281600952, + -6.278222560882568 + ], + [ + 0.12626105546951294, + -0.9911829829216003, + 0.04018186405301094, + -3.836906909942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_838467836", + "mask_path": "../../mask/hdr_right_01127.png" + }, + { + "file_path": "../../rgb/hdr_right_01128.png", + "transform_matrix": [ + [ + -0.9910628199577332, + -0.12602218985557556, + 0.04373883455991745, + 33.38972091674805 + ], + [ + -0.03752780333161354, + -0.05124599114060402, + -0.9979807734489441, + -6.283144474029541 + ], + [ + 0.1280091553926468, + -0.9907028675079346, + 0.04605865478515625, + -3.8492183685302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1128, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594279_938469409", + "mask_path": "../../mask/hdr_right_01128.png" + }, + { + "file_path": "../../rgb/hdr_right_01129.png", + "transform_matrix": [ + [ + -0.991050124168396, + -0.1258702576160431, + 0.04445650428533554, + 33.46011734008789 + ], + [ + -0.03803322836756706, + -0.05298348143696785, + -0.9978708028793335, + -6.2885422706604 + ], + [ + 0.12795771658420563, + -0.9906308054924011, + 0.04772202670574188, + -3.8577404022216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1129, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_38469076", + "mask_path": "../../mask/hdr_right_01129.png" + }, + { + "file_path": "../../rgb/hdr_right_01130.png", + "transform_matrix": [ + [ + -0.9915375709533691, + -0.12172955274581909, + 0.04511386156082153, + 33.5306282043457 + ], + [ + -0.03938679397106171, + -0.049051862210035324, + -0.9980194568634033, + -6.293873310089111 + ], + [ + 0.12370138615369797, + -0.991350531578064, + 0.04384222626686096, + -3.867314338684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1130, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_138469219", + "mask_path": "../../mask/hdr_right_01130.png" + }, + { + "file_path": "../../rgb/hdr_right_01131.png", + "transform_matrix": [ + [ + -0.9918434619903564, + -0.1196742132306099, + 0.04387074336409569, + 33.621124267578125 + ], + [ + -0.0387173667550087, + -0.0450533851981163, + -0.9982340931892395, + -6.3057942390441895 + ], + [ + 0.12143939733505249, + -0.9917904138565063, + 0.04005243256688118, + -3.881793975830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1131, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_238469123", + "mask_path": "../../mask/hdr_right_01131.png" + }, + { + "file_path": "../../rgb/hdr_right_01132.png", + "transform_matrix": [ + [ + -0.99202561378479, + -0.12091726809740067, + 0.035557106137275696, + 33.706260681152344 + ], + [ + -0.03055155836045742, + -0.04300202801823616, + -0.9986077547073364, + -6.3210835456848145 + ], + [ + 0.12227796763181686, + -0.9917307496070862, + 0.03896490857005119, + -3.882145643234253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1132, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_338467121", + "mask_path": "../../mask/hdr_right_01132.png" + }, + { + "file_path": "../../rgb/hdr_right_01133.png", + "transform_matrix": [ + [ + -0.993192732334137, + -0.11384664475917816, + 0.02463778480887413, + 33.76345443725586 + ], + [ + -0.020114272832870483, + -0.040712956339120865, + -0.9989684224128723, + -6.330422878265381 + ], + [ + 0.11473225802183151, + -0.9926637411117554, + 0.038145873695611954, + -3.885995626449585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1133, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_438469171", + "mask_path": "../../mask/hdr_right_01133.png" + }, + { + "file_path": "../../rgb/hdr_right_01134.png", + "transform_matrix": [ + [ + -0.9941295385360718, + -0.10726053267717361, + 0.014202401041984558, + 33.840118408203125 + ], + [ + -0.009507890790700912, + -0.044152773916721344, + -0.9989796280860901, + -6.342498779296875 + ], + [ + 0.1077781617641449, + -0.9932500123977661, + 0.042873747646808624, + -3.901439905166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1134, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_538469314", + "mask_path": "../../mask/hdr_right_01134.png" + }, + { + "file_path": "../../rgb/hdr_right_01135.png", + "transform_matrix": [ + [ + -0.9941282272338867, + -0.10745661705732346, + 0.012735317461192608, + 33.94179153442383 + ], + [ + -0.007142164744436741, + -0.05227581411600113, + -0.9986072778701782, + -6.3546528816223145 + ], + [ + 0.10797269642353058, + -0.9928345084190369, + 0.05120138078927994, + -3.9135024547576904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1135, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_638468503", + "mask_path": "../../mask/hdr_right_01135.png" + }, + { + "file_path": "../../rgb/hdr_right_01136.png", + "transform_matrix": [ + [ + -0.9938551783561707, + -0.10906413197517395, + 0.018892807886004448, + 34.01871109008789 + ], + [ + -0.012701485306024551, + -0.057186175137758255, + -0.9982827305793762, + -6.362945556640625 + ], + [ + 0.109957255423069, + -0.9923883676528931, + 0.05544950067996979, + -3.9219229221343994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1136, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_738468647", + "mask_path": "../../mask/hdr_right_01136.png" + }, + { + "file_path": "../../rgb/hdr_right_01137.png", + "transform_matrix": [ + [ + -0.9941062331199646, + -0.10569991916418076, + 0.024090038612484932, + 34.09220886230469 + ], + [ + -0.018390130251646042, + -0.05457283928990364, + -0.9983404874801636, + -6.3719658851623535 + ], + [ + 0.10683917254209518, + -0.9928994178771973, + 0.0523073710501194, + -3.9373021125793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1137, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_838468551", + "mask_path": "../../mask/hdr_right_01137.png" + }, + { + "file_path": "../../rgb/hdr_right_01138.png", + "transform_matrix": [ + [ + -0.9940129518508911, + -0.10628446936607361, + 0.025334792211651802, + 34.1851806640625 + ], + [ + -0.020003829151391983, + -0.05092744529247284, + -0.9985020756721497, + -6.392305374145508 + ], + [ + 0.10741549730300903, + -0.9930307269096375, + 0.048496443778276443, + -3.9477012157440186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1138, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594280_938468933", + "mask_path": "../../mask/hdr_right_01138.png" + }, + { + "file_path": "../../rgb/hdr_right_01139.png", + "transform_matrix": [ + [ + -0.9933499097824097, + -0.11371856182813644, + 0.0180008914321661, + 34.264530181884766 + ], + [ + -0.01246858574450016, + -0.04917439818382263, + -0.9987123608589172, + -6.413216590881348 + ], + [ + 0.11445732414722443, + -0.9922952651977539, + 0.04742947220802307, + -3.9451963901519775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1139, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_38468122", + "mask_path": "../../mask/hdr_right_01139.png" + }, + { + "file_path": "../../rgb/hdr_right_01140.png", + "transform_matrix": [ + [ + -0.9938410520553589, + -0.11056317389011383, + 0.007465105503797531, + 34.320316314697266 + ], + [ + -0.002216957276687026, + -0.04751455411314964, + -0.9988681077957153, + -6.42379093170166 + ], + [ + 0.11079273372888565, + -0.9927326440811157, + 0.046976808458566666, + -3.9513792991638184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1140, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_138469219", + "mask_path": "../../mask/hdr_right_01140.png" + }, + { + "file_path": "../../rgb/hdr_right_01141.png", + "transform_matrix": [ + [ + -0.9945723414421082, + -0.10404284298419952, + -0.0009132308186963201, + 34.39640426635742 + ], + [ + 0.005877058953046799, + -0.047413624823093414, + -0.9988581538200378, + -6.435318946838379 + ], + [ + 0.10388074070215225, + -0.9934419393539429, + 0.047767747193574905, + -3.962331533432007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_238469123", + "mask_path": "../../mask/hdr_right_01141.png" + }, + { + "file_path": "../../rgb/hdr_right_01142.png", + "transform_matrix": [ + [ + -0.994575023651123, + -0.10383816063404083, + 0.006170397624373436, + 34.48347854614258 + ], + [ + -0.0007280507124960423, + -0.05236852169036865, + -0.9986276030540466, + -6.444397926330566 + ], + [ + 0.10401879996061325, + -0.9932145476341248, + 0.05200883373618126, + -3.9698827266693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1142, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_338469982", + "mask_path": "../../mask/hdr_right_01142.png" + }, + { + "file_path": "../../rgb/hdr_right_01143.png", + "transform_matrix": [ + [ + -0.9938972592353821, + -0.1078498438000679, + 0.02316533401608467, + 34.56061935424805 + ], + [ + -0.017217325046658516, + -0.05575896427035332, + -0.9982958436012268, + -6.45259952545166 + ], + [ + 0.10895773023366928, + -0.9926022887229919, + 0.05356181412935257, + -3.9755654335021973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1143, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_438469648", + "mask_path": "../../mask/hdr_right_01143.png" + }, + { + "file_path": "../../rgb/hdr_right_01144.png", + "transform_matrix": [ + [ + -0.9937640428543091, + -0.10449055582284927, + 0.03891974687576294, + 34.63002395629883 + ], + [ + -0.03370743617415428, + -0.0511944442987442, + -0.9981197118759155, + -6.455111026763916 + ], + [ + 0.10628655552864075, + -0.9932073354721069, + 0.04735308885574341, + -3.989361047744751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1144, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_538469314", + "mask_path": "../../mask/hdr_right_01144.png" + }, + { + "file_path": "../../rgb/hdr_right_01145.png", + "transform_matrix": [ + [ + -0.9931473731994629, + -0.10501308739185333, + 0.05128776282072067, + 34.7179069519043 + ], + [ + -0.04692099615931511, + -0.04364138841629028, + -0.9979447722434998, + -6.461211204528809 + ], + [ + 0.1070355474948883, + -0.9935128092765808, + 0.03841502219438553, + -4.0037665367126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1145, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_638469457", + "mask_path": "../../mask/hdr_right_01145.png" + }, + { + "file_path": "../../rgb/hdr_right_01146.png", + "transform_matrix": [ + [ + -0.9921601414680481, + -0.11263762414455414, + 0.05414004623889923, + 34.798038482666016 + ], + [ + -0.050036944448947906, + -0.0389430858194828, + -0.9979878067970276, + -6.473058700561523 + ], + [ + 0.11451937258243561, + -0.9928727149963379, + 0.03300173208117485, + -4.006079196929932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1146, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_738470315", + "mask_path": "../../mask/hdr_right_01146.png" + }, + { + "file_path": "../../rgb/hdr_right_01147.png", + "transform_matrix": [ + [ + -0.9923052787780762, + -0.11094532161951065, + 0.05496622994542122, + 34.853694915771484 + ], + [ + -0.050789736211299896, + -0.04012829810380936, + -0.9979029297828674, + -6.483354568481445 + ], + [ + 0.11291835457086563, + -0.9930161237716675, + 0.03418464586138725, + -4.011776924133301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1147, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_838470458", + "mask_path": "../../mask/hdr_right_01147.png" + }, + { + "file_path": "../../rgb/hdr_right_01148.png", + "transform_matrix": [ + [ + -0.9928857088088989, + -0.106363445520401, + 0.05352405831217766, + 34.92793655395508 + ], + [ + -0.049314945936203, + -0.041818492114543915, + -0.9979074001312256, + -6.494179725646973 + ], + [ + 0.10837917029857635, + -0.9934475421905518, + 0.03627566993236542, + -4.029468059539795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1148, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594281_938469648", + "mask_path": "../../mask/hdr_right_01148.png" + }, + { + "file_path": "../../rgb/hdr_right_01149.png", + "transform_matrix": [ + [ + -0.9926984906196594, + -0.10587795823812485, + 0.057789236307144165, + 35.021793365478516 + ], + [ + -0.05334411561489105, + -0.04434742033481598, + -0.997590959072113, + -6.501798629760742 + ], + [ + 0.10818569362163544, + -0.9933897256851196, + 0.038375649601221085, + -4.044572830200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1149, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_38470029", + "mask_path": "../../mask/hdr_right_01149.png" + }, + { + "file_path": "../../rgb/hdr_right_01150.png", + "transform_matrix": [ + [ + -0.9919242858886719, + -0.10712110251188278, + 0.0679071694612503, + 35.1043815612793 + ], + [ + -0.06290379166603088, + -0.049418602138757706, + -0.9967954158782959, + -6.505812644958496 + ], + [ + 0.11013367772102356, + -0.9930170774459839, + 0.042281195521354675, + -4.0438151359558105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1150, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_138470411", + "mask_path": "../../mask/hdr_right_01150.png" + }, + { + "file_path": "../../rgb/hdr_right_01151.png", + "transform_matrix": [ + [ + -0.9913949966430664, + -0.10598791390657425, + 0.07682865858078003, + 35.166866302490234 + ], + [ + -0.07179687172174454, + -0.05050606280565262, + -0.9961398243904114, + -6.508355617523193 + ], + [ + 0.10945909470319748, + -0.9930839538574219, + 0.042461857199668884, + -4.052779674530029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 1151, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594282_238469600", + "mask_path": "../../mask/hdr_right_01151.png" + }, + { + "file_path": "../../rgb/hdr_right_03074.png", + "transform_matrix": [ + [ + 0.9289503693580627, + -0.12074773758649826, + -0.3499589264392853, + 33.658687591552734 + ], + [ + 0.3504023253917694, + -0.01824250817298889, + 0.9364215731620789, + -5.135397911071777 + ], + [ + -0.11945492029190063, + -0.9925155639648438, + 0.025363899767398834, + -3.9114954471588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3074, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_538469552", + "mask_path": "../../mask/hdr_right_03074.png" + }, + { + "file_path": "../../rgb/hdr_right_03076.png", + "transform_matrix": [ + [ + 0.9322121739387512, + -0.12390048056840897, + -0.3400427997112274, + 33.567649841308594 + ], + [ + 0.34012284874916077, + -0.02116328664124012, + 0.9401429891586304, + -5.148024559020996 + ], + [ + -0.12368056178092957, + -0.992068886756897, + 0.022412704303860664, + -3.900937080383301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3076, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_738469362", + "mask_path": "../../mask/hdr_right_03076.png" + }, + { + "file_path": "../../rgb/hdr_right_03077.png", + "transform_matrix": [ + [ + 0.932250440120697, + -0.11924507468938828, + -0.3415988087654114, + 33.51709747314453 + ], + [ + 0.34246376156806946, + -0.013804270885884762, + 0.9394297003746033, + -5.159946441650391 + ], + [ + -0.11673788726329803, + -0.9927688837051392, + 0.02796807512640953, + -3.8939430713653564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3077, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594474_838469743", + "mask_path": "../../mask/hdr_right_03077.png" + }, + { + "file_path": "../../rgb/hdr_right_03079.png", + "transform_matrix": [ + [ + 0.9319687485694885, + -0.11433028429746628, + -0.3440389931201935, + 33.440372467041016 + ], + [ + 0.3456191122531891, + -0.006332887336611748, + 0.9383535981178284, + -5.1763739585876465 + ], + [ + -0.1094609871506691, + -0.9934225678443909, + 0.033612679690122604, + -3.9065568447113037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_38470029", + "mask_path": "../../mask/hdr_right_03079.png" + }, + { + "file_path": "../../rgb/hdr_right_03081.png", + "transform_matrix": [ + [ + 0.9375860691070557, + -0.10050147771835327, + -0.33291420340538025, + 33.34659194946289 + ], + [ + 0.3338693678379059, + -0.007659103721380234, + 0.9425883293151855, + -5.190430164337158 + ], + [ + -0.09728134423494339, + -0.9949074983596802, + 0.02637329138815403, + -3.8899667263031006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_238470554", + "mask_path": "../../mask/hdr_right_03081.png" + }, + { + "file_path": "../../rgb/hdr_right_03083.png", + "transform_matrix": [ + [ + 0.9452956318855286, + -0.10069211572408676, + -0.3102857172489166, + 33.251556396484375 + ], + [ + 0.31056854128837585, + -0.013254880905151367, + 0.9504585862159729, + -5.206723690032959 + ], + [ + -0.09981648623943329, + -0.9948293566703796, + 0.018742017447948456, + -3.8803622722625732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_438470363", + "mask_path": "../../mask/hdr_right_03083.png" + }, + { + "file_path": "../../rgb/hdr_right_03084.png", + "transform_matrix": [ + [ + 0.9472745060920715, + -0.0967911034822464, + -0.30545467138290405, + 33.19159698486328 + ], + [ + 0.30601686239242554, + -0.009348235093057156, + 0.9519802331924438, + -5.225411891937256 + ], + [ + -0.09499868005514145, + -0.9952608346939087, + 0.020764367654919624, + -3.8734195232391357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3084, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_538469791", + "mask_path": "../../mask/hdr_right_03084.png" + }, + { + "file_path": "../../rgb/hdr_right_03085.png", + "transform_matrix": [ + [ + 0.9464027285575867, + -0.09400930255651474, + -0.3090050220489502, + 33.14370346069336 + ], + [ + 0.3103678524494171, + -0.00013135552580934018, + 0.9506165385246277, + -5.239309310913086 + ], + [ + -0.08940738439559937, + -0.9955712556838989, + 0.02905314974486828, + -3.875410318374634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3085, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_638469696", + "mask_path": "../../mask/hdr_right_03085.png" + }, + { + "file_path": "../../rgb/hdr_right_03087.png", + "transform_matrix": [ + [ + 0.9476434588432312, + -0.08179155737161636, + -0.30867788195610046, + 33.057918548583984 + ], + [ + 0.3101770877838135, + 0.005985031370073557, + 0.9506600499153137, + -5.263645172119141 + ], + [ + -0.07590851187705994, + -0.9966314435005188, + 0.031041543930768967, + -3.8732988834381104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_838469743", + "mask_path": "../../mask/hdr_right_03087.png" + }, + { + "file_path": "../../rgb/hdr_right_03088.png", + "transform_matrix": [ + [ + 0.9500028491020203, + -0.0719946101307869, + -0.3038279116153717, + 33.00625991821289 + ], + [ + 0.3048187792301178, + 0.002934062387794256, + 0.9524058699607849, + -5.270972728729248 + ], + [ + -0.06767663359642029, + -0.99740070104599, + 0.024732673540711403, + -3.8677189350128174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3088, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594475_938470363", + "mask_path": "../../mask/hdr_right_03088.png" + }, + { + "file_path": "../../rgb/hdr_right_03091.png", + "transform_matrix": [ + [ + 0.9573596715927124, + -0.07637501507997513, + -0.2786203622817993, + 32.862449645996094 + ], + [ + 0.2787233889102936, + -0.009523398242890835, + 0.960324227809906, + -5.295795440673828 + ], + [ + -0.07599818706512451, + -0.9970337152481079, + 0.012170183472335339, + -3.844648599624634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3091, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_238470315", + "mask_path": "../../mask/hdr_right_03091.png" + }, + { + "file_path": "../../rgb/hdr_right_03092.png", + "transform_matrix": [ + [ + 0.9576124548912048, + -0.07728460431098938, + -0.2774987518787384, + 32.80813217163086 + ], + [ + 0.2778625190258026, + -0.006222270429134369, + 0.960600733757019, + -5.308058261871338 + ], + [ + -0.07596630603075027, + -0.9969896674156189, + 0.015515967272222042, + -3.8309435844421387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3092, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_338469743", + "mask_path": "../../mask/hdr_right_03092.png" + }, + { + "file_path": "../../rgb/hdr_right_03094.png", + "transform_matrix": [ + [ + 0.9571614265441895, + -0.07752105593681335, + -0.2789849042892456, + 32.72676467895508 + ], + [ + 0.2803865969181061, + 0.007605478633195162, + 0.9598570466041565, + -5.328647613525391 + ], + [ + -0.07228731364011765, + -0.9969617128372192, + 0.02901553176343441, + -3.834319591522217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3094, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_538469076", + "mask_path": "../../mask/hdr_right_03094.png" + }, + { + "file_path": "../../rgb/hdr_right_03096.png", + "transform_matrix": [ + [ + 0.9598780870437622, + -0.07040251791477203, + -0.27143609523773193, + 32.64105987548828 + ], + [ + 0.2723870277404785, + 0.004093200899660587, + 0.9621791243553162, + -5.3437323570251465 + ], + [ + -0.06662878394126892, + -0.9975102543830872, + 0.02310570329427719, + -3.8194310665130615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3096, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594476_738469839", + "mask_path": "../../mask/hdr_right_03096.png" + }, + { + "file_path": "../../rgb/hdr_right_03099.png", + "transform_matrix": [ + [ + 0.964440107345581, + -0.08469656854867935, + -0.2503632605075836, + 32.590328216552734 + ], + [ + 0.25064218044281006, + -0.007497511804103851, + 0.9680509567260742, + -5.363158702850342 + ], + [ + -0.08386767655611038, + -0.9963786005973816, + 0.013997628353536129, + -3.805617570877075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3099, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_38469791", + "mask_path": "../../mask/hdr_right_03099.png" + }, + { + "file_path": "../../rgb/hdr_right_03102.png", + "transform_matrix": [ + [ + 0.9657001495361328, + -0.08566749840974808, + -0.24512074887752533, + 32.52238845825195 + ], + [ + 0.24702152609825134, + 0.012175112962722778, + 0.9689335227012634, + -5.380791664123535 + ], + [ + -0.08002176135778427, + -0.9962494373321533, + 0.032919224351644516, + -3.8034145832061768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_338467359", + "mask_path": "../../mask/hdr_right_03102.png" + }, + { + "file_path": "../../rgb/hdr_right_03104.png", + "transform_matrix": [ + [ + 0.9674585461616516, + -0.08546419441699982, + -0.23815912008285522, + 32.45103454589844 + ], + [ + 0.23984140157699585, + 0.009837000630795956, + 0.970762312412262, + -5.394259452819824 + ], + [ + -0.08062264323234558, + -0.9962927103042603, + 0.03001474216580391, + -3.7931928634643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3104, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_538469552", + "mask_path": "../../mask/hdr_right_03104.png" + }, + { + "file_path": "../../rgb/hdr_right_03106.png", + "transform_matrix": [ + [ + 0.9712311029434204, + -0.09707052260637283, + -0.21745696663856506, + 32.36897659301758 + ], + [ + 0.21832071244716644, + -0.0017620957223698497, + 0.9758754968643188, + -5.3934855461120605 + ], + [ + -0.09511192888021469, + -0.9952759146690369, + 0.019481100142002106, + -3.766950845718384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3106, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_738469123", + "mask_path": "../../mask/hdr_right_03106.png" + }, + { + "file_path": "../../rgb/hdr_right_03108.png", + "transform_matrix": [ + [ + 0.9727215766906738, + -0.11111759394407272, + -0.20363105833530426, + 32.280250549316406 + ], + [ + 0.20335857570171356, + -0.01390132401138544, + 0.9790056347846985, + -5.4043288230896 + ], + [ + -0.11161547899246216, + -0.9937099814414978, + 0.00907459482550621, + -3.739835739135742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3108, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594477_938469409", + "mask_path": "../../mask/hdr_right_03108.png" + }, + { + "file_path": "../../rgb/hdr_right_03110.png", + "transform_matrix": [ + [ + 0.9726300835609436, + -0.11290011554956436, + -0.20308679342269897, + 32.19071960449219 + ], + [ + 0.20369955897331238, + -0.006204203702509403, + 0.9790138006210327, + -5.417672634124756 + ], + [ + -0.11179075390100479, + -0.9935869574546814, + 0.016963304951786995, + -3.738523244857788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3110, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_138469934", + "mask_path": "../../mask/hdr_right_03110.png" + }, + { + "file_path": "../../rgb/hdr_right_03112.png", + "transform_matrix": [ + [ + 0.974123477935791, + -0.11327269673347473, + -0.19558297097682953, + 32.10043716430664 + ], + [ + 0.19672299921512604, + -0.0011343843070790172, + 0.9804584980010986, + -5.423463344573975 + ], + [ + -0.11128104478120804, + -0.9935632944107056, + 0.021178314462304115, + -3.7237071990966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3112, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_338468790", + "mask_path": "../../mask/hdr_right_03112.png" + }, + { + "file_path": "../../rgb/hdr_right_03114.png", + "transform_matrix": [ + [ + 0.9759588241577148, + -0.12913040816783905, + -0.17558404803276062, + 32.02056884765625 + ], + [ + 0.17652438580989838, + -0.004217613488435745, + 0.9842872023582458, + -5.420135021209717 + ], + [ + -0.12784196436405182, + -0.9916186928749084, + 0.018678445369005203, + -3.7029733657836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3114, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_538469791", + "mask_path": "../../mask/hdr_right_03114.png" + }, + { + "file_path": "../../rgb/hdr_right_03116.png", + "transform_matrix": [ + [ + 0.9756281971931458, + -0.14232321083545685, + -0.16701430082321167, + 31.938072204589844 + ], + [ + 0.16745996475219727, + -0.008926604874432087, + 0.9858384132385254, + -5.421775817871094 + ], + [ + -0.14179855585098267, + -0.9897799491882324, + 0.015124390833079815, + -3.676780939102173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594478_738466501", + "mask_path": "../../mask/hdr_right_03116.png" + }, + { + "file_path": "../../rgb/hdr_right_03146.png", + "transform_matrix": [ + [ + 0.9861928820610046, + -0.16458451747894287, + 0.018315812572836876, + 31.71371841430664 + ], + [ + -0.023344077169895172, + -0.028669171035289764, + 0.9993163347244263, + -5.435551166534424 + ], + [ + -0.16394691169261932, + -0.9859462380409241, + -0.03211540728807449, + -3.6414449214935303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3146, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_738469362", + "mask_path": "../../mask/hdr_right_03146.png" + }, + { + "file_path": "../../rgb/hdr_right_03147.png", + "transform_matrix": [ + [ + 0.9851964116096497, + -0.16871525347232819, + 0.03038177452981472, + 31.65064811706543 + ], + [ + -0.03486378863453865, + -0.023666542023420334, + 0.9991118907928467, + -5.429449558258057 + ], + [ + -0.16784636676311493, + -0.9853806495666504, + -0.029198255389928818, + -3.6287403106689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3147, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_838468551", + "mask_path": "../../mask/hdr_right_03147.png" + }, + { + "file_path": "../../rgb/hdr_right_03148.png", + "transform_matrix": [ + [ + 0.9862265586853027, + -0.16208890080451965, + 0.03292857110500336, + 31.58818817138672 + ], + [ + -0.03653547912836075, + -0.019321775063872337, + 0.9991456270217896, + -5.426095962524414 + ], + [ + -0.16131417453289032, + -0.9865869879722595, + -0.02497764676809311, + -3.6149144172668457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3148, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594481_938469171", + "mask_path": "../../mask/hdr_right_03148.png" + }, + { + "file_path": "../../rgb/hdr_right_03150.png", + "transform_matrix": [ + [ + 0.9881019592285156, + -0.14962173998355865, + 0.035608310252428055, + 31.499784469604492 + ], + [ + -0.03878571838140488, + -0.018371380865573883, + 0.9990786910057068, + -5.4165263175964355 + ], + [ + -0.14882971346378326, + -0.9885726571083069, + -0.023955989629030228, + -3.618244171142578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3150, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_138469457", + "mask_path": "../../mask/hdr_right_03150.png" + }, + { + "file_path": "../../rgb/hdr_right_03151.png", + "transform_matrix": [ + [ + 0.9891759157180786, + -0.14147238433361053, + 0.038943249732255936, + 31.44623374938965 + ], + [ + -0.04134032875299454, + -0.01404361892491579, + 0.9990464448928833, + -5.399203777313232 + ], + [ + -0.14079058170318604, + -0.9898425936698914, + -0.01974012516438961, + -3.6085712909698486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3151, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_238469600", + "mask_path": "../../mask/hdr_right_03151.png" + }, + { + "file_path": "../../rgb/hdr_right_03152.png", + "transform_matrix": [ + [ + 0.9886746406555176, + -0.14275072515010834, + 0.04631047323346138, + 31.39501953125 + ], + [ + -0.04770314693450928, + -0.0063475510105490685, + 0.998841404914856, + -5.383813858032227 + ], + [ + -0.1422913670539856, + -0.9897382855415344, + -0.013085328973829746, + -3.5962612628936768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3152, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_338469982", + "mask_path": "../../mask/hdr_right_03152.png" + }, + { + "file_path": "../../rgb/hdr_right_03153.png", + "transform_matrix": [ + [ + 0.9882028102874756, + -0.14612148702144623, + 0.04586603865027428, + 31.343639373779297 + ], + [ + -0.04768182709813118, + -0.008946727961301804, + 0.9988225102424622, + -5.381192684173584 + ], + [ + -0.1455390751361847, + -0.989226222038269, + -0.015808522701263428, + -3.5880980491638184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3153, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_438469886", + "mask_path": "../../mask/hdr_right_03153.png" + }, + { + "file_path": "../../rgb/hdr_right_03154.png", + "transform_matrix": [ + [ + 0.9885392785072327, + -0.14718849956989288, + 0.033549848943948746, + 31.285720825195312 + ], + [ + -0.035703130066394806, + -0.01201130636036396, + 0.9992902874946594, + -5.3792266845703125 + ], + [ + -0.1466810703277588, + -0.9890355467796326, + -0.01712874509394169, + -3.5754382610321045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3154, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_538470506", + "mask_path": "../../mask/hdr_right_03154.png" + }, + { + "file_path": "../../rgb/hdr_right_03155.png", + "transform_matrix": [ + [ + 0.9900797009468079, + -0.1403370499610901, + 0.006901709362864494, + 31.226240158081055 + ], + [ + -0.008010663092136383, + -0.007338705938309431, + 0.9999409914016724, + -5.383439064025879 + ], + [ + -0.14027811586856842, + -0.9900766611099243, + -0.008390096947550774, + -3.5671327114105225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3155, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_638471364", + "mask_path": "../../mask/hdr_right_03155.png" + }, + { + "file_path": "../../rgb/hdr_right_03157.png", + "transform_matrix": [ + [ + 0.9887005090713501, + -0.13417787849903107, + -0.06683968007564545, + 31.141155242919922 + ], + [ + 0.06715945154428482, + -0.0021468682680279016, + 0.9977400302886963, + -5.402920722961426 + ], + [ + -0.13401813805103302, + -0.9909549355506897, + 0.006888699717819691, + -3.566951274871826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3157, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_838469982", + "mask_path": "../../mask/hdr_right_03157.png" + }, + { + "file_path": "../../rgb/hdr_right_03158.png", + "transform_matrix": [ + [ + 0.9850883483886719, + -0.13196873664855957, + -0.11038625985383987, + 31.089216232299805 + ], + [ + 0.11065348982810974, + -0.005329710431396961, + 0.993844747543335, + -5.413427352905273 + ], + [ + -0.13174474239349365, + -0.9912395477294922, + 0.00935255829244852, + -3.5554282665252686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3158, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594482_938469409", + "mask_path": "../../mask/hdr_right_03158.png" + }, + { + "file_path": "../../rgb/hdr_right_03160.png", + "transform_matrix": [ + [ + 0.9723330140113831, + -0.1380888968706131, + -0.1884145736694336, + 31.01070785522461 + ], + [ + 0.1875653713941574, + -0.019256150349974632, + 0.9820634126663208, + -5.4394612312316895 + ], + [ + -0.13924019038677216, + -0.9902325868606567, + 0.0071773044764995575, + -3.5344924926757812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3160, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_138470888", + "mask_path": "../../mask/hdr_right_03160.png" + }, + { + "file_path": "../../rgb/hdr_right_03162.png", + "transform_matrix": [ + [ + 0.9549372792243958, + -0.13736829161643982, + -0.2631058096885681, + 30.911394119262695 + ], + [ + 0.2611939013004303, + -0.03209072723984718, + 0.9647528529167175, + -5.486956596374512 + ], + [ + -0.14096969366073608, + -0.9900000691413879, + 0.005235122982412577, + -3.512763261795044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3162, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_338470220", + "mask_path": "../../mask/hdr_right_03162.png" + }, + { + "file_path": "../../rgb/hdr_right_03167.png", + "transform_matrix": [ + [ + 0.9295368790626526, + -0.1256798803806305, + -0.34664928913116455, + 30.69127655029297 + ], + [ + 0.344135582447052, + -0.041893087327480316, + 0.9379850029945374, + -5.576512813568115 + ], + [ + -0.1324080377817154, + -0.9911859035491943, + 0.0043097445741295815, + -3.471426486968994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3167, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_838470458", + "mask_path": "../../mask/hdr_right_03167.png" + }, + { + "file_path": "../../rgb/hdr_right_03168.png", + "transform_matrix": [ + [ + 0.9330529570579529, + -0.12918592989444733, + -0.33574289083480835, + 30.624300003051758 + ], + [ + 0.3328735828399658, + -0.043850190937519073, + 0.9419513940811157, + -5.588802814483643 + ], + [ + -0.13640925288200378, + -0.9906503558158875, + 0.0020880214869976044, + -3.4568233489990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3168, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594483_938468933", + "mask_path": "../../mask/hdr_right_03168.png" + }, + { + "file_path": "../../rgb/hdr_right_03169.png", + "transform_matrix": [ + [ + 0.9354697465896606, + -0.1295156627893448, + -0.32881954312324524, + 30.544645309448242 + ], + [ + 0.3259378969669342, + -0.043464623391628265, + 0.944391667842865, + -5.605978012084961 + ], + [ + -0.13660554587841034, + -0.9906243681907654, + 0.0015542347682639956, + -3.443838119506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3169, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_38469552", + "mask_path": "../../mask/hdr_right_03169.png" + }, + { + "file_path": "../../rgb/hdr_right_03170.png", + "transform_matrix": [ + [ + 0.9354075193405151, + -0.12700539827346802, + -0.32997310161590576, + 30.4737491607666 + ], + [ + 0.32851335406303406, + -0.03288443759083748, + 0.9439266920089722, + -5.6200385093688965 + ], + [ + -0.13073475658893585, + -0.9913567900657654, + 0.010962613858282566, + -3.442227840423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3170, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_138469457", + "mask_path": "../../mask/hdr_right_03170.png" + }, + { + "file_path": "../../rgb/hdr_right_03171.png", + "transform_matrix": [ + [ + 0.9357795715332031, + -0.1253608614206314, + -0.32954713702201843, + 30.406063079833984 + ], + [ + 0.3287479877471924, + -0.027612313628196716, + 0.9440140128135681, + -5.627657890319824 + ], + [ + -0.12744197249412537, + -0.9917268753051758, + 0.015373087488114834, + -3.4429311752319336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3171, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_238469600", + "mask_path": "../../mask/hdr_right_03171.png" + }, + { + "file_path": "../../rgb/hdr_right_03172.png", + "transform_matrix": [ + [ + 0.936907947063446, + -0.1264735907316208, + -0.3258956968784332, + 30.325754165649414 + ], + [ + 0.3254895806312561, + -0.02445111982524395, + 0.9452294707298279, + -5.631270408630371 + ], + [ + -0.12751507759094238, + -0.9916685819625854, + 0.01825738698244095, + -3.429975986480713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3172, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_338468313", + "mask_path": "../../mask/hdr_right_03172.png" + }, + { + "file_path": "../../rgb/hdr_right_03173.png", + "transform_matrix": [ + [ + 0.939794659614563, + -0.12790349125862122, + -0.3169017434120178, + 30.2460880279541 + ], + [ + 0.31621691584587097, + -0.026169635355472565, + 0.9483259916305542, + -5.633268356323242 + ], + [ + -0.12958739697933197, + -0.9914412498474121, + 0.015851160511374474, + -3.406196355819702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3173, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_438469171", + "mask_path": "../../mask/hdr_right_03173.png" + }, + { + "file_path": "../../rgb/hdr_right_03174.png", + "transform_matrix": [ + [ + 0.9423364400863647, + -0.13128778338432312, + -0.3078399896621704, + 30.1806583404541 + ], + [ + 0.3060816526412964, + -0.033878080546855927, + 0.9514023661613464, + -5.641223430633545 + ], + [ + -0.13533653318881989, + -0.9907652735710144, + 0.00826022494584322, + -3.3980743885040283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3174, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_538469076", + "mask_path": "../../mask/hdr_right_03174.png" + }, + { + "file_path": "../../rgb/hdr_right_03175.png", + "transform_matrix": [ + [ + 0.9442662596702576, + -0.1326596438884735, + -0.30126839876174927, + 30.108625411987305 + ], + [ + 0.2988400459289551, + -0.03833005577325821, + 0.9535331726074219, + -5.654806613922119 + ], + [ + -0.13804297149181366, + -0.9904202818870544, + 0.0034502223134040833, + -3.3864240646362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3175, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_638468980", + "mask_path": "../../mask/hdr_right_03175.png" + }, + { + "file_path": "../../rgb/hdr_right_03176.png", + "transform_matrix": [ + [ + 0.945374608039856, + -0.12579132616519928, + -0.30073800683021545, + 30.02732276916504 + ], + [ + 0.29898348450660706, + -0.03305579721927643, + 0.9536856412887573, + -5.674266338348389 + ], + [ + -0.12990650534629822, + -0.9915059208869934, + 0.006359413731843233, + -3.3744523525238037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3176, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_738468647", + "mask_path": "../../mask/hdr_right_03176.png" + }, + { + "file_path": "../../rgb/hdr_right_03177.png", + "transform_matrix": [ + [ + 0.9443910717964172, + -0.12259123474359512, + -0.3051179051399231, + 29.960912704467773 + ], + [ + 0.3037489056587219, + -0.03016715683043003, + 0.9522744417190552, + -5.688816070556641 + ], + [ + -0.12594503164291382, + -0.9919987320899963, + 0.008747352287173271, + -3.3712730407714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3177, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_838469743", + "mask_path": "../../mask/hdr_right_03177.png" + }, + { + "file_path": "../../rgb/hdr_right_03178.png", + "transform_matrix": [ + [ + 0.9442607760429382, + -0.11893006414175034, + -0.30696457624435425, + 29.89679527282715 + ], + [ + 0.3055519163608551, + -0.030391991138458252, + 0.9516902565956116, + -5.701009273529053 + ], + [ + -0.12251384556293488, + -0.9924373626708984, + 0.007641339208930731, + -3.3725976943969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3178, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594484_938469409", + "mask_path": "../../mask/hdr_right_03178.png" + }, + { + "file_path": "../../rgb/hdr_right_03179.png", + "transform_matrix": [ + [ + 0.9452096819877625, + -0.11545874178409576, + -0.30536529421806335, + 29.82109832763672 + ], + [ + 0.3037623465061188, + -0.03166760876774788, + 0.9522214531898499, + -5.715219974517822 + ], + [ + -0.11961248517036438, + -0.9928073287010193, + 0.005139484070241451, + -3.367161750793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3179, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_38469552", + "mask_path": "../../mask/hdr_right_03179.png" + }, + { + "file_path": "../../rgb/hdr_right_03180.png", + "transform_matrix": [ + [ + 0.9483559131622314, + -0.11307087540626526, + -0.2963714897632599, + 29.74916648864746 + ], + [ + 0.2945272922515869, + -0.03306831791996956, + 0.9550707936286926, + -5.72504997253418 + ], + [ + -0.11779119819402695, + -0.9930365085601807, + 0.0019419194431975484, + -3.3444957733154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3180, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_138469219", + "mask_path": "../../mask/hdr_right_03180.png" + }, + { + "file_path": "../../rgb/hdr_right_03181.png", + "transform_matrix": [ + [ + 0.9513113498687744, + -0.11755216866731644, + -0.2849353849887848, + 29.679616928100586 + ], + [ + 0.28258639574050903, + -0.03654462471604347, + 0.9585455060005188, + -5.733527660369873 + ], + [ + -0.12309195846319199, + -0.9923940896987915, + -0.0015466815093532205, + -3.329543113708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3181, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_238470077", + "mask_path": "../../mask/hdr_right_03181.png" + }, + { + "file_path": "../../rgb/hdr_right_03182.png", + "transform_matrix": [ + [ + 0.953960657119751, + -0.1182236298918724, + -0.2756488025188446, + 29.600624084472656 + ], + [ + 0.2728099822998047, + -0.03988150507211685, + 0.9612408876419067, + -5.746528625488281 + ], + [ + -0.12463468313217163, + -0.9921857714653015, + -0.005792804062366486, + -3.318265438079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3182, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_338469266", + "mask_path": "../../mask/hdr_right_03182.png" + }, + { + "file_path": "../../rgb/hdr_right_03183.png", + "transform_matrix": [ + [ + 0.9555338621139526, + -0.11091083288192749, + -0.2732284367084503, + 29.517677307128906 + ], + [ + 0.2711726725101471, + -0.03351062536239624, + 0.9619472622871399, + -5.7607340812683105 + ], + [ + -0.1158464178442955, + -0.9932652115821838, + -0.0019445567158982158, + -3.309553623199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3183, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_438468456", + "mask_path": "../../mask/hdr_right_03183.png" + }, + { + "file_path": "../../rgb/hdr_right_03184.png", + "transform_matrix": [ + [ + 0.955550491809845, + -0.1059228777885437, + -0.2751430869102478, + 29.45206642150879 + ], + [ + 0.2742353081703186, + -0.023330891504883766, + 0.9613795876502991, + -5.772579669952393 + ], + [ + -0.1082514300942421, + -0.9941005706787109, + 0.006753948051482439, + -3.308576822280884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3184, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_538469076", + "mask_path": "../../mask/hdr_right_03184.png" + }, + { + "file_path": "../../rgb/hdr_right_03185.png", + "transform_matrix": [ + [ + 0.9563644528388977, + -0.10163767635822296, + -0.2739284932613373, + 29.3818416595459 + ], + [ + 0.2735314667224884, + -0.018096689134836197, + 0.9616928100585938, + -5.7813239097595215 + ], + [ + -0.10270141810178757, + -0.9946568608283997, + 0.010494068264961243, + -3.311350107192993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3185, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_638468265", + "mask_path": "../../mask/hdr_right_03185.png" + }, + { + "file_path": "../../rgb/hdr_right_03186.png", + "transform_matrix": [ + [ + 0.9575336575508118, + -0.10049856454133987, + -0.2702396810054779, + 29.299516677856445 + ], + [ + 0.2700243890285492, + -0.01599918119609356, + 0.9627206921577454, + -5.791299819946289 + ], + [ + -0.10107564926147461, + -0.994808554649353, + 0.011817307211458683, + -3.3030014038085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3186, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_738468170", + "mask_path": "../../mask/hdr_right_03186.png" + }, + { + "file_path": "../../rgb/hdr_right_03187.png", + "transform_matrix": [ + [ + 0.9598233699798584, + -0.10427521169185638, + -0.2605105936527252, + 29.220792770385742 + ], + [ + 0.26044708490371704, + -0.01446613110601902, + 0.9653797745704651, + -5.7953410148620605 + ], + [ + -0.10443376004695892, + -0.9944433569908142, + 0.013273240067064762, + -3.2829108238220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3187, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_838469505", + "mask_path": "../../mask/hdr_right_03187.png" + }, + { + "file_path": "../../rgb/hdr_right_03188.png", + "transform_matrix": [ + [ + 0.9619797468185425, + -0.10965797305107117, + -0.2501402199268341, + 29.148193359375 + ], + [ + 0.24949030578136444, + -0.01983158104121685, + 0.9681742787361145, + -5.802697658538818 + ], + [ + -0.11112870275974274, + -0.9937715530395508, + 0.008281015790998936, + -3.2714030742645264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3188, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594485_938470363", + "mask_path": "../../mask/hdr_right_03188.png" + }, + { + "file_path": "../../rgb/hdr_right_03189.png", + "transform_matrix": [ + [ + 0.9632100462913513, + -0.11293108016252518, + -0.24387098848819733, + 29.063016891479492 + ], + [ + 0.2428392767906189, + -0.02301645092666149, + 0.9697934985160828, + -5.8127570152282715 + ], + [ + -0.11513286828994751, + -0.9933362007141113, + 0.00525442510843277, + -3.2588629722595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3189, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_38468599", + "mask_path": "../../mask/hdr_right_03189.png" + }, + { + "file_path": "../../rgb/hdr_right_03190.png", + "transform_matrix": [ + [ + 0.9633617401123047, + -0.10771262645721436, + -0.2456260621547699, + 28.975133895874023 + ], + [ + 0.24528618156909943, + -0.016600972041487694, + 0.9693085551261902, + -5.8211212158203125 + ], + [ + -0.1084844172000885, + -0.9940434694290161, + 0.010427678003907204, + -3.2494988441467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3190, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_138469457", + "mask_path": "../../mask/hdr_right_03190.png" + }, + { + "file_path": "../../rgb/hdr_right_03191.png", + "transform_matrix": [ + [ + 0.9632339477539062, + -0.10359469056129456, + -0.24788798391819, + 28.910310745239258 + ], + [ + 0.24820925295352936, + -0.009984784759581089, + 0.968654990196228, + -5.826655387878418 + ], + [ + -0.10282262414693832, + -0.9945694804191589, + 0.016095474362373352, + -3.2485580444335938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3191, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_238469839", + "mask_path": "../../mask/hdr_right_03191.png" + }, + { + "file_path": "../../rgb/hdr_right_03192.png", + "transform_matrix": [ + [ + 0.9636160731315613, + -0.10134241729974747, + -0.24733322858810425, + 28.839595794677734 + ], + [ + 0.2477581650018692, + -0.008572128601372242, + 0.9687839150428772, + -5.832230567932129 + ], + [ + -0.10029909014701843, + -0.9948146939277649, + 0.016848169267177582, + -3.2445876598358154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3192, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_338470220", + "mask_path": "../../mask/hdr_right_03192.png" + }, + { + "file_path": "../../rgb/hdr_right_03193.png", + "transform_matrix": [ + [ + 0.9647932648658752, + -0.10361840575933456, + -0.24173831939697266, + 28.754724502563477 + ], + [ + 0.24209849536418915, + -0.009277686476707458, + 0.9702073335647583, + -5.8326497077941895 + ], + [ + -0.10277410596609116, + -0.9945738911628723, + 0.016134807839989662, + -3.228106737136841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3193, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_438470602", + "mask_path": "../../mask/hdr_right_03193.png" + }, + { + "file_path": "../../rgb/hdr_right_03194.png", + "transform_matrix": [ + [ + 0.9668150544166565, + -0.10781136900186539, + -0.23161481320858002, + 28.67902946472168 + ], + [ + 0.23171699047088623, + -0.011753011494874954, + 0.9727122783660889, + -5.833038806915283 + ], + [ + -0.10759160667657852, + -0.994101881980896, + 0.013618734665215015, + -3.2134406566619873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3194, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_538469791", + "mask_path": "../../mask/hdr_right_03194.png" + }, + { + "file_path": "../../rgb/hdr_right_03195.png", + "transform_matrix": [ + [ + 0.9686538577079773, + -0.10900866240262985, + -0.22321917116641998, + 28.612581253051758 + ], + [ + 0.2227766215801239, + -0.01637902855873108, + 0.9747320413589478, + -5.84251070022583 + ], + [ + -0.10991033911705017, + -0.9939059019088745, + 0.008418967016041279, + -3.208735704421997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_638470172", + "mask_path": "../../mask/hdr_right_03195.png" + }, + { + "file_path": "../../rgb/hdr_right_03196.png", + "transform_matrix": [ + [ + 0.9699695706367493, + -0.1081773117184639, + -0.21784542500972748, + 28.526321411132812 + ], + [ + 0.217481791973114, + -0.015292970463633537, + 0.9759445786476135, + -5.853492259979248 + ], + [ + -0.1089065745472908, + -0.9940140247344971, + 0.008692875504493713, + -3.1986491680145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3196, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_738470315", + "mask_path": "../../mask/hdr_right_03196.png" + }, + { + "file_path": "../../rgb/hdr_right_03197.png", + "transform_matrix": [ + [ + 0.9695730805397034, + -0.10413875430822372, + -0.22154709696769714, + 28.448631286621094 + ], + [ + 0.22185611724853516, + -0.008753806352615356, + 0.9750401377677917, + -5.86056661605835 + ], + [ + -0.10347884148359299, + -0.9945243000984192, + 0.014616359956562519, + -3.192335367202759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_838470458", + "mask_path": "../../mask/hdr_right_03197.png" + }, + { + "file_path": "../../rgb/hdr_right_03198.png", + "transform_matrix": [ + [ + 0.9694146513938904, + -0.09989102184772491, + -0.22418108582496643, + 28.381088256835938 + ], + [ + 0.2248804122209549, + -0.004349360708147287, + 0.9743767380714417, + -5.8654937744140625 + ], + [ + -0.09830652177333832, + -0.9949889183044434, + 0.018247196450829506, + -3.1946473121643066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3198, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594486_938469886", + "mask_path": "../../mask/hdr_right_03198.png" + }, + { + "file_path": "../../rgb/hdr_right_03199.png", + "transform_matrix": [ + [ + 0.9703329205513, + -0.09491507709026337, + -0.22236256301403046, + 28.309534072875977 + ], + [ + 0.22309452295303345, + -0.0029646768234670162, + 0.97479248046875, + -5.870059013366699 + ], + [ + -0.09318173676729202, + -0.9954809546470642, + 0.018298309296369553, + -3.1923184394836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3199, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_38471698", + "mask_path": "../../mask/hdr_right_03199.png" + }, + { + "file_path": "../../rgb/hdr_right_03200.png", + "transform_matrix": [ + [ + 0.9727639555931091, + -0.09038495272397995, + -0.21345014870166779, + 28.24062728881836 + ], + [ + 0.21421357989311218, + -0.001282137236557901, + 0.9767859578132629, + -5.872838020324707 + ], + [ + -0.08856043219566345, + -0.9959061145782471, + 0.018114466220140457, + -3.173309326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3200, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_138469934", + "mask_path": "../../mask/hdr_right_03200.png" + }, + { + "file_path": "../../rgb/hdr_right_03201.png", + "transform_matrix": [ + [ + 0.9744541645050049, + -0.0965973436832428, + -0.20275114476680756, + 28.1748104095459 + ], + [ + 0.20295965671539307, + -0.00776633620262146, + 0.9791563749313354, + -5.876051902770996 + ], + [ + -0.09615853428840637, + -0.9952932000160217, + 0.012037424370646477, + -3.159425735473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3201, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_238470315", + "mask_path": "../../mask/hdr_right_03201.png" + }, + { + "file_path": "../../rgb/hdr_right_03202.png", + "transform_matrix": [ + [ + 0.9753785729408264, + -0.100186787545681, + -0.19646687805652618, + 28.101816177368164 + ], + [ + 0.19615119695663452, + -0.013089891523122787, + 0.9804863333702087, + -5.880077838897705 + ], + [ + -0.10080350190401077, + -0.9948825240135193, + 0.006884157191962004, + -3.145573377609253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3202, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_338469505", + "mask_path": "../../mask/hdr_right_03202.png" + }, + { + "file_path": "../../rgb/hdr_right_03203.png", + "transform_matrix": [ + [ + 0.9755982756614685, + -0.09793618321418762, + -0.19651105999946594, + 28.0240478515625 + ], + [ + 0.19643555581569672, + -0.010508422739803791, + 0.9804604649543762, + -5.88716459274292 + ], + [ + -0.09808757901191711, + -0.9951372146606445, + 0.008986147120594978, + -3.135124683380127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3203, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_438469171", + "mask_path": "../../mask/hdr_right_03203.png" + }, + { + "file_path": "../../rgb/hdr_right_03204.png", + "transform_matrix": [ + [ + 0.9748112559318542, + -0.09783168137073517, + -0.20042939484119415, + 27.96546745300293 + ], + [ + 0.20067398250102997, + -0.007434977684170008, + 0.9796299338340759, + -5.893697261810303 + ], + [ + -0.0973290279507637, + -0.9951751828193665, + 0.012384570203721523, + -3.1358394622802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3204, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_538470029", + "mask_path": "../../mask/hdr_right_03204.png" + }, + { + "file_path": "../../rgb/hdr_right_03205.png", + "transform_matrix": [ + [ + 0.9747621417045593, + -0.09608948230743408, + -0.20150865614414215, + 27.9049129486084 + ], + [ + 0.20170018076896667, + -0.007817196659743786, + 0.9794161319732666, + -5.9004034996032715 + ], + [ + -0.09568682312965393, + -0.995341956615448, + 0.011761355213820934, + -3.134636163711548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3205, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_638470172", + "mask_path": "../../mask/hdr_right_03205.png" + }, + { + "file_path": "../../rgb/hdr_right_03206.png", + "transform_matrix": [ + [ + 0.9756786227226257, + -0.09339222311973572, + -0.19831597805023193, + 27.843183517456055 + ], + [ + 0.19843509793281555, + -0.008103127591311932, + 0.9800806641578674, + -5.900069236755371 + ], + [ + -0.09313887357711792, + -0.9955963492393494, + 0.01062624342739582, + -3.125427722930908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3206, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_738469362", + "mask_path": "../../mask/hdr_right_03206.png" + }, + { + "file_path": "../../rgb/hdr_right_03207.png", + "transform_matrix": [ + [ + 0.9773685932159424, + -0.09547462314367294, + -0.18877309560775757, + 27.785625457763672 + ], + [ + 0.18891146779060364, + -0.0076698483899235725, + 0.9819641709327698, + -5.898571491241455 + ], + [ + -0.09520050883293152, + -0.9954022765159607, + 0.010539978742599487, + -3.1137423515319824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3207, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_838470458", + "mask_path": "../../mask/hdr_right_03207.png" + }, + { + "file_path": "../../rgb/hdr_right_03208.png", + "transform_matrix": [ + [ + 0.9786405563354492, + -0.1006852462887764, + -0.1792348325252533, + 27.724424362182617 + ], + [ + 0.17900986969470978, + -0.011339209973812103, + 0.9837818741798401, + -5.90000057220459 + ], + [ + -0.10108470916748047, + -0.9948537349700928, + 0.0069266376085579395, + -3.1044321060180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3208, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594487_938470125", + "mask_path": "../../mask/hdr_right_03208.png" + }, + { + "file_path": "../../rgb/hdr_right_03209.png", + "transform_matrix": [ + [ + 0.9794318079948425, + -0.10437946021556854, + -0.17267972230911255, + 27.64589500427246 + ], + [ + 0.1721378117799759, + -0.014247090555727482, + 0.9849698543548584, + -5.902240753173828 + ], + [ + -0.10527078807353973, + -0.9944354891777039, + 0.004013594705611467, + -3.0922935009002686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3209, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_38470268", + "mask_path": "../../mask/hdr_right_03209.png" + }, + { + "file_path": "../../rgb/hdr_right_03210.png", + "transform_matrix": [ + [ + 0.9795377850532532, + -0.10089266300201416, + -0.17414480447769165, + 27.566822052001953 + ], + [ + 0.17415113747119904, + -0.008813557215034962, + 0.9846795201301575, + -5.905594348907471 + ], + [ + -0.10088176280260086, + -0.9948582649230957, + 0.008937355130910873, + -3.0806186199188232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3210, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_138470411", + "mask_path": "../../mask/hdr_right_03210.png" + }, + { + "file_path": "../../rgb/hdr_right_03211.png", + "transform_matrix": [ + [ + 0.9793623685836792, + -0.0986250713467598, + -0.1764156073331833, + 27.50487518310547 + ], + [ + 0.1769949346780777, + -0.002913790987804532, + 0.9842075109481812, + -5.907891273498535 + ], + [ + -0.09758156538009644, + -0.9951204061508179, + 0.014602478593587875, + -3.0834362506866455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_238470792", + "mask_path": "../../mask/hdr_right_03211.png" + }, + { + "file_path": "../../rgb/hdr_right_03212.png", + "transform_matrix": [ + [ + 0.9798064827919006, + -0.09540796279907227, + -0.1757170855998993, + 27.436803817749023 + ], + [ + 0.17632807791233063, + -0.0020552328787744045, + 0.9843294024467468, + -5.9085493087768555 + ], + [ + -0.09427399188280106, + -0.9954361319541931, + 0.01480936910957098, + -3.080099582672119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3212, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_338470697", + "mask_path": "../../mask/hdr_right_03212.png" + }, + { + "file_path": "../../rgb/hdr_right_03213.png", + "transform_matrix": [ + [ + 0.9813364744186401, + -0.09071916341781616, + -0.16955456137657166, + 27.367097854614258 + ], + [ + 0.17017367482185364, + -0.0009232321754097939, + 0.9854137301445007, + -5.905155658721924 + ], + [ + -0.08955244719982147, + -0.9958760738372803, + 0.014532010070979595, + -3.064683437347412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_438470125", + "mask_path": "../../mask/hdr_right_03213.png" + }, + { + "file_path": "../../rgb/hdr_right_03214.png", + "transform_matrix": [ + [ + 0.9823035001754761, + -0.09554526209831238, + -0.1610928177833557, + 27.305484771728516 + ], + [ + 0.16141656041145325, + -0.004382063634693623, + 0.9868767261505127, + -5.900930881500244 + ], + [ + -0.09499730914831161, + -0.9954153895378113, + 0.011118070222437382, + -3.04966139793396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3214, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_538469314", + "mask_path": "../../mask/hdr_right_03214.png" + }, + { + "file_path": "../../rgb/hdr_right_03215.png", + "transform_matrix": [ + [ + 0.9829896688461304, + -0.09969540685415268, + -0.15424707531929016, + 27.238510131835938 + ], + [ + 0.15385213494300842, + -0.011684649623930454, + 0.9880248308181763, + -5.899753093719482 + ], + [ + -0.10030385851860046, + -0.9949494004249573, + 0.0038524577394127846, + -3.0401508808135986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3215, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_638469934", + "mask_path": "../../mask/hdr_right_03215.png" + }, + { + "file_path": "../../rgb/hdr_right_03216.png", + "transform_matrix": [ + [ + 0.9832258820533752, + -0.10210105031728745, + -0.15113689005374908, + 27.161550521850586 + ], + [ + 0.15050049126148224, + -0.013952863402664661, + 0.9885114431381226, + -5.903066635131836 + ], + [ + -0.10303685069084167, + -0.9946762323379517, + 0.001647437922656536, + -3.028775215148926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3216, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_738470315", + "mask_path": "../../mask/hdr_right_03216.png" + }, + { + "file_path": "../../rgb/hdr_right_03217.png", + "transform_matrix": [ + [ + 0.9827192425727844, + -0.09886126220226288, + -0.15649089217185974, + 27.094165802001953 + ], + [ + 0.1567760705947876, + -0.0049261306412518024, + 0.9876220226287842, + -5.906693935394287 + ], + [ + -0.09840845316648483, + -0.995089054107666, + 0.010658074170351028, + -3.0244174003601074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3217, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_838470220", + "mask_path": "../../mask/hdr_right_03217.png" + }, + { + "file_path": "../../rgb/hdr_right_03218.png", + "transform_matrix": [ + [ + 0.9823399782180786, + -0.09753316640853882, + -0.15967345237731934, + 27.032917022705078 + ], + [ + 0.160310760140419, + -0.0013179262168705463, + 0.9870657324790955, + -5.905615329742432 + ], + [ + -0.09648209065198898, + -0.9952313899993896, + 0.014340960420668125, + -3.025017261505127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3218, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594488_938469648", + "mask_path": "../../mask/hdr_right_03218.png" + }, + { + "file_path": "../../rgb/hdr_right_03219.png", + "transform_matrix": [ + [ + 0.9829149842262268, + -0.09512364864349365, + -0.15757420659065247, + 26.966123580932617 + ], + [ + 0.15854454040527344, + 0.0026823971420526505, + 0.9873482584953308, + -5.902963161468506 + ], + [ + -0.09349748492240906, + -0.9954618811607361, + 0.01771790161728859, + -3.018071174621582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3219, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_38471937", + "mask_path": "../../mask/hdr_right_03219.png" + }, + { + "file_path": "../../rgb/hdr_right_03220.png", + "transform_matrix": [ + [ + 0.9846053123474121, + -0.09089113026857376, + -0.14930258691310883, + 26.902292251586914 + ], + [ + 0.1504293978214264, + 0.0056369248777627945, + 0.9886046648025513, + -5.901387691497803 + ], + [ + -0.08901378512382507, + -0.995844841003418, + 0.019222842529416084, + -3.0016427040100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3220, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_138471603", + "mask_path": "../../mask/hdr_right_03220.png" + }, + { + "file_path": "../../rgb/hdr_right_03221.png", + "transform_matrix": [ + [ + 0.9854300618171692, + -0.09654344618320465, + -0.14002475142478943, + 26.847381591796875 + ], + [ + 0.1406986117362976, + 0.00017352915892843157, + 0.9900525212287903, + -5.897187232971191 + ], + [ + -0.0955587700009346, + -0.9953287243843079, + 0.013754523359239101, + -2.991501569747925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3221, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_238470554", + "mask_path": "../../mask/hdr_right_03221.png" + }, + { + "file_path": "../../rgb/hdr_right_03222.png", + "transform_matrix": [ + [ + 0.9861639738082886, + -0.098800890147686, + -0.13311313092708588, + 26.785160064697266 + ], + [ + 0.13303300738334656, + -0.007428255397826433, + 0.9910838007926941, + -5.892714500427246 + ], + [ + -0.09890875965356827, + -0.9950794577598572, + 0.005818298552185297, + -2.9798121452331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3222, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_338469982", + "mask_path": "../../mask/hdr_right_03222.png" + }, + { + "file_path": "../../rgb/hdr_right_03223.png", + "transform_matrix": [ + [ + 0.9866045117378235, + -0.09875079244375229, + -0.12984463572502136, + 26.71034049987793 + ], + [ + 0.1297287493944168, + -0.007621425203979015, + 0.9915201663970947, + -5.894834995269775 + ], + [ + -0.09890300780534744, + -0.9950829744338989, + 0.005291481036692858, + -2.9674856662750244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3223, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_438471317", + "mask_path": "../../mask/hdr_right_03223.png" + }, + { + "file_path": "../../rgb/hdr_right_03224.png", + "transform_matrix": [ + [ + 0.9862784147262573, + -0.09699120372533798, + -0.13359560072422028, + 26.646602630615234 + ], + [ + 0.13408222794532776, + -0.0015127100050449371, + 0.9909691214561462, + -5.901320457458496 + ], + [ + -0.09631737321615219, + -0.9952840805053711, + 0.011512843891978264, + -2.9673922061920166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3224, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_538470029", + "mask_path": "../../mask/hdr_right_03224.png" + }, + { + "file_path": "../../rgb/hdr_right_03225.png", + "transform_matrix": [ + [ + 0.9861016273498535, + -0.09463712573051453, + -0.1365552395582199, + 26.591495513916016 + ], + [ + 0.13713493943214417, + -0.0003818081459030509, + 0.9905524253845215, + -5.9043097496032715 + ], + [ + -0.09379515051841736, + -0.9955117702484131, + 0.012601550668478012, + -2.9700169563293457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3225, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_638470172", + "mask_path": "../../mask/hdr_right_03225.png" + }, + { + "file_path": "../../rgb/hdr_right_03226.png", + "transform_matrix": [ + [ + 0.9864362478256226, + -0.09076855331659317, + -0.1367654800415039, + 26.53230857849121 + ], + [ + 0.1373390257358551, + 7.341849413933232e-05, + 0.9905242323875427, + -5.9037556648254395 + ], + [ + -0.08989840745925903, + -0.9958720207214355, + 0.0125384870916605, + -2.96315336227417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3226, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_738471984", + "mask_path": "../../mask/hdr_right_03226.png" + }, + { + "file_path": "../../rgb/hdr_right_03227.png", + "transform_matrix": [ + [ + 0.986821174621582, + -0.09040374308824539, + -0.1342053860425949, + 26.472698211669922 + ], + [ + 0.13498555123806, + 0.002543071284890175, + 0.9908444881439209, + -5.901254177093506 + ], + [ + -0.08923473209142685, + -0.9959019422531128, + 0.014712750911712646, + -2.9453933238983154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3227, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_838469505", + "mask_path": "../../mask/hdr_right_03227.png" + }, + { + "file_path": "../../rgb/hdr_right_03228.png", + "transform_matrix": [ + [ + 0.9862157106399536, + -0.09648454934358597, + -0.13442213833332062, + 26.414182662963867 + ], + [ + 0.13505597412586212, + 3.868288331432268e-05, + 0.9908379912376404, + -5.9001007080078125 + ], + [ + -0.0955953598022461, + -0.9953345060348511, + 0.01306896097958088, + -2.937278985977173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3228, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594489_938470840", + "mask_path": "../../mask/hdr_right_03228.png" + }, + { + "file_path": "../../rgb/hdr_right_03229.png", + "transform_matrix": [ + [ + 0.985417366027832, + -0.10021582245826721, + -0.13751205801963806, + 26.348661422729492 + ], + [ + 0.13756342232227325, + -0.006430952809751034, + 0.9904720783233643, + -5.9010725021362305 + ], + [ + -0.10014530271291733, + -0.9949449300765991, + 0.007448855321854353, + -2.927807331085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3229, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_38470268", + "mask_path": "../../mask/hdr_right_03229.png" + }, + { + "file_path": "../../rgb/hdr_right_03230.png", + "transform_matrix": [ + [ + 0.9840063452720642, + -0.1004592627286911, + -0.14710330963134766, + 26.275400161743164 + ], + [ + 0.14690642058849335, + -0.009395760484039783, + 0.9891058206558228, + -5.907350063323975 + ], + [ + -0.1007469892501831, + -0.9948968291282654, + 0.005512619856745005, + -2.915194511413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3230, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_138470172", + "mask_path": "../../mask/hdr_right_03230.png" + }, + { + "file_path": "../../rgb/hdr_right_03231.png", + "transform_matrix": [ + [ + 0.9815151691436768, + -0.09907612204551697, + -0.16374340653419495, + 26.20969581604004 + ], + [ + 0.16462849080562592, + 0.000768930884078145, + 0.9863553047180176, + -5.917848110198975 + ], + [ + -0.0975983589887619, + -0.9950795769691467, + 0.017065469175577164, + -2.908742666244507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3231, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_238470554", + "mask_path": "../../mask/hdr_right_03231.png" + }, + { + "file_path": "../../rgb/hdr_right_03232.png", + "transform_matrix": [ + [ + 0.9789530038833618, + -0.09366725385189056, + -0.18132133781909943, + 26.1501407623291 + ], + [ + 0.1825111210346222, + 0.004223705269396305, + 0.9831947684288025, + -5.923526287078857 + ], + [ + -0.09132730215787888, + -0.9955945611000061, + 0.021230122074484825, + -2.911839485168457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3232, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_338470458", + "mask_path": "../../mask/hdr_right_03232.png" + }, + { + "file_path": "../../rgb/hdr_right_03233.png", + "transform_matrix": [ + [ + 0.9760973453521729, + -0.08951329439878464, + -0.1980435699224472, + 26.085063934326172 + ], + [ + 0.1992274671792984, + 0.0044005555100739, + 0.9799434542655945, + -5.925878047943115 + ], + [ + -0.08684647083282471, + -0.9959758520126343, + 0.02212887443602085, + -2.902763605117798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3233, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_438469409", + "mask_path": "../../mask/hdr_right_03233.png" + }, + { + "file_path": "../../rgb/hdr_right_03234.png", + "transform_matrix": [ + [ + 0.973336935043335, + -0.09494928270578384, + -0.20880593359470367, + 26.025569915771484 + ], + [ + 0.209914892911911, + 0.0017330700065940619, + 0.97771817445755, + -5.930666923522949 + ], + [ + -0.09247176349163055, + -0.9954805374145508, + 0.021618127822875977, + -2.8896186351776123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3234, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_538467884", + "mask_path": "../../mask/hdr_right_03234.png" + }, + { + "file_path": "../../rgb/hdr_right_03235.png", + "transform_matrix": [ + [ + 0.9708137512207031, + -0.09818244725465775, + -0.21881714463233948, + 25.96535873413086 + ], + [ + 0.2193894386291504, + -0.005062263458967209, + 0.9756242632865906, + -5.939635753631592 + ], + [ + -0.09689687937498093, + -0.9951555132865906, + 0.016625674441456795, + -2.8819727897644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3235, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_638466596", + "mask_path": "../../mask/hdr_right_03235.png" + }, + { + "file_path": "../../rgb/hdr_right_03236.png", + "transform_matrix": [ + [ + 0.9691309332847595, + -0.09565906971693039, + -0.22723223268985748, + 25.896007537841797 + ], + [ + 0.2277139276266098, + -0.005996441002935171, + 0.9737096428871155, + -5.949075222015381 + ], + [ + -0.09450673311948776, + -0.995396077632904, + 0.015971560031175613, + -2.878410816192627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3236, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_738469123", + "mask_path": "../../mask/hdr_right_03236.png" + }, + { + "file_path": "../../rgb/hdr_right_03237.png", + "transform_matrix": [ + [ + 0.967684805393219, + -0.08999534696340561, + -0.23555679619312286, + 25.83198356628418 + ], + [ + 0.23640255630016327, + -0.0012959688901901245, + 0.9716543555259705, + -5.957740783691406 + ], + [ + -0.08774963766336441, + -0.9959413409233093, + 0.02002103626728058, + -2.878776788711548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3237, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_838469266", + "mask_path": "../../mask/hdr_right_03237.png" + }, + { + "file_path": "../../rgb/hdr_right_03238.png", + "transform_matrix": [ + [ + 0.9670875072479248, + -0.08784215897321701, + -0.2388002872467041, + 25.77883529663086 + ], + [ + 0.23996734619140625, + 0.0028187658172100782, + 0.9707769155502319, + -5.960841178894043 + ], + [ + -0.08460202068090439, + -0.9961304068565369, + 0.023805243894457817, + -2.878427267074585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3238, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594490_938469171", + "mask_path": "../../mask/hdr_right_03238.png" + }, + { + "file_path": "../../rgb/hdr_right_03239.png", + "transform_matrix": [ + [ + 0.9678288102149963, + -0.08450743556022644, + -0.23699362576007843, + 25.72223472595215 + ], + [ + 0.2383817881345749, + 0.006585984956473112, + 0.971149206161499, + -5.962493896484375 + ], + [ + -0.08050848543643951, + -0.9964010715484619, + 0.026519136503338814, + -2.8747334480285645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3239, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_38469076", + "mask_path": "../../mask/hdr_right_03239.png" + }, + { + "file_path": "../../rgb/hdr_right_03240.png", + "transform_matrix": [ + [ + 0.9701570272445679, + -0.07904106378555298, + -0.22923357784748077, + 25.664854049682617 + ], + [ + 0.23067161440849304, + 0.00944636669009924, + 0.9729857444763184, + -5.9625701904296875 + ], + [ + -0.07474041730165482, + -0.9968265891075134, + 0.02739698812365532, + -2.863483428955078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3240, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_138467311", + "mask_path": "../../mask/hdr_right_03240.png" + }, + { + "file_path": "../../rgb/hdr_right_03241.png", + "transform_matrix": [ + [ + 0.9723666310310364, + -0.08367658406496048, + -0.2179478108882904, + 25.60784149169922 + ], + [ + 0.21906055510044098, + 0.004243016242980957, + 0.9757021069526672, + -5.961564540863037 + ], + [ + -0.08071865141391754, + -0.9964839220046997, + 0.022456001490354538, + -2.852993965148926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3241, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_238469362", + "mask_path": "../../mask/hdr_right_03241.png" + }, + { + "file_path": "../../rgb/hdr_right_03242.png", + "transform_matrix": [ + [ + 0.9739574790000916, + -0.08566990494728088, + -0.20992238819599152, + 25.544143676757812 + ], + [ + 0.21054138243198395, + -0.0018473421223461628, + 0.9775832295417786, + -5.964509963989258 + ], + [ + -0.08413724601268768, + -0.9963218569755554, + 0.01623782515525818, + -2.843968629837036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3242, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_338469266", + "mask_path": "../../mask/hdr_right_03242.png" + }, + { + "file_path": "../../rgb/hdr_right_03243.png", + "transform_matrix": [ + [ + 0.9746015071868896, + -0.08207309246063232, + -0.20836526155471802, + 25.474166870117188 + ], + [ + 0.20906153321266174, + -0.0001125854832935147, + 0.9779024720191956, + -5.9708333015441895 + ], + [ + -0.08028292655944824, + -0.9966263175010681, + 0.01704859733581543, + -2.839533567428589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3243, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_438469171", + "mask_path": "../../mask/hdr_right_03243.png" + }, + { + "file_path": "../../rgb/hdr_right_03244.png", + "transform_matrix": [ + [ + 0.9737622737884521, + -0.07868544012308121, + -0.21353136003017426, + 25.41373062133789 + ], + [ + 0.21456249058246613, + 0.004792279563844204, + 0.9766985177993774, + -5.975754261016846 + ], + [ + -0.0758286565542221, + -0.9968879818916321, + 0.021549485623836517, + -2.842182159423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3244, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_538467168", + "mask_path": "../../mask/hdr_right_03244.png" + }, + { + "file_path": "../../rgb/hdr_right_03245.png", + "transform_matrix": [ + [ + 0.973547637462616, + -0.075330950319767, + -0.21570880711078644, + 25.35542106628418 + ], + [ + 0.2166951596736908, + 0.005077206064015627, + 0.9762261509895325, + -5.9789910316467285 + ], + [ + -0.07244482636451721, + -0.9971456527709961, + 0.0212667528539896, + -2.8412411212921143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3245, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_638468742", + "mask_path": "../../mask/hdr_right_03245.png" + }, + { + "file_path": "../../rgb/hdr_right_03246.png", + "transform_matrix": [ + [ + 0.9742062091827393, + -0.07263016700744629, + -0.21365199983119965, + 25.29292106628418 + ], + [ + 0.2147354930639267, + 0.007360320538282394, + 0.9766445159912109, + -5.977638244628906 + ], + [ + -0.06936131417751312, + -0.9973317980766296, + 0.02276674471795559, + -2.831202745437622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3246, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_738469600", + "mask_path": "../../mask/hdr_right_03246.png" + }, + { + "file_path": "../../rgb/hdr_right_03247.png", + "transform_matrix": [ + [ + 0.9746764898300171, + -0.07817766815423965, + -0.20950910449028015, + 25.237619400024414 + ], + [ + 0.21062782406806946, + 0.006256338208913803, + 0.9775463342666626, + -5.980349540710449 + ], + [ + -0.07511153072118759, + -0.9969198703765869, + 0.022564295679330826, + -2.8189308643341064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3247, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_838469266", + "mask_path": "../../mask/hdr_right_03247.png" + }, + { + "file_path": "../../rgb/hdr_right_03248.png", + "transform_matrix": [ + [ + 0.9736619591712952, + -0.08282890170812607, + -0.21241898834705353, + 25.17989730834961 + ], + [ + 0.2131308913230896, + -0.00025284397997893393, + 0.9770236611366272, + -5.988800525665283 + ], + [ + -0.08097951114177704, + -0.9965637922286987, + 0.017407212406396866, + -2.80989408493042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3248, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594491_938469648", + "mask_path": "../../mask/hdr_right_03248.png" + }, + { + "file_path": "../../rgb/hdr_right_03249.png", + "transform_matrix": [ + [ + 0.9718305468559265, + -0.08195868134498596, + -0.22097107768058777, + 25.11233901977539 + ], + [ + 0.22166018187999725, + -0.0007078957860358059, + 0.9751237630844116, + -6.000755786895752 + ], + [ + -0.08007628470659256, + -0.9966354966163635, + 0.01747901737689972, + -2.8047361373901367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3249, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_38469076", + "mask_path": "../../mask/hdr_right_03249.png" + }, + { + "file_path": "../../rgb/hdr_right_03250.png", + "transform_matrix": [ + [ + 0.9687299728393555, + -0.07887023687362671, + -0.23524826765060425, + 25.054664611816406 + ], + [ + 0.23640355467796326, + 0.005511775147169828, + 0.9716393351554871, + -6.011251449584961 + ], + [ + -0.07533678412437439, + -0.9968697428703308, + 0.023984620347619057, + -2.808781385421753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3250, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_138469696", + "mask_path": "../../mask/hdr_right_03250.png" + }, + { + "file_path": "../../rgb/hdr_right_03251.png", + "transform_matrix": [ + [ + 0.9660869240760803, + -0.07881353050470352, + -0.24589520692825317, + 25.004165649414062 + ], + [ + 0.24726292490959167, + 0.007939073257148266, + 0.9689159393310547, + -6.019510269165039 + ], + [ + -0.07441150397062302, + -0.9968577027320862, + 0.02715749852359295, + -2.8094820976257324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3251, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_238470554", + "mask_path": "../../mask/hdr_right_03251.png" + }, + { + "file_path": "../../rgb/hdr_right_03252.png", + "transform_matrix": [ + [ + 0.9645879864692688, + -0.07899652421474457, + -0.25165361166000366, + 24.952062606811523 + ], + [ + 0.25301891565322876, + 0.007612884510308504, + 0.9674314260482788, + -6.024442195892334 + ], + [ + -0.07450791448354721, + -0.9968457818031311, + 0.02733091451227665, + -2.800884485244751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3252, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_338469982", + "mask_path": "../../mask/hdr_right_03252.png" + }, + { + "file_path": "../../rgb/hdr_right_03253.png", + "transform_matrix": [ + [ + 0.9645499587059021, + -0.08145132660865784, + -0.251015841960907, + 24.89995002746582 + ], + [ + 0.25238797068595886, + 0.0068434723652899265, + 0.967602014541626, + -6.0283918380737305 + ], + [ + -0.07709463685750961, + -0.9966538548469543, + 0.027158206328749657, + -2.785792112350464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3253, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_438472986", + "mask_path": "../../mask/hdr_right_03253.png" + }, + { + "file_path": "../../rgb/hdr_right_03255.png", + "transform_matrix": [ + [ + 0.9637096524238586, + -0.0893564447760582, + -0.25155314803123474, + 24.788625717163086 + ], + [ + 0.2523472011089325, + -0.002482907148078084, + 0.9676336050033569, + -6.040443420410156 + ], + [ + -0.08708887547254562, + -0.9959965944290161, + 0.020156044512987137, + -2.7688379287719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 3255, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594492_638469934", + "mask_path": "../../mask/hdr_right_03255.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/fe5a6668/mesh.ply b/2024-11-14-15-22-43/splats/fe5a6668/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..cdf2d0123d48aa634e37deab3cb08d38cb5a62cc --- /dev/null +++ b/2024-11-14-15-22-43/splats/fe5a6668/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ad6713f77a38ee34279ab83bd67be848c5d4f97fa49e8485f119af2531d94b7 +size 104856803 diff --git a/2024-11-14-15-22-43/splats/fe5a6668/mesh_filled_decimated.ply b/2024-11-14-15-22-43/splats/fe5a6668/mesh_filled_decimated.ply new file mode 100644 index 0000000000000000000000000000000000000000..89ca69531848f8453469f9005816a531b5928b70 --- /dev/null +++ b/2024-11-14-15-22-43/splats/fe5a6668/mesh_filled_decimated.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85b693ff8c251e2c7d7e2ddd34d5c14f775565b7a1514a30168086b64d491b71 +size 1552704 diff --git a/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/config.yml b/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..b320cee3b7de4593cdb1866d8b09298d9b4fa51b --- /dev/null +++ b/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/config.yml @@ -0,0 +1,250 @@ +!!python/object:nerfstudio.engine.trainer.TrainerConfig +_target: !!python/name:nerfstudio.engine.trainer.Trainer '' +data: null +experiment_name: '' +gradient_accumulation_steps: {} +load_checkpoint: null +load_config: null +load_dir: null +load_scheduler: true +load_step: null +log_gradients: false +logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig + local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig + _target: !!python/name:nerfstudio.utils.writer.LocalWriter '' + enable: true + max_log_size: 10 + stats_to_track: !!python/tuple + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Iter (time) + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Train Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test PSNR + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Vis Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - Test Rays / Sec + - !!python/object/apply:nerfstudio.utils.writer.EventName + - ETA (time) + max_buffer_size: 20 + profiler: basic + relative_log_dir: !!python/object/apply:pathlib.PosixPath [] + steps_per_log: 10 +machine: !!python/object:nerfstudio.configs.base_config.MachineConfig + device_type: cuda + dist_url: auto + machine_rank: 0 + num_devices: 1 + num_machines: 1 + seed: 42 +max_num_iterations: 30000 +method_name: splatfacto +mixed_precision: false +optimizers: + bilateral_grid: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: &id001 !!python/name:torch.optim.adam.Adam '' + eps: 1.0e-15 + lr: 0.002 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler '' + lr_final: 0.0001 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + camera_opt: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0001 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 5.0e-07 + lr_pre_warmup: 0 + max_steps: 30000 + ramp: cosine + warmup_steps: 1000 + features_dc: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.0025 + max_norm: null + weight_decay: 0 + scheduler: null + features_rest: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.000125 + max_norm: null + weight_decay: 0 + scheduler: null + means: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.00016 + max_norm: null + weight_decay: 0 + scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig + _target: *id002 + lr_final: 1.6e-06 + lr_pre_warmup: 1.0e-08 + max_steps: 30000 + ramp: cosine + warmup_steps: 0 + opacities: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.05 + max_norm: null + weight_decay: 0 + scheduler: null + quats: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.001 + max_norm: null + weight_decay: 0 + scheduler: null + scales: + optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig + _target: *id001 + eps: 1.0e-15 + lr: 0.005 + max_norm: null + weight_decay: 0 + scheduler: null +output_dir: !!python/object/apply:pathlib.PosixPath +- / +- home +- ubuntu +- grand_tour_dataset +- 2024-11-14-15-22-43_nerfstudio +- slices +- slice_fe5a6668 +pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig + _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline '' + datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig + _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager '' + cache_images: gpu + cache_images_type: uint8 + camera_res_scale_factor: 1.0 + data: null + dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig + _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio '' + auto_scale_poses: true + center_method: poses + data: !!python/object/apply:pathlib.PosixPath + - / + - home + - ubuntu + - grand_tour_dataset + - 2024-11-14-15-22-43_nerfstudio + - slices + - slice_fe5a6668 + depth_unit_scale_factor: 1.0 + downscale_factor: null + eval_interval: 8 + eval_mode: fraction + load_3D_points: true + mask_color: null + orientation_method: up + scale_factor: 1.0 + scene_scale: 1.0 + train_split_fraction: 1.0 + eval_image_indices: !!python/tuple + - 0 + eval_num_images_to_sample_from: -1 + eval_num_times_to_repeat_images: -1 + fps_reset_every: 100 + images_on_gpu: false + masks_on_gpu: false + max_thread_workers: null + train_cameras_sampling_seed: 42 + train_cameras_sampling_strategy: random + model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig + _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel '' + background_color: random + camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig + _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer '' + mode: SO3xR3 + optimizer: null + rot_l2_penalty: 0.001 + scheduler: null + trans_l2_penalty: 0.01 + collider_params: + far_plane: 6.0 + near_plane: 2.0 + color_corrected_metrics: false + cull_alpha_thresh: 0.1 + cull_scale_thresh: 0.5 + cull_screen_size: 0.15 + densify_grad_thresh: 0.0008 + densify_size_thresh: 0.01 + enable_collider: true + eval_num_rays_per_chunk: 4096 + grid_shape: !!python/tuple + - 16 + - 16 + - 8 + loss_coefficients: + rgb_loss_coarse: 1.0 + rgb_loss_fine: 1.0 + max_gauss_ratio: 10.0 + n_split_samples: 2 + num_downscales: 2 + num_random: 50000 + output_depth_during_training: true + prompt: null + random_init: false + random_scale: 10.0 + rasterize_mode: antialiased + refine_every: 100 + reset_alpha_every: 30 + resolution_schedule: 3000 + sh_degree: 3 + sh_degree_interval: 1000 + split_screen_size: 0.05 + ssim_lambda: 0.2 + stop_screen_size_at: 4000 + stop_split_at: 15000 + use_absgrad: true + use_bilateral_grid: true + use_scale_regularization: true + warmup_length: 500 +project_name: nerfstudio-project +prompt: null +relative_model_dir: !!python/object/apply:pathlib.PosixPath +- nerfstudio_models +save_only_latest_checkpoint: true +start_paused: false +steps_per_eval_all_images: 1000 +steps_per_eval_batch: 0 +steps_per_eval_image: 100 +steps_per_save: 2000 +timestamp: '' +use_grad_scaler: false +viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig + camera_frustum_scale: 0.1 + default_composite_depth: true + image_format: jpeg + jpeg_quality: 75 + make_share_url: false + max_num_display_images: 512 + num_rays_per_chunk: 32768 + quit_on_train_completion: true + relative_log_filename: viewer_log_filename.txt + websocket_host: 0.0.0.0 + websocket_port: null + websocket_port_default: 7007 +vis: viewer diff --git a/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/dataparser_transforms.json b/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/dataparser_transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..100680c6eb147cf288fc25cb68fc86487deff706 --- /dev/null +++ b/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/dataparser_transforms.json @@ -0,0 +1,23 @@ +{ + "transform": [ + [ + -0.8515874147415161, + -0.5128353238105774, + 0.10862181335687637, + 45.50146484375 + ], + [ + -0.5128353238105774, + 0.8579596877098083, + 0.03008505143225193, + 17.086238861083984 + ], + [ + -0.10862181335687637, + -0.03008505143225193, + -0.9936277866363525, + -0.6928377151489258 + ] + ], + "scale": 0.12654131476611405 +} \ No newline at end of file diff --git a/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/splat.ply b/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/splat.ply new file mode 100644 index 0000000000000000000000000000000000000000..1a02ee070d9682d9157c853fd30248aacfc41c23 --- /dev/null +++ b/2024-11-14-15-22-43/splats/fe5a6668/splatfacto/splat.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab0424393a869b7c4f272d274e885e674e607fbd3bdd84f02f2ba4462190aeb4 +size 364300698 diff --git a/2024-11-14-15-22-43/splats/fe5a6668/transforms.json b/2024-11-14-15-22-43/splats/fe5a6668/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad2f5848697b99151f222a7892227f25258763c --- /dev/null +++ b/2024-11-14-15-22-43/splats/fe5a6668/transforms.json @@ -0,0 +1,25080 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02177.png", + "transform_matrix": [ + [ + 0.32734519243240356, + -0.10531751811504364, + 0.9390172362327576, + 54.64951705932617 + ], + [ + -0.9442962408065796, + -0.0008003432885743678, + 0.329095721244812, + 10.902654647827148 + ], + [ + -0.03390800207853317, + -0.9944382905960083, + -0.09971292316913605, + -7.277306079864502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2177, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_138470172", + "mask_path": "../../mask/hdr_front_02177.png" + }, + { + "file_path": "../../rgb/hdr_front_02178.png", + "transform_matrix": [ + [ + 0.3144092559814453, + -0.10445833206176758, + 0.9435228705406189, + 54.5840950012207 + ], + [ + -0.9488603472709656, + -0.004766385070979595, + 0.31566014885902405, + 10.890216827392578 + ], + [ + -0.028476139530539513, + -0.9945178031921387, + -0.10061497241258621, + -7.266148090362549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2178, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_238470315", + "mask_path": "../../mask/hdr_front_02178.png" + }, + { + "file_path": "../../rgb/hdr_front_02179.png", + "transform_matrix": [ + [ + 0.294952929019928, + -0.10644374042749405, + 0.9495643973350525, + 54.5196418762207 + ], + [ + -0.9552319049835205, + -0.008796417154371738, + 0.29572734236717224, + 10.879144668579102 + ], + [ + -0.023125557228922844, + -0.9942798018455505, + -0.1042729839682579, + -7.254059791564941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2179, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_338470458", + "mask_path": "../../mask/hdr_front_02179.png" + }, + { + "file_path": "../../rgb/hdr_front_02180.png", + "transform_matrix": [ + [ + 0.2706015706062317, + -0.10966756939888, + 0.9564244747161865, + 54.46512222290039 + ], + [ + -0.9625659584999084, + -0.014784901402890682, + 0.2706439197063446, + 10.86794376373291 + ], + [ + -0.01554021518677473, + -0.9938583970069885, + -0.10956308990716934, + -7.246370792388916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2180, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_438469171", + "mask_path": "../../mask/hdr_front_02180.png" + }, + { + "file_path": "../../rgb/hdr_front_02181.png", + "transform_matrix": [ + [ + 0.2513624429702759, + -0.11828181147575378, + 0.9606385827064514, + 54.392547607421875 + ], + [ + -0.9678457379341125, + -0.020911691710352898, + 0.2506735026836395, + 10.844076156616211 + ], + [ + -0.009561539627611637, + -0.9927598834037781, + -0.11973495781421661, + -7.230149745941162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2181, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_538470506", + "mask_path": "../../mask/hdr_front_02181.png" + }, + { + "file_path": "../../rgb/hdr_front_02182.png", + "transform_matrix": [ + [ + 0.2478111833333969, + -0.12488393485546112, + 0.9607256650924683, + 54.31259536743164 + ], + [ + -0.9687650203704834, + -0.022562609985470772, + 0.24695201218128204, + 10.813678741455078 + ], + [ + -0.009163860231637955, + -0.9919148087501526, + -0.12657445669174194, + -7.206021308898926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2182, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_638469457", + "mask_path": "../../mask/hdr_front_02182.png" + }, + { + "file_path": "../../rgb/hdr_front_02183.png", + "transform_matrix": [ + [ + 0.2521490156650543, + -0.12626487016677856, + 0.9594154357910156, + 54.25629425048828 + ], + [ + -0.9676077961921692, + -0.02009904943406582, + 0.2516569197177887, + 10.795354843139648 + ], + [ + -0.012492083013057709, + -0.9917929768562317, + -0.1272428184747696, + -7.206725597381592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2183, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_738470315", + "mask_path": "../../mask/hdr_front_02183.png" + }, + { + "file_path": "../../rgb/hdr_front_02184.png", + "transform_matrix": [ + [ + 0.25291749835014343, + -0.1260305792093277, + 0.9592439532279968, + 54.19841766357422 + ], + [ + -0.9673979878425598, + -0.019432315602898598, + 0.2525143027305603, + 10.781011581420898 + ], + [ + -0.013184190727770329, + -0.9918360710144043, + -0.12683649361133575, + -7.198002338409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2184, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_838469982", + "mask_path": "../../mask/hdr_front_02184.png" + }, + { + "file_path": "../../rgb/hdr_front_02185.png", + "transform_matrix": [ + [ + 0.2427721619606018, + -0.1220574602484703, + 0.9623740315437317, + 54.14703369140625 + ], + [ + -0.9699960350990295, + -0.017232047393918037, + 0.24250943958759308, + 10.775101661682129 + ], + [ + -0.013016409240663052, + -0.9923734664916992, + -0.12257871776819229, + -7.179386138916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2185, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_938470125", + "mask_path": "../../mask/hdr_front_02185.png" + }, + { + "file_path": "../../rgb/hdr_front_02187.png", + "transform_matrix": [ + [ + 0.23013384640216827, + -0.12775766849517822, + 0.9647364616394043, + 54.04014587402344 + ], + [ + -0.9731587171554565, + -0.029674476012587547, + 0.22821328043937683, + 10.749256134033203 + ], + [ + -0.0005279470351524651, + -0.9913614392280579, + -0.13115759193897247, + -7.158697605133057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2187, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_138468742", + "mask_path": "../../mask/hdr_front_02187.png" + }, + { + "file_path": "../../rgb/hdr_front_02188.png", + "transform_matrix": [ + [ + 0.23394617438316345, + -0.12853948771953583, + 0.9637150764465332, + 53.9771614074707 + ], + [ + -0.9722492098808289, + -0.031841251999139786, + 0.23177090287208557, + 10.729493141174316 + ], + [ + 0.0008941826527006924, + -0.9911931157112122, + -0.1324215531349182, + -7.146211624145508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2188, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_238469839", + "mask_path": "../../mask/hdr_front_02188.png" + }, + { + "file_path": "../../rgb/hdr_front_02191.png", + "transform_matrix": [ + [ + 0.22941067814826965, + -0.12494586408138275, + 0.9652767777442932, + 53.83660125732422 + ], + [ + -0.9731742739677429, + -0.011717217974364758, + 0.22977092862129211, + 10.707374572753906 + ], + [ + -0.017398567870259285, + -0.9920944571495056, + -0.12428212910890579, + -7.1210503578186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2191, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_538470506", + "mask_path": "../../mask/hdr_front_02191.png" + }, + { + "file_path": "../../rgb/hdr_front_02193.png", + "transform_matrix": [ + [ + 0.2204957902431488, + -0.13451111316680908, + 0.9660684466362, + 53.732234954833984 + ], + [ + -0.9753129482269287, + -0.018129833042621613, + 0.22008143365383148, + 10.68602466583252 + ], + [ + -0.012088733725249767, + -0.990746259689331, + -0.13518796861171722, + -7.096207141876221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2193, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_738470315", + "mask_path": "../../mask/hdr_front_02193.png" + }, + { + "file_path": "../../rgb/hdr_front_02194.png", + "transform_matrix": [ + [ + 0.2236299365758896, + -0.1378660649061203, + 0.9648744463920593, + 53.68040084838867 + ], + [ + -0.974546492099762, + -0.015611445531249046, + 0.223641037940979, + 10.672239303588867 + ], + [ + -0.015769420191645622, + -0.9903278350830078, + -0.13784807920455933, + -7.093352317810059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2194, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_838471412", + "mask_path": "../../mask/hdr_front_02194.png" + }, + { + "file_path": "../../rgb/hdr_front_02195.png", + "transform_matrix": [ + [ + 0.22227177023887634, + -0.13460445404052734, + 0.9656484723091125, + 53.627723693847656 + ], + [ + -0.9749001264572144, + -0.01763063855469227, + 0.2219437062740326, + 10.661890029907227 + ], + [ + -0.012849612161517143, + -0.9907426238059998, + -0.1351446658372879, + -7.085239887237549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2195, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_938471078", + "mask_path": "../../mask/hdr_front_02195.png" + }, + { + "file_path": "../../rgb/hdr_front_02198.png", + "transform_matrix": [ + [ + 0.2007947713136673, + -0.13021111488342285, + 0.9709410071372986, + 53.47052001953125 + ], + [ + -0.9796305894851685, + -0.029060402885079384, + 0.19869457185268402, + 10.624822616577148 + ], + [ + 0.0023436981718987226, + -0.9910603165626526, + -0.13339395821094513, + -7.051060199737549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2198, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_238471508", + "mask_path": "../../mask/hdr_front_02198.png" + }, + { + "file_path": "../../rgb/hdr_front_02199.png", + "transform_matrix": [ + [ + 0.20959004759788513, + -0.13415434956550598, + 0.9685425162315369, + 53.40613555908203 + ], + [ + -0.9777889847755432, + -0.029590176418423653, + 0.2074924111366272, + 10.600996017456055 + ], + [ + 0.0008233400876633823, + -0.9905185699462891, + -0.13737645745277405, + -7.045925140380859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2199, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_338471174", + "mask_path": "../../mask/hdr_front_02199.png" + }, + { + "file_path": "../../rgb/hdr_front_02200.png", + "transform_matrix": [ + [ + 0.21515780687332153, + -0.13296756148338318, + 0.9674848318099976, + 53.35414123535156 + ], + [ + -0.9765791296958923, + -0.029873574152588844, + 0.21307459473609924, + 10.590387344360352 + ], + [ + 0.0005702195921912789, + -0.9906701445579529, + -0.1362808793783188, + -7.044243335723877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2200, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_438469648", + "mask_path": "../../mask/hdr_front_02200.png" + }, + { + "file_path": "../../rgb/hdr_front_02201.png", + "transform_matrix": [ + [ + 0.21315260231494904, + -0.13016094267368317, + 0.9683098793029785, + 53.29515075683594 + ], + [ + -0.9770175814628601, + -0.026752371340990067, + 0.21147334575653076, + 10.58519458770752 + ], + [ + -0.0016209849854931235, + -0.9911319613456726, + -0.13287188112735748, + -7.033713340759277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2201, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_538469076", + "mask_path": "../../mask/hdr_front_02201.png" + }, + { + "file_path": "../../rgb/hdr_front_02202.png", + "transform_matrix": [ + [ + 0.20376291871070862, + -0.13507939875125885, + 0.9696568250656128, + 53.24366760253906 + ], + [ + -0.9790126085281372, + -0.024200359359383583, + 0.2023577094078064, + 10.581876754760742 + ], + [ + -0.0038683111779391766, + -0.9905391931533813, + -0.1371755599975586, + -7.017459392547607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2202, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_638470649", + "mask_path": "../../mask/hdr_front_02202.png" + }, + { + "file_path": "../../rgb/hdr_front_02203.png", + "transform_matrix": [ + [ + 0.2011544406414032, + -0.13662266731262207, + 0.9699851870536804, + 53.19044876098633 + ], + [ + -0.9795572757720947, + -0.03020690567791462, + 0.19888484477996826, + 10.56440258026123 + ], + [ + 0.0021280732471495867, + -0.9901624917984009, + -0.13990595936775208, + -7.00149393081665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2203, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_738470554", + "mask_path": "../../mask/hdr_front_02203.png" + }, + { + "file_path": "../../rgb/hdr_front_02204.png", + "transform_matrix": [ + [ + 0.2041635513305664, + -0.1364390105009079, + 0.969382107257843, + 53.13026428222656 + ], + [ + -0.9789266586303711, + -0.03295610472559929, + 0.20153525471687317, + 10.539663314819336 + ], + [ + 0.004449783358722925, + -0.9901002049446106, + -0.1402922421693802, + -6.992889404296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2204, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_838469266", + "mask_path": "../../mask/hdr_front_02204.png" + }, + { + "file_path": "../../rgb/hdr_front_02205.png", + "transform_matrix": [ + [ + 0.2092268168926239, + -0.13491344451904297, + 0.9685155749320984, + 53.073341369628906 + ], + [ + -0.9778456091880798, + -0.035421207547187805, + 0.20630823075771332, + 10.523345947265625 + ], + [ + 0.006472243461757898, + -0.9902240633964539, + -0.13933560252189636, + -6.990123748779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2205, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_938470363", + "mask_path": "../../mask/hdr_front_02205.png" + }, + { + "file_path": "../../rgb/hdr_front_02206.png", + "transform_matrix": [ + [ + 0.2067943811416626, + -0.12647965550422668, + 0.9701747298240662, + 53.010841369628906 + ], + [ + -0.9783101677894592, + -0.03895305469632149, + 0.20345021784305573, + 10.512334823608398 + ], + [ + 0.012058950960636139, + -0.9912041425704956, + -0.13179157674312592, + -6.984387397766113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2206, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_38469552", + "mask_path": "../../mask/hdr_front_02206.png" + }, + { + "file_path": "../../rgb/hdr_front_02207.png", + "transform_matrix": [ + [ + 0.19584813714027405, + -0.12198380380868912, + 0.973017692565918, + 52.95244598388672 + ], + [ + -0.9805573225021362, + -0.03678378090262413, + 0.19275428354740143, + 10.504109382629395 + ], + [ + 0.012278364971280098, + -0.9918503165245056, + -0.12681615352630615, + -6.968087673187256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2207, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_138470649", + "mask_path": "../../mask/hdr_front_02207.png" + }, + { + "file_path": "../../rgb/hdr_front_02208.png", + "transform_matrix": [ + [ + 0.19028054177761078, + -0.12365543842315674, + 0.9739110469818115, + 52.88792037963867 + ], + [ + -0.981623649597168, + -0.03855461999773979, + 0.18689219653606415, + 10.490198135375977 + ], + [ + 0.014438530430197716, + -0.9915760159492493, + -0.1287192851305008, + -6.951911926269531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2208, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_238470554", + "mask_path": "../../mask/hdr_front_02208.png" + }, + { + "file_path": "../../rgb/hdr_front_02209.png", + "transform_matrix": [ + [ + 0.19240154325962067, + -0.12230910360813141, + 0.9736643433570862, + 52.80858612060547 + ], + [ + -0.9812360405921936, + -0.036663368344306946, + 0.18929219245910645, + 10.468622207641602 + ], + [ + 0.012545649893581867, + -0.9918146729469299, + -0.12706820666790009, + -6.9466681480407715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2209, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_338470220", + "mask_path": "../../mask/hdr_front_02209.png" + }, + { + "file_path": "../../rgb/hdr_front_02210.png", + "transform_matrix": [ + [ + 0.19726496934890747, + -0.12448770552873611, + 0.9724142551422119, + 52.73963928222656 + ], + [ + -0.9803364276885986, + -0.030313706025481224, + 0.1949913501739502, + 10.455060958862305 + ], + [ + 0.005203455686569214, + -0.9917579889297485, + -0.12801964581012726, + -6.944759368896484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2210, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_438470840", + "mask_path": "../../mask/hdr_front_02210.png" + }, + { + "file_path": "../../rgb/hdr_front_02211.png", + "transform_matrix": [ + [ + 0.19479425251483917, + -0.12902192771434784, + 0.9723212718963623, + 52.67316818237305 + ], + [ + -0.9808350205421448, + -0.02134954370558262, + 0.19366693496704102, + 10.452887535095215 + ], + [ + -0.004228668287396431, + -0.9914119243621826, + -0.1307080090045929, + -6.925384998321533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2211, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_538470268", + "mask_path": "../../mask/hdr_front_02211.png" + }, + { + "file_path": "../../rgb/hdr_front_02212.png", + "transform_matrix": [ + [ + 0.1832825094461441, + -0.1295047253370285, + 0.9744927287101746, + 52.61309814453125 + ], + [ + -0.9830101132392883, + -0.014139831066131592, + 0.1830054074525833, + 10.453651428222656 + ], + [ + -0.009920901618897915, + -0.9914779663085938, + -0.12989602982997894, + -6.895785808563232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2212, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_638469457", + "mask_path": "../../mask/hdr_front_02212.png" + }, + { + "file_path": "../../rgb/hdr_front_02213.png", + "transform_matrix": [ + [ + 0.1713474839925766, + -0.1340646743774414, + 0.9760465025901794, + 52.556888580322266 + ], + [ + -0.9851933121681213, + -0.017446162179112434, + 0.1705569326877594, + 10.453413009643555 + ], + [ + -0.005837393458932638, + -0.990818977355957, + -0.13506896793842316, + -6.877175331115723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2213, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_738469600", + "mask_path": "../../mask/hdr_front_02213.png" + }, + { + "file_path": "../../rgb/hdr_front_02214.png", + "transform_matrix": [ + [ + 0.16365280747413635, + -0.13319949805736542, + 0.9774842858314514, + 52.49366760253906 + ], + [ + -0.9864802360534668, + -0.013433972373604774, + 0.16332831978797913, + 10.448591232299805 + ], + [ + -0.008623749017715454, + -0.9909982681274414, + -0.13359716534614563, + -6.874471664428711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2214, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_838468790", + "mask_path": "../../mask/hdr_front_02214.png" + }, + { + "file_path": "../../rgb/hdr_front_02215.png", + "transform_matrix": [ + [ + 0.15962988138198853, + -0.13507035374641418, + 0.9778927564620972, + 52.43302536010742 + ], + [ + -0.987104594707489, + -0.00985079724341631, + 0.15977299213409424, + 10.440884590148926 + ], + [ + -0.0119475731626153, + -0.9907870292663574, + -0.13490107655525208, + -6.875452995300293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2215, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_938469171", + "mask_path": "../../mask/hdr_front_02215.png" + }, + { + "file_path": "../../rgb/hdr_front_02216.png", + "transform_matrix": [ + [ + 0.15439435839653015, + -0.131613090634346, + 0.979203999042511, + 52.37898635864258 + ], + [ + -0.9879436492919922, + -0.009142148308455944, + 0.15454363822937012, + 10.431527137756348 + ], + [ + -0.011387934908270836, + -0.9912590384483337, + -0.13143783807754517, + -6.869765758514404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2216, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_38470745", + "mask_path": "../../mask/hdr_front_02216.png" + }, + { + "file_path": "../../rgb/hdr_front_02217.png", + "transform_matrix": [ + [ + 0.14467810094356537, + -0.12253537774085999, + 0.9818622469902039, + 52.32011032104492 + ], + [ + -0.9894402623176575, + -0.009160320274531841, + 0.14465154707431793, + 10.429495811462402 + ], + [ + -0.008730758912861347, + -0.9924219250679016, + -0.12256673723459244, + -6.863900661468506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2217, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_138471126", + "mask_path": "../../mask/hdr_front_02217.png" + }, + { + "file_path": "../../rgb/hdr_front_02218.png", + "transform_matrix": [ + [ + 0.12819162011146545, + -0.12913621962070465, + 0.9833060503005981, + 52.2693977355957 + ], + [ + -0.9917156100273132, + -0.008508528582751751, + 0.12817054986953735, + 10.433484077453613 + ], + [ + -0.008184973150491714, + -0.9915903806686401, + -0.1291571408510208, + -6.843917369842529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2218, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_238470792", + "mask_path": "../../mask/hdr_front_02218.png" + }, + { + "file_path": "../../rgb/hdr_front_02219.png", + "transform_matrix": [ + [ + 0.11602681130170822, + -0.13329097628593445, + 0.9842619299888611, + 52.20946502685547 + ], + [ + -0.9932456612586975, + -0.014685568399727345, + 0.11509710550308228, + 10.424132347106934 + ], + [ + -0.0008869596058502793, + -0.9909681677818298, + -0.13409462571144104, + -6.8249406814575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2219, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_338470458", + "mask_path": "../../mask/hdr_front_02219.png" + }, + { + "file_path": "../../rgb/hdr_front_02220.png", + "transform_matrix": [ + [ + 0.11128063499927521, + -0.13759668171405792, + 0.9842173457145691, + 52.134613037109375 + ], + [ + -0.9937804341316223, + -0.019526679068803787, + 0.1096319928765297, + 10.40977668762207 + ], + [ + 0.004133495967835188, + -0.9902958869934082, + -0.1389138251543045, + -6.810262680053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2220, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_438470840", + "mask_path": "../../mask/hdr_front_02220.png" + }, + { + "file_path": "../../rgb/hdr_front_02221.png", + "transform_matrix": [ + [ + 0.11391986906528473, + -0.13761425018310547, + 0.9839129447937012, + 52.07286834716797 + ], + [ + -0.9934863448143005, + -0.018435003235936165, + 0.11244991421699524, + 10.396668434143066 + ], + [ + 0.0026637285482138395, + -0.9903143644332886, + -0.13881799578666687, + -6.804536819458008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2221, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_538471221", + "mask_path": "../../mask/hdr_front_02221.png" + }, + { + "file_path": "../../rgb/hdr_front_02222.png", + "transform_matrix": [ + [ + 0.11186214536428452, + -0.13121798634529114, + 0.9850221872329712, + 52.01675796508789 + ], + [ + -0.9937044978141785, + -0.020949184894561768, + 0.11005742847919464, + 10.385049819946289 + ], + [ + 0.006193900015205145, + -0.9911321997642517, + -0.13273531198501587, + -6.803530216217041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2222, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_638470888", + "mask_path": "../../mask/hdr_front_02222.png" + }, + { + "file_path": "../../rgb/hdr_front_02225.png", + "transform_matrix": [ + [ + 0.09292787313461304, + -0.12013702094554901, + 0.9883984923362732, + 51.84691619873047 + ], + [ + -0.9956613779067993, + -0.006445189472287893, + 0.09282734245061874, + 10.35987663269043 + ], + [ + -0.0047815823927521706, + -0.9927363991737366, + -0.12021472305059433, + -6.77722692489624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2225, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_938469409", + "mask_path": "../../mask/hdr_front_02225.png" + }, + { + "file_path": "../../rgb/hdr_front_02226.png", + "transform_matrix": [ + [ + 0.09539139270782471, + -0.12090222537517548, + 0.9880704879760742, + 51.779788970947266 + ], + [ + -0.9954215884208679, + -0.0055746594443917274, + 0.09541898220777512, + 10.349510192871094 + ], + [ + -0.0060282074846327305, + -0.9926487803459167, + -0.12088044732809067, + -6.7721171379089355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2226, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_38470506", + "mask_path": "../../mask/hdr_front_02226.png" + }, + { + "file_path": "../../rgb/hdr_front_02227.png", + "transform_matrix": [ + [ + 0.09666735678911209, + -0.11668182909488678, + 0.98845374584198, + 51.71786117553711 + ], + [ + -0.9952459931373596, + 0.0005082949064671993, + 0.09739162027835846, + 10.35970687866211 + ], + [ + -0.011866259388625622, + -0.9931692481040955, + -0.11607798933982849, + -6.763980865478516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2227, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_138469457", + "mask_path": "../../mask/hdr_front_02227.png" + }, + { + "file_path": "../../rgb/hdr_front_02228.png", + "transform_matrix": [ + [ + 0.0943509042263031, + -0.11496157944202423, + 0.9888790845870972, + 51.656463623046875 + ], + [ + -0.9954361319541931, + 0.003383901435881853, + 0.09536993503570557, + 10.365438461303711 + ], + [ + -0.014310145750641823, + -0.9933642745018005, + -0.11411765217781067, + -6.753392696380615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2228, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_238469123", + "mask_path": "../../mask/hdr_front_02228.png" + }, + { + "file_path": "../../rgb/hdr_front_02231.png", + "transform_matrix": [ + [ + 0.08649467676877975, + -0.12289927899837494, + 0.9886428117752075, + 51.47206115722656 + ], + [ + -0.9962357878684998, + -0.004957728087902069, + 0.08654268831014633, + 10.336974143981934 + ], + [ + -0.005734611768275499, + -0.9924067854881287, + -0.1228654757142067, + -6.737600326538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2231, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_538468837", + "mask_path": "../../mask/hdr_front_02231.png" + }, + { + "file_path": "../../rgb/hdr_front_02232.png", + "transform_matrix": [ + [ + 0.0923941358923912, + -0.12239250540733337, + 0.9881717562675476, + 51.41316223144531 + ], + [ + -0.9956982731819153, + -0.004439243581146002, + 0.09254804998636246, + 10.322364807128906 + ], + [ + -0.006940450984984636, + -0.9924719333648682, + -0.12227616459131241, + -6.734006881713867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2232, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_638469457", + "mask_path": "../../mask/hdr_front_02232.png" + }, + { + "file_path": "../../rgb/hdr_front_02233.png", + "transform_matrix": [ + [ + 0.09276235848665237, + -0.11573946475982666, + 0.9889386296272278, + 51.35837936401367 + ], + [ + -0.9956815242767334, + -0.007132502738386393, + 0.09256010502576828, + 10.310540199279785 + ], + [ + -0.003659247886389494, + -0.9932540059089661, + -0.11590127646923065, + -6.734038352966309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2233, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_738469362", + "mask_path": "../../mask/hdr_front_02233.png" + }, + { + "file_path": "../../rgb/hdr_front_02234.png", + "transform_matrix": [ + [ + 0.08596177399158478, + -0.110720194876194, + 0.9901270866394043, + 51.30443572998047 + ], + [ + -0.9962862133979797, + -0.004623362794518471, + 0.08597949892282486, + 10.308465003967285 + ], + [ + -0.004941949155181646, + -0.9938408732414246, + -0.11070642620325089, + -6.716172218322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2234, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_838469505", + "mask_path": "../../mask/hdr_front_02234.png" + }, + { + "file_path": "../../rgb/hdr_front_02235.png", + "transform_matrix": [ + [ + 0.07841861993074417, + -0.13069063425064087, + 0.98831707239151, + 51.25272750854492 + ], + [ + -0.996917188167572, + -0.0077029927633702755, + 0.07808240503072739, + 10.309541702270508 + ], + [ + -0.002591639757156372, + -0.9913933873176575, + -0.13089178502559662, + -6.682406902313232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2235, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_938466548", + "mask_path": "../../mask/hdr_front_02235.png" + }, + { + "file_path": "../../rgb/hdr_front_02237.png", + "transform_matrix": [ + [ + 0.08352110534906387, + -0.13452717661857605, + 0.9873837828636169, + 51.15258026123047 + ], + [ + -0.996483564376831, + -0.0046268911100924015, + 0.08366045355796814, + 10.285713195800781 + ], + [ + -0.006686086300760508, + -0.9908992052078247, + -0.1344405710697174, + -6.6739702224731445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2237, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_138466119", + "mask_path": "../../mask/hdr_front_02237.png" + }, + { + "file_path": "../../rgb/hdr_front_02239.png", + "transform_matrix": [ + [ + 0.0917607769370079, + -0.13597147166728973, + 0.9864541888237, + 51.064964294433594 + ], + [ + -0.9957108497619629, + -0.0007666952442377806, + 0.09251618385314941, + 10.280916213989258 + ], + [ + -0.01182324904948473, + -0.9907124638557434, + -0.13545861840248108, + -6.672250747680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2239, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_338469266", + "mask_path": "../../mask/hdr_front_02239.png" + }, + { + "file_path": "../../rgb/hdr_front_02241.png", + "transform_matrix": [ + [ + 0.0800698921084404, + -0.14027991890907288, + 0.9868690371513367, + 50.98800277709961 + ], + [ + -0.9967725276947021, + -0.0169974472373724, + 0.0784572958946228, + 10.282654762268066 + ], + [ + 0.00576827023178339, + -0.9899659752845764, + -0.14118815958499908, + -6.639213562011719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2241, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_538469314", + "mask_path": "../../mask/hdr_front_02241.png" + }, + { + "file_path": "../../rgb/hdr_front_02243.png", + "transform_matrix": [ + [ + 0.08022269606590271, + -0.13656486570835114, + 0.9873775243759155, + 50.8956298828125 + ], + [ + -0.9965980648994446, + -0.029751360416412354, + 0.07685693353414536, + 10.265944480895996 + ], + [ + 0.01887986622750759, + -0.9901843070983887, + -0.13848702609539032, + -6.635494232177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2243, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_738468647", + "mask_path": "../../mask/hdr_front_02243.png" + }, + { + "file_path": "../../rgb/hdr_front_02245.png", + "transform_matrix": [ + [ + 0.09379465878009796, + -0.1328522264957428, + 0.9866878986358643, + 50.81477737426758 + ], + [ + -0.9955300092697144, + -0.023534169420599937, + 0.09146644920110703, + 10.245667457580566 + ], + [ + 0.011069356463849545, + -0.9908564686775208, + -0.1344657838344574, + -6.629581451416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2245, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_938469171", + "mask_path": "../../mask/hdr_front_02245.png" + }, + { + "file_path": "../../rgb/hdr_front_02247.png", + "transform_matrix": [ + [ + 0.08143219351768494, + -0.12726140022277832, + 0.9885208010673523, + 50.735164642333984 + ], + [ + -0.9965359568595886, + -0.027187814936041832, + 0.07859233021736145, + 10.239625930786133 + ], + [ + 0.016873950138688087, + -0.9914965629577637, + -0.12903451919555664, + -6.616352558135986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2247, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_138468980", + "mask_path": "../../mask/hdr_front_02247.png" + }, + { + "file_path": "../../rgb/hdr_front_02249.png", + "transform_matrix": [ + [ + 0.06618863344192505, + -0.13888809084892273, + 0.9880937337875366, + 50.64318084716797 + ], + [ + -0.9977676272392273, + -0.01802077330648899, + 0.06430362910032272, + 10.225168228149414 + ], + [ + 0.008875204250216484, + -0.9901441931724548, + -0.13977082073688507, + -6.5922532081604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2249, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_338468074", + "mask_path": "../../mask/hdr_front_02249.png" + }, + { + "file_path": "../../rgb/hdr_front_02250.png", + "transform_matrix": [ + [ + 0.0700397789478302, + -0.13893668353557587, + 0.9878214001655579, + 50.584537506103516 + ], + [ + -0.9974380135536194, + -0.02420382760465145, + 0.06731737405061722, + 10.2099609375 + ], + [ + 0.014556203968822956, + -0.9900054335594177, + -0.1402759552001953, + -6.600026607513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2250, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_438468456", + "mask_path": "../../mask/hdr_front_02250.png" + }, + { + "file_path": "../../rgb/hdr_front_02251.png", + "transform_matrix": [ + [ + 0.08776465058326721, + -0.1419471651315689, + 0.9859758615493774, + 50.53533935546875 + ], + [ + -0.9960967302322388, + -0.02186313457787037, + 0.0855179950594902, + 10.189985275268555 + ], + [ + 0.009417487308382988, + -0.9896328449249268, + -0.14331190288066864, + -6.577946662902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2251, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_538469076", + "mask_path": "../../mask/hdr_front_02251.png" + }, + { + "file_path": "../../rgb/hdr_front_02252.png", + "transform_matrix": [ + [ + 0.11135222017765045, + -0.14709578454494476, + 0.98283451795578, + 50.48774719238281 + ], + [ + -0.9937558770179749, + -0.00945206917822361, + 0.11117495596408844, + 10.172703742980957 + ], + [ + -0.007063545286655426, + -0.9890771508216858, + -0.14722979068756104, + -6.553478717803955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2252, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_638469219", + "mask_path": "../../mask/hdr_front_02252.png" + }, + { + "file_path": "../../rgb/hdr_front_02259.png", + "transform_matrix": [ + [ + 0.27107173204421997, + -0.1370479315519333, + 0.9527528882026672, + 50.2039680480957 + ], + [ + -0.9604054093360901, + 0.027669072151184082, + 0.27722907066345215, + 10.131553649902344 + ], + [ + -0.06435545533895493, + -0.9901779890060425, + -0.12412126362323761, + -6.535987854003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2259, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_338469982", + "mask_path": "../../mask/hdr_front_02259.png" + }, + { + "file_path": "../../rgb/hdr_front_02260.png", + "transform_matrix": [ + [ + 0.30347034335136414, + -0.13530468940734863, + 0.9431852698326111, + 50.158050537109375 + ], + [ + -0.9508697390556335, + 0.02063337154686451, + 0.308902770280838, + 10.109949111938477 + ], + [ + -0.06125708296895027, + -0.9905892014503479, + -0.12239552289247513, + -6.521796226501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2260, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_438468694", + "mask_path": "../../mask/hdr_front_02260.png" + }, + { + "file_path": "../../rgb/hdr_front_02262.png", + "transform_matrix": [ + [ + 0.33533975481987, + -0.13608717918395996, + 0.932216465473175, + 50.095218658447266 + ], + [ + -0.9407056570053101, + 0.0053960480727255344, + 0.33918124437332153, + 10.078946113586426 + ], + [ + -0.05118849501013756, + -0.9906821846961975, + -0.12620845437049866, + -6.51091194152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2262, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_638470172", + "mask_path": "../../mask/hdr_front_02262.png" + }, + { + "file_path": "../../rgb/hdr_front_02264.png", + "transform_matrix": [ + [ + 0.3606155812740326, + -0.13315001130104065, + 0.9231616854667664, + 50.01108932495117 + ], + [ + -0.931705892086029, + -0.005407211370766163, + 0.36317333579063416, + 10.020635604858398 + ], + [ + -0.043364811688661575, + -0.991081178188324, + -0.1260065734386444, + -6.4964375495910645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2264, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_838470220", + "mask_path": "../../mask/hdr_front_02264.png" + }, + { + "file_path": "../../rgb/hdr_front_02266.png", + "transform_matrix": [ + [ + 0.3725505769252777, + -0.128313809633255, + 0.9190983176231384, + 49.93860626220703 + ], + [ + -0.9269827008247375, + -0.0048242839984595776, + 0.37507301568984985, + 9.962262153625488 + ], + [ + -0.04369305074214935, + -0.9917218685150146, + -0.12074197828769684, + -6.494687557220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2266, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_38470506", + "mask_path": "../../mask/hdr_front_02266.png" + }, + { + "file_path": "../../rgb/hdr_front_02267.png", + "transform_matrix": [ + [ + 0.37732601165771484, + -0.12739460170269012, + 0.9172762632369995, + 49.890193939208984 + ], + [ + -0.925082266330719, + -0.005873668007552624, + 0.3797212839126587, + 9.921087265014648 + ], + [ + -0.042986657470464706, + -0.991834819316864, + -0.12006676197052002, + -6.484202861785889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2267, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_138469457", + "mask_path": "../../mask/hdr_front_02267.png" + }, + { + "file_path": "../../rgb/hdr_front_02268.png", + "transform_matrix": [ + [ + 0.3713246285915375, + -0.12382674217224121, + 0.9202091693878174, + 49.83710479736328 + ], + [ + -0.9278061985969543, + -0.011092712171375751, + 0.37289753556251526, + 9.898395538330078 + ], + [ + -0.035967063158750534, + -0.9922419190406799, + -0.1190062165260315, + -6.471601486206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2268, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_238470792", + "mask_path": "../../mask/hdr_front_02268.png" + }, + { + "file_path": "../../rgb/hdr_front_02269.png", + "transform_matrix": [ + [ + 0.36584559082984924, + -0.13140514492988586, + 0.9213520884513855, + 49.7663688659668 + ], + [ + -0.9301151633262634, + -0.01727413199841976, + 0.3668615520000458, + 9.86577033996582 + ], + [ + -0.03229193761944771, + -0.9911782741546631, + -0.12854158878326416, + -6.457057952880859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2269, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_338471174", + "mask_path": "../../mask/hdr_front_02269.png" + }, + { + "file_path": "../../rgb/hdr_front_02270.png", + "transform_matrix": [ + [ + 0.3695460557937622, + -0.13784702122211456, + 0.9189308285713196, + 49.69374084472656 + ], + [ + -0.9287208318710327, + -0.022627726197242737, + 0.37008875608444214, + 9.82918930053711 + ], + [ + -0.030222320929169655, + -0.9901950359344482, + -0.13638339936733246, + -6.450222015380859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2270, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_438469409", + "mask_path": "../../mask/hdr_front_02270.png" + }, + { + "file_path": "../../rgb/hdr_front_02271.png", + "transform_matrix": [ + [ + 0.37297090888023376, + -0.1356360763311386, + 0.9178754687309265, + 49.639442443847656 + ], + [ + -0.9274096488952637, + -0.024264277890324593, + 0.37325942516326904, + 9.805011749267578 + ], + [ + -0.028355859220027924, + -0.9904615879058838, + -0.13484008610248566, + -6.448150157928467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2271, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_538470029", + "mask_path": "../../mask/hdr_front_02271.png" + }, + { + "file_path": "../../rgb/hdr_front_02272.png", + "transform_matrix": [ + [ + 0.3715348243713379, + -0.13045063614845276, + 0.9192087054252625, + 49.57878875732422 + ], + [ + -0.928157389163971, + -0.028684664517641068, + 0.37108102440834045, + 9.776469230651855 + ], + [ + -0.02204057015478611, + -0.9910397529602051, + -0.13173608481884003, + -6.438545227050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2272, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_638468503", + "mask_path": "../../mask/hdr_front_02272.png" + }, + { + "file_path": "../../rgb/hdr_front_02273.png", + "transform_matrix": [ + [ + 0.36165884137153625, + -0.12060721218585968, + 0.9244764447212219, + 49.521934509277344 + ], + [ + -0.9321948289871216, + -0.03115917555987835, + 0.36061331629753113, + 9.750284194946289 + ], + [ + -0.014686637558043003, + -0.9922112226486206, + -0.12369842082262039, + -6.426663398742676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2273, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_738468170", + "mask_path": "../../mask/hdr_front_02273.png" + }, + { + "file_path": "../../rgb/hdr_front_02274.png", + "transform_matrix": [ + [ + 0.3497002124786377, + -0.12177624553442001, + 0.9289135336875916, + 49.462886810302734 + ], + [ + -0.936796247959137, + -0.03373514488339424, + 0.34824520349502563, + 9.727300643920898 + ], + [ + -0.011070961132645607, + -0.9919841289520264, + -0.12587672472000122, + -6.415213108062744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2274, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_838469743", + "mask_path": "../../mask/hdr_front_02274.png" + }, + { + "file_path": "../../rgb/hdr_front_02275.png", + "transform_matrix": [ + [ + 0.34337538480758667, + -0.121178537607193, + 0.9313479661941528, + 49.38221740722656 + ], + [ + -0.9390915036201477, + -0.02935248240828514, + 0.3424113094806671, + 9.69229507446289 + ], + [ + -0.014155521057546139, + -0.9921966791152954, + -0.1238766610622406, + -6.4105706214904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2275, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_938468217", + "mask_path": "../../mask/hdr_front_02275.png" + }, + { + "file_path": "../../rgb/hdr_front_02276.png", + "transform_matrix": [ + [ + 0.34852859377861023, + -0.11576545983552933, + 0.930121660232544, + 49.29890441894531 + ], + [ + -0.9369392991065979, + -0.015570747666060925, + 0.3491453230381012, + 9.65467643737793 + ], + [ + -0.025936275720596313, + -0.9931545257568359, + -0.11389205604791641, + -6.411495208740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2276, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_38469552", + "mask_path": "../../mask/hdr_front_02276.png" + }, + { + "file_path": "../../rgb/hdr_front_02277.png", + "transform_matrix": [ + [ + 0.3512340784072876, + -0.11601890623569489, + 0.9290716648101807, + 49.23594665527344 + ], + [ + -0.9355708360671997, + -0.004667540546506643, + 0.3531081974506378, + 9.630616188049316 + ], + [ + -0.036630745977163315, + -0.9932361841201782, + -0.11018331348896027, + -6.4091644287109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2277, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_138468265", + "mask_path": "../../mask/hdr_front_02277.png" + }, + { + "file_path": "../../rgb/hdr_front_02278.png", + "transform_matrix": [ + [ + 0.3480834364891052, + -0.12314866483211517, + 0.9293397665023804, + 49.153038024902344 + ], + [ + -0.9365405440330505, + -0.0017002440290525556, + 0.3505551815032959, + 9.611845970153809 + ], + [ + -0.04159029573202133, + -0.9923868179321289, + -0.11592554301023483, + -6.384344577789307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2278, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_238469600", + "mask_path": "../../mask/hdr_front_02278.png" + }, + { + "file_path": "../../rgb/hdr_front_02279.png", + "transform_matrix": [ + [ + 0.3382992744445801, + -0.12999743223190308, + 0.9320162534713745, + 49.078495025634766 + ], + [ + -0.9403846263885498, + -0.009784420020878315, + 0.33997204899787903, + 9.60161018371582 + ], + [ + -0.03507625684142113, + -0.9914660453796387, + -0.12555763125419617, + -6.358094692230225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2279, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_338469505", + "mask_path": "../../mask/hdr_front_02279.png" + }, + { + "file_path": "../../rgb/hdr_front_02280.png", + "transform_matrix": [ + [ + 0.32858195900917053, + -0.13449136912822723, + 0.9348507523536682, + 49.025306701660156 + ], + [ + -0.9440460205078125, + -0.016921838745474815, + 0.32937949895858765, + 9.586668968200684 + ], + [ + -0.028479307889938354, + -0.9907702803611755, + -0.1325262486934662, + -6.351719379425049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2280, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_438469648", + "mask_path": "../../mask/hdr_front_02280.png" + }, + { + "file_path": "../../rgb/hdr_front_02281.png", + "transform_matrix": [ + [ + 0.3249800205230713, + -0.1360969990491867, + 0.9358769059181213, + 48.95913314819336 + ], + [ + -0.9453924894332886, + -0.02067568153142929, + 0.3252776265144348, + 9.559136390686035 + ], + [ + -0.024919413030147552, + -0.9904798269271851, + -0.13538426160812378, + -6.346115589141846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2281, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_538469076", + "mask_path": "../../mask/hdr_front_02281.png" + }, + { + "file_path": "../../rgb/hdr_front_02282.png", + "transform_matrix": [ + [ + 0.3313272297382355, + -0.13426563143730164, + 0.9339137673377991, + 48.888492584228516 + ], + [ + -0.9431519508361816, + -0.019642643630504608, + 0.3317807614803314, + 9.527639389038086 + ], + [ + -0.026202216744422913, + -0.9907507300376892, + -0.13314105570316315, + -6.331005573272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2282, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_638469696", + "mask_path": "../../mask/hdr_front_02282.png" + }, + { + "file_path": "../../rgb/hdr_front_02283.png", + "transform_matrix": [ + [ + 0.3381350636482239, + -0.13272804021835327, + 0.9316909313201904, + 48.83003234863281 + ], + [ + -0.9405838251113892, + -0.01495800819247961, + 0.3392316997051239, + 9.50241470336914 + ], + [ + -0.031089307740330696, + -0.9910396337509155, + -0.12989968061447144, + -6.326981067657471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2283, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_738469362", + "mask_path": "../../mask/hdr_front_02283.png" + }, + { + "file_path": "../../rgb/hdr_front_02284.png", + "transform_matrix": [ + [ + 0.34240177273750305, + -0.12872083485126495, + 0.9306943416595459, + 48.766971588134766 + ], + [ + -0.9390454292297363, + -0.014309799298644066, + 0.34349504113197327, + 9.478402137756348 + ], + [ + -0.030896911397576332, + -0.9915776252746582, + -0.12577441334724426, + -6.3173627853393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2284, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_838470220", + "mask_path": "../../mask/hdr_front_02284.png" + }, + { + "file_path": "../../rgb/hdr_front_02285.png", + "transform_matrix": [ + [ + 0.340088814496994, + -0.11988438665866852, + 0.932720422744751, + 48.70933151245117 + ], + [ + -0.940033495426178, + -0.015905819833278656, + 0.34071096777915955, + 9.457291603088379 + ], + [ + -0.026010237634181976, + -0.9926604628562927, + -0.1181047335267067, + -6.306519985198975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2285, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_938469648", + "mask_path": "../../mask/hdr_front_02285.png" + }, + { + "file_path": "../../rgb/hdr_front_02286.png", + "transform_matrix": [ + [ + 0.3364636301994324, + -0.11696000397205353, + 0.9344049692153931, + 48.655914306640625 + ], + [ + -0.9414185881614685, + -0.01767376996576786, + 0.33677688241004944, + 9.43004035949707 + ], + [ + -0.022874966263771057, + -0.9929794073104858, + -0.11605490744113922, + -6.301019191741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2286, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_38469314", + "mask_path": "../../mask/hdr_front_02286.png" + }, + { + "file_path": "../../rgb/hdr_front_02287.png", + "transform_matrix": [ + [ + 0.34104734659194946, + -0.11614575237035751, + 0.9328435063362122, + 48.59605026245117 + ], + [ + -0.9398043155670166, + -0.019617760553956032, + 0.3411497175693512, + 9.386311531066895 + ], + [ + -0.021322784945368767, + -0.9930384755134583, + -0.11584484577178955, + -6.299720287322998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2287, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_138470649", + "mask_path": "../../mask/hdr_front_02287.png" + }, + { + "file_path": "../../rgb/hdr_front_02288.png", + "transform_matrix": [ + [ + 0.34875860810279846, + -0.11713583022356033, + 0.9298637509346008, + 48.53752899169922 + ], + [ + -0.9369407892227173, + -0.019680075347423553, + 0.3489338755607605, + 9.344036102294922 + ], + [ + -0.02257285825908184, + -0.992920994758606, + -0.11661291867494583, + -6.297341346740723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2288, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_238470315", + "mask_path": "../../mask/hdr_front_02288.png" + }, + { + "file_path": "../../rgb/hdr_front_02290.png", + "transform_matrix": [ + [ + 0.34124860167503357, + -0.10533127188682556, + 0.9340528249740601, + 48.44724655151367 + ], + [ + -0.9397832155227661, + -0.018257567659020424, + 0.34128323197364807, + 9.30800724029541 + ], + [ + -0.018894264474511147, + -0.9942695498466492, + -0.10521893203258514, + -6.288602352142334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2290, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_438469648", + "mask_path": "../../mask/hdr_front_02290.png" + }, + { + "file_path": "../../rgb/hdr_front_02292.png", + "transform_matrix": [ + [ + 0.3206595778465271, + -0.09744266420602798, + 0.9421690702438354, + 48.363861083984375 + ], + [ + -0.9470034241676331, + -0.01300505455583334, + 0.3209599554538727, + 9.282496452331543 + ], + [ + -0.019022231921553612, + -0.9951561689376831, + -0.09644873440265656, + -6.267199516296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2292, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_638470411", + "mask_path": "../../mask/hdr_front_02292.png" + }, + { + "file_path": "../../rgb/hdr_front_02293.png", + "transform_matrix": [ + [ + 0.3227141201496124, + -0.09311654418706894, + 0.9419050216674805, + 48.31614685058594 + ], + [ + -0.9463101029396057, + -0.011995231732726097, + 0.32303759455680847, + 9.25103759765625 + ], + [ + -0.018781768158078194, + -0.9955829977989197, + -0.09198816120624542, + -6.263859272003174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2293, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_738469600", + "mask_path": "../../mask/hdr_front_02293.png" + }, + { + "file_path": "../../rgb/hdr_front_02294.png", + "transform_matrix": [ + [ + 0.3316420614719391, + -0.09347298741340637, + 0.9387632012367249, + 48.27431106567383 + ], + [ + -0.9431560039520264, + -0.009977455250918865, + 0.3322004973888397, + 9.218621253967285 + ], + [ + -0.021685298532247543, + -0.9955718517303467, + -0.09146855026483536, + -6.2667694091796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2294, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_838470220", + "mask_path": "../../mask/hdr_front_02294.png" + }, + { + "file_path": "../../rgb/hdr_front_02296.png", + "transform_matrix": [ + [ + 0.3245045244693756, + -0.10343119502067566, + 0.940212070941925, + 48.19953536987305 + ], + [ + -0.9452691078186035, + 0.00037755517405457795, + 0.32629144191741943, + 9.183404922485352 + ], + [ + -0.03410368785262108, + -0.9946365356445312, + -0.09764779359102249, + -6.25054931640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2296, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_38469314", + "mask_path": "../../mask/hdr_front_02296.png" + }, + { + "file_path": "../../rgb/hdr_front_02298.png", + "transform_matrix": [ + [ + 0.2988220751285553, + -0.09924960881471634, + 0.9491337537765503, + 48.11752700805664 + ], + [ + -0.9540387988090515, + -0.007409278769046068, + 0.299591600894928, + 9.151128768920898 + ], + [ + -0.02270195260643959, + -0.9950349926948547, + -0.0969020426273346, + -6.227281093597412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2298, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_238468647", + "mask_path": "../../mask/hdr_front_02298.png" + }, + { + "file_path": "../../rgb/hdr_front_02300.png", + "transform_matrix": [ + [ + 0.30034273862838745, + -0.10052625089883804, + 0.9485192894935608, + 48.01756286621094 + ], + [ + -0.9536723494529724, + -0.013491823337972164, + 0.3005445599555969, + 9.101454734802246 + ], + [ + -0.01741536147892475, + -0.9948429465293884, + -0.09992127120494843, + -6.211879730224609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2300, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_438470602", + "mask_path": "../../mask/hdr_front_02300.png" + }, + { + "file_path": "../../rgb/hdr_front_02302.png", + "transform_matrix": [ + [ + 0.29869353771209717, + -0.11764337122440338, + 0.947070300579071, + 47.96527862548828 + ], + [ + -0.9537554383277893, + -0.0018000648124143481, + 0.3005783259868622, + 9.056331634521484 + ], + [ + -0.03365625813603401, + -0.9930542707443237, + -0.11274068057537079, + -6.202066898345947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2302, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_638468980", + "mask_path": "../../mask/hdr_front_02302.png" + }, + { + "file_path": "../../rgb/hdr_front_02304.png", + "transform_matrix": [ + [ + 0.27508530020713806, + -0.09904757887125015, + 0.956304132938385, + 47.92975997924805 + ], + [ + -0.9613155722618103, + -0.01369153056293726, + 0.27510878443717957, + 9.017651557922363 + ], + [ + -0.014155592769384384, + -0.9949885010719299, + -0.09898233413696289, + -6.198246002197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2304, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_838468551", + "mask_path": "../../mask/hdr_front_02304.png" + }, + { + "file_path": "../../rgb/hdr_front_02306.png", + "transform_matrix": [ + [ + 0.2532483637332916, + -0.09004972130060196, + 0.9632010459899902, + 47.83243942260742 + ], + [ + -0.9673563241958618, + -0.033175960183143616, + 0.25123926997184753, + 8.98464584350586 + ], + [ + 0.009331093169748783, + -0.9953845739364624, + -0.09551192820072174, + -6.197192668914795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2306, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594399_38469552", + "mask_path": "../../mask/hdr_front_02306.png" + }, + { + "file_path": "../../rgb/hdr_front_02307.png", + "transform_matrix": [ + [ + 0.26090723276138306, + -0.09310780465602875, + 0.9608633518218994, + 47.777809143066406 + ], + [ + -0.9653477072715759, + -0.030919089913368225, + 0.2591288685798645, + 8.950887680053711 + ], + [ + 0.005582101177424192, + -0.9951758980751038, + -0.09794842451810837, + -6.186808109283447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2307, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594399_138469219", + "mask_path": "../../mask/hdr_front_02307.png" + }, + { + "file_path": "../../rgb/hdr_front_02319.png", + "transform_matrix": [ + [ + 0.4408884048461914, + -0.08250056207180023, + 0.8937622904777527, + 47.62663650512695 + ], + [ + -0.8975473642349243, + -0.03484617546200752, + 0.43953898549079895, + 8.654499053955078 + ], + [ + -0.005118013359606266, + -0.9959816336631775, + -0.0894114300608635, + -6.154766082763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2319, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_338469505", + "mask_path": "../../mask/hdr_front_02319.png" + }, + { + "file_path": "../../rgb/hdr_front_02321.png", + "transform_matrix": [ + [ + 0.4485250413417816, + -0.08977075666189194, + 0.8892505764961243, + 47.572086334228516 + ], + [ + -0.8937360644340515, + -0.03634599968791008, + 0.44711834192276, + 8.612306594848633 + ], + [ + -0.007817450910806656, + -0.9952991008758545, + -0.09653345495462418, + -6.145012378692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2321, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_538469314", + "mask_path": "../../mask/hdr_front_02321.png" + }, + { + "file_path": "../../rgb/hdr_front_02323.png", + "transform_matrix": [ + [ + 0.44581344723701477, + -0.07828465849161148, + 0.8916960954666138, + 47.50343704223633 + ], + [ + -0.8950933218002319, + -0.03049061819911003, + 0.4448351562023163, + 8.571211814880371 + ], + [ + -0.007635406218469143, + -0.996464729309082, + -0.08366521447896957, + -6.141361713409424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2323, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_738468170", + "mask_path": "../../mask/hdr_front_02323.png" + }, + { + "file_path": "../../rgb/hdr_front_02325.png", + "transform_matrix": [ + [ + 0.4280073344707489, + -0.08735349029302597, + 0.899543821811676, + 47.414485931396484 + ], + [ + -0.9037575125694275, + -0.03513635694980621, + 0.42660024762153625, + 8.549988746643066 + ], + [ + -0.005658325273543596, + -0.9955576062202454, + -0.09398499876260757, + -6.12981653213501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2325, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_938468694", + "mask_path": "../../mask/hdr_front_02325.png" + }, + { + "file_path": "../../rgb/hdr_front_02326.png", + "transform_matrix": [ + [ + 0.4262206554412842, + -0.08688764274120331, + 0.9004369378089905, + 47.36403274536133 + ], + [ + -0.9045972228050232, + -0.033992599695920944, + 0.4249098598957062, + 8.533390998840332 + ], + [ + -0.006311220116913319, + -0.9956380128860474, + -0.09308665990829468, + -6.126620769500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2326, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_38469552", + "mask_path": "../../mask/hdr_front_02326.png" + }, + { + "file_path": "../../rgb/hdr_front_02327.png", + "transform_matrix": [ + [ + 0.43217459321022034, + -0.09224973618984222, + 0.8970592021942139, + 47.31370162963867 + ], + [ + -0.901634931564331, + -0.025757858529686928, + 0.4317302107810974, + 8.516281127929688 + ], + [ + -0.016720667481422424, + -0.9954027533531189, + -0.09430747479200363, + -6.1268486976623535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2327, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_138469457", + "mask_path": "../../mask/hdr_front_02327.png" + }, + { + "file_path": "../../rgb/hdr_front_02329.png", + "transform_matrix": [ + [ + 0.43328237533569336, + -0.09194124490022659, + 0.8965562582015991, + 47.210567474365234 + ], + [ + -0.900931715965271, + -0.01740928366780281, + 0.4336116313934326, + 8.4849214553833 + ], + [ + -0.024258393794298172, + -0.9956122636795044, + -0.09037593007087708, + -6.118150234222412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2329, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_338469266", + "mask_path": "../../mask/hdr_front_02329.png" + }, + { + "file_path": "../../rgb/hdr_front_02332.png", + "transform_matrix": [ + [ + 0.4075203537940979, + -0.09774389117956161, + 0.9079500436782837, + 47.068241119384766 + ], + [ + -0.9130309820175171, + -0.024704018607735634, + 0.40714141726493835, + 8.45169734954834 + ], + [ + -0.01736557111144066, + -0.9949049353599548, + -0.09931058436632156, + -6.094148635864258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2332, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_638468503", + "mask_path": "../../mask/hdr_front_02332.png" + }, + { + "file_path": "../../rgb/hdr_front_02333.png", + "transform_matrix": [ + [ + 0.40707114338874817, + -0.0938948467373848, + 0.9085575938224792, + 47.014041900634766 + ], + [ + -0.9132195711135864, + -0.02226189151406288, + 0.40685921907424927, + 8.426887512207031 + ], + [ + -0.01797577179968357, + -0.995333194732666, + -0.09480877965688705, + -6.088233470916748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2333, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_738470315", + "mask_path": "../../mask/hdr_front_02333.png" + }, + { + "file_path": "../../rgb/hdr_front_02335.png", + "transform_matrix": [ + [ + 0.4158156216144562, + -0.09192386269569397, + 0.9047913551330566, + 46.9322395324707 + ], + [ + -0.9091682434082031, + -0.01730201207101345, + 0.41606926918029785, + 8.381211280822754 + ], + [ + -0.022591978311538696, + -0.9956156611442566, + -0.0907687097787857, + -6.0916242599487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2335, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_938469886", + "mask_path": "../../mask/hdr_front_02335.png" + }, + { + "file_path": "../../rgb/hdr_front_02336.png", + "transform_matrix": [ + [ + 0.41478389501571655, + -0.08687687665224075, + 0.9057630896568298, + 46.88287353515625 + ], + [ + -0.909678041934967, + -0.016642138361930847, + 0.4149805009365082, + 8.361238479614258 + ], + [ + -0.020978374406695366, + -0.9960801005363464, + -0.08593288064002991, + -6.086280822753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2336, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_38470268", + "mask_path": "../../mask/hdr_front_02336.png" + }, + { + "file_path": "../../rgb/hdr_front_02338.png", + "transform_matrix": [ + [ + 0.39552080631256104, + -0.08831228315830231, + 0.9142014384269714, + 46.79164123535156 + ], + [ + -0.9184148907661438, + -0.02850688435137272, + 0.39458999037742615, + 8.324361801147461 + ], + [ + -0.00878610834479332, + -0.9956848621368408, + -0.09238237887620926, + -6.064967632293701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2338, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_238471269", + "mask_path": "../../mask/hdr_front_02338.png" + }, + { + "file_path": "../../rgb/hdr_front_02339.png", + "transform_matrix": [ + [ + 0.38980036973953247, + -0.09186165034770966, + 0.9163062572479248, + 46.732521057128906 + ], + [ + -0.9208774566650391, + -0.03201362118124962, + 0.38853558897972107, + 8.293781280517578 + ], + [ + -0.006357237230986357, + -0.9952570796012878, + -0.09707223623991013, + -6.052825927734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2339, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_338469982", + "mask_path": "../../mask/hdr_front_02339.png" + }, + { + "file_path": "../../rgb/hdr_front_02340.png", + "transform_matrix": [ + [ + 0.39309757947921753, + -0.09128421545028687, + 0.9149543642997742, + 46.67510223388672 + ], + [ + -0.9194338321685791, + -0.027381135150790215, + 0.392290323972702, + 8.25993537902832 + ], + [ + -0.010757428593933582, + -0.9954484701156616, + -0.09469325840473175, + -6.042705535888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2340, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_438471317", + "mask_path": "../../mask/hdr_front_02340.png" + }, + { + "file_path": "../../rgb/hdr_front_02342.png", + "transform_matrix": [ + [ + 0.3940812647342682, + -0.08990306407213211, + 0.9146679639816284, + 46.58936309814453 + ], + [ + -0.9189577698707581, + -0.022608619183301926, + 0.3937073349952698, + 8.223626136779785 + ], + [ + -0.01471611950546503, + -0.9956939220428467, + -0.09152675420045853, + -6.042731285095215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2342, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_638471841", + "mask_path": "../../mask/hdr_front_02342.png" + }, + { + "file_path": "../../rgb/hdr_front_02343.png", + "transform_matrix": [ + [ + 0.3838152289390564, + -0.088050976395607, + 0.9192023277282715, + 46.5383415222168 + ], + [ + -0.9232637286186218, + -0.018879543989896774, + 0.3837026059627533, + 8.212458610534668 + ], + [ + -0.01643126830458641, + -0.9959370493888855, + -0.08854051679372787, + -6.025545597076416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2343, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_738470792", + "mask_path": "../../mask/hdr_front_02343.png" + }, + { + "file_path": "../../rgb/hdr_front_02345.png", + "transform_matrix": [ + [ + 0.3570435345172882, + -0.09761785715818405, + 0.9289728999137878, + 46.43920135498047 + ], + [ + -0.9340620636940002, + -0.0299389585852623, + 0.35585346817970276, + 8.189922332763672 + ], + [ + -0.006925170309841633, + -0.9947735667228699, + -0.10187064856290817, + -6.008330821990967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2345, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_938470125", + "mask_path": "../../mask/hdr_front_02345.png" + }, + { + "file_path": "../../rgb/hdr_front_02346.png", + "transform_matrix": [ + [ + 0.35193362832069397, + -0.09869080036878586, + 0.9308076500892639, + 46.38187789916992 + ], + [ + -0.9360203742980957, + -0.0339997299015522, + 0.3502996861934662, + 8.166738510131836 + ], + [ + -0.0029241398442536592, + -0.9945371747016907, + -0.10434224456548691, + -5.9969329833984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2346, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_38470029", + "mask_path": "../../mask/hdr_front_02346.png" + }, + { + "file_path": "../../rgb/hdr_front_02347.png", + "transform_matrix": [ + [ + 0.3534843325614929, + -0.10185974091291428, + 0.9298781752586365, + 46.33500671386719 + ], + [ + -0.9353863596916199, + -0.0278061181306839, + 0.35253235697746277, + 8.147235870361328 + ], + [ + -0.01005255151540041, + -0.9944101572036743, + -0.10510723292827606, + -5.992151260375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2347, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_138470172", + "mask_path": "../../mask/hdr_front_02347.png" + }, + { + "file_path": "../../rgb/hdr_front_02349.png", + "transform_matrix": [ + [ + 0.3474200367927551, + -0.103284552693367, + 0.9320041537284851, + 46.23615264892578 + ], + [ + -0.9375643134117126, + -0.020766984671354294, + 0.34719133377075195, + 8.125954627990723 + ], + [ + -0.01650458760559559, + -0.9944351315498352, + -0.10405077785253525, + -5.978107452392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2349, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_338469982", + "mask_path": "../../mask/hdr_front_02349.png" + }, + { + "file_path": "../../rgb/hdr_front_02357.png", + "transform_matrix": [ + [ + 0.3269185721874237, + -0.11418264359235764, + 0.9381294250488281, + 45.91661071777344 + ], + [ + -0.9450520277023315, + -0.038438331335783005, + 0.3246525228023529, + 8.012784957885742 + ], + [ + -0.001009556115604937, + -0.9927160143852234, + -0.12047474086284637, + -5.908661842346191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2357, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_138469696", + "mask_path": "../../mask/hdr_front_02357.png" + }, + { + "file_path": "../../rgb/hdr_front_02359.png", + "transform_matrix": [ + [ + 0.32680442929267883, + -0.1176212951540947, + 0.9377442002296448, + 45.84558868408203 + ], + [ + -0.9450526833534241, + -0.03161932900547981, + 0.3253854811191559, + 7.991200923919678 + ], + [ + -0.008621420711278915, + -0.9925550222396851, + -0.12149166315793991, + -5.903961181640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2359, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_338469266", + "mask_path": "../../mask/hdr_front_02359.png" + }, + { + "file_path": "../../rgb/hdr_front_02361.png", + "transform_matrix": [ + [ + 0.31416186690330505, + -0.11036758124828339, + 0.9429322481155396, + 45.77938461303711 + ], + [ + -0.949368953704834, + -0.03553829714655876, + 0.31214675307273865, + 7.978486061096191 + ], + [ + -0.0009406722383573651, + -0.9932553768157959, + -0.11594433337450027, + -5.890935897827148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2361, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_538470506", + "mask_path": "../../mask/hdr_front_02361.png" + }, + { + "file_path": "../../rgb/hdr_front_02363.png", + "transform_matrix": [ + [ + 0.31881624460220337, + -0.11467687040567398, + 0.9408535361289978, + 45.70166015625 + ], + [ + -0.9478095173835754, + -0.0347299687564373, + 0.31694018840789795, + 7.946842193603516 + ], + [ + -0.0036698938347399235, + -0.9927955865859985, + -0.1197642982006073, + -5.879520893096924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2363, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_738470315", + "mask_path": "../../mask/hdr_front_02363.png" + }, + { + "file_path": "../../rgb/hdr_front_02365.png", + "transform_matrix": [ + [ + 0.3192330300807953, + -0.10917463898658752, + 0.9413666129112244, + 45.63821792602539 + ], + [ + -0.9476419687271118, + -0.028332727029919624, + 0.3180752396583557, + 7.931314468383789 + ], + [ + -0.00805426575243473, + -0.9936187863349915, + -0.11250321567058563, + -5.8751420974731445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2365, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_938469409", + "mask_path": "../../mask/hdr_front_02365.png" + }, + { + "file_path": "../../rgb/hdr_front_02367.png", + "transform_matrix": [ + [ + 0.30534031987190247, + -0.11085699498653412, + 0.945768415927887, + 45.567718505859375 + ], + [ + -0.9522421956062317, + -0.03405732288956642, + 0.3034384250640869, + 7.913516998291016 + ], + [ + -0.0014279242604970932, + -0.9932526350021362, + -0.11596179008483887, + -5.858597278594971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2367, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_138469934", + "mask_path": "../../mask/hdr_front_02367.png" + }, + { + "file_path": "../../rgb/hdr_front_02369.png", + "transform_matrix": [ + [ + 0.30091026425361633, + -0.114683136343956, + 0.9467316269874573, + 45.49686813354492 + ], + [ + -0.9536402821540833, + -0.0311744324862957, + 0.2993297874927521, + 7.901216506958008 + ], + [ + -0.004814255982637405, + -0.9929128885269165, + -0.11874718219041824, + -5.8512091636657715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2369, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_338469505", + "mask_path": "../../mask/hdr_front_02369.png" + }, + { + "file_path": "../../rgb/hdr_front_02371.png", + "transform_matrix": [ + [ + 0.29201385378837585, + -0.1066940650343895, + 0.9504442811012268, + 45.43258285522461 + ], + [ + -0.9563960433006287, + -0.03867697715759277, + 0.28950077295303345, + 7.8927693367004395 + ], + [ + 0.0058723073452711105, + -0.9935393929481506, + -0.1133359968662262, + -5.84174919128418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2371, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_538469076", + "mask_path": "../../mask/hdr_front_02371.png" + }, + { + "file_path": "../../rgb/hdr_front_02373.png", + "transform_matrix": [ + [ + 0.29524102807044983, + -0.11642303317785263, + 0.9483029246330261, + 45.34719467163086 + ], + [ + -0.9553282260894775, + -0.04994120076298714, + 0.29129695892333984, + 7.8478007316589355 + ], + [ + 0.013445712625980377, + -0.991943359375, + -0.12596692144870758, + -5.830358505249023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2373, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_738470554", + "mask_path": "../../mask/hdr_front_02373.png" + }, + { + "file_path": "../../rgb/hdr_front_02375.png", + "transform_matrix": [ + [ + 0.29099756479263306, + -0.11197339743375778, + 0.9501485824584961, + 45.278602600097656 + ], + [ + -0.9565927386283875, + -0.05049075558781624, + 0.2870209217071533, + 7.833793640136719 + ], + [ + 0.01583501510322094, + -0.9924276471138, + -0.12180562317371368, + -5.8270440101623535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2375, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_938469886", + "mask_path": "../../mask/hdr_front_02375.png" + }, + { + "file_path": "../../rgb/hdr_front_02377.png", + "transform_matrix": [ + [ + 0.28574928641319275, + -0.10897831618785858, + 0.9520877599716187, + 45.19001770019531 + ], + [ + -0.9579193592071533, + -0.060645896941423416, + 0.2805578410625458, + 7.804538726806641 + ], + [ + 0.027165496721863747, + -0.9921924471855164, + -0.12172195315361023, + -5.80595588684082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2377, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_138470649", + "mask_path": "../../mask/hdr_front_02377.png" + }, + { + "file_path": "../../rgb/hdr_front_02378.png", + "transform_matrix": [ + [ + 0.29121360182762146, + -0.10874432325363159, + 0.9504574537277222, + 45.13462448120117 + ], + [ + -0.9563043117523193, + -0.060108643025159836, + 0.28612789511680603, + 7.7786784172058105 + ], + [ + 0.02601592428982258, + -0.9922508597373962, + -0.12149711698293686, + -5.798662185668945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2378, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_238470315", + "mask_path": "../../mask/hdr_front_02378.png" + }, + { + "file_path": "../../rgb/hdr_front_02379.png", + "transform_matrix": [ + [ + 0.2979268729686737, + -0.10870696604251862, + 0.9483788013458252, + 45.0869026184082 + ], + [ + -0.9541751146316528, + -0.0631536915898323, + 0.2925087809562683, + 7.756386756896973 + ], + [ + 0.028095873072743416, + -0.9920657277107239, + -0.1225406676530838, + -5.796107292175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2379, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_338470458", + "mask_path": "../../mask/hdr_front_02379.png" + }, + { + "file_path": "../../rgb/hdr_front_02381.png", + "transform_matrix": [ + [ + 0.2919546663761139, + -0.09714356064796448, + 0.9514860510826111, + 45.00528335571289 + ], + [ + -0.9556687474250793, + -0.06936987489461899, + 0.28615573048591614, + 7.720508575439453 + ], + [ + 0.038206275552511215, + -0.9928500056266785, + -0.11308992654085159, + -5.782370090484619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2381, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_538470506", + "mask_path": "../../mask/hdr_front_02381.png" + }, + { + "file_path": "../../rgb/hdr_front_02383.png", + "transform_matrix": [ + [ + 0.28447818756103516, + -0.09715445339679718, + 0.9537469148635864, + 44.90597915649414 + ], + [ + -0.9582012295722961, + -0.06033243611454964, + 0.27966099977493286, + 7.685330390930176 + ], + [ + 0.030371559783816338, + -0.9934390783309937, + -0.11025678366422653, + -5.768102169036865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2383, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_738470554", + "mask_path": "../../mask/hdr_front_02383.png" + }, + { + "file_path": "../../rgb/hdr_front_02384.png", + "transform_matrix": [ + [ + 0.28996384143829346, + -0.09913171827793121, + 0.9518896341323853, + 44.85781478881836 + ], + [ + -0.9566463232040405, + -0.058460380882024765, + 0.28532469272613525, + 7.6670613288879395 + ], + [ + 0.02736310474574566, + -0.9933556318283081, + -0.111785389482975, + -5.767434120178223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2384, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_838470458", + "mask_path": "../../mask/hdr_front_02384.png" + }, + { + "file_path": "../../rgb/hdr_front_02386.png", + "transform_matrix": [ + [ + 0.2822376787662506, + -0.09418140351772308, + 0.9547103047370911, + 44.76443862915039 + ], + [ + -0.9590873122215271, + -0.050742007791996, + 0.2785259783267975, + 7.651933193206787 + ], + [ + 0.022211942821741104, + -0.9942612051963806, + -0.10464949905872345, + -5.75449275970459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2386, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_38470506", + "mask_path": "../../mask/hdr_front_02386.png" + }, + { + "file_path": "../../rgb/hdr_front_02388.png", + "transform_matrix": [ + [ + 0.26721426844596863, + -0.09892760217189789, + 0.9585457444190979, + 44.66864013671875 + ], + [ + -0.9632654190063477, + -0.05504707619547844, + 0.262848824262619, + 7.632711887359619 + ], + [ + 0.026762131601572037, + -0.993570864200592, + -0.11000290513038635, + -5.734724044799805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2388, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_238470554", + "mask_path": "../../mask/hdr_front_02388.png" + }, + { + "file_path": "../../rgb/hdr_front_02389.png", + "transform_matrix": [ + [ + 0.2717042565345764, + -0.09795191138982773, + 0.9573829770088196, + 44.61143493652344 + ], + [ + -0.9621871709823608, + -0.0476059690117836, + 0.26819702982902527, + 7.611815929412842 + ], + [ + 0.019306736066937447, + -0.9940519332885742, + -0.10718280076980591, + -5.732563018798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2389, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_338469982", + "mask_path": "../../mask/hdr_front_02389.png" + }, + { + "file_path": "../../rgb/hdr_front_02391.png", + "transform_matrix": [ + [ + 0.2769199013710022, + -0.09598484635353088, + 0.956087052822113, + 44.52418518066406 + ], + [ + -0.9608371257781982, + -0.038391225039958954, + 0.27444151043891907, + 7.591182708740234 + ], + [ + 0.010363126173615456, + -0.9946421980857849, + -0.1028570830821991, + -5.729377269744873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2391, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_538470029", + "mask_path": "../../mask/hdr_front_02391.png" + }, + { + "file_path": "../../rgb/hdr_front_02393.png", + "transform_matrix": [ + [ + 0.2581563889980316, + -0.09425637871026993, + 0.9614940881729126, + 44.434234619140625 + ], + [ + -0.9660236239433289, + -0.03794988989830017, + 0.2556522786617279, + 7.581203937530518 + ], + [ + 0.01239173673093319, + -0.9948244094848633, + -0.1008508950471878, + -5.716405391693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2393, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_738470077", + "mask_path": "../../mask/hdr_front_02393.png" + }, + { + "file_path": "../../rgb/hdr_front_02394.png", + "transform_matrix": [ + [ + 0.25535547733306885, + -0.09672915935516357, + 0.9619963765144348, + 44.37643051147461 + ], + [ + -0.9666547775268555, + -0.04539218544960022, + 0.25202780961990356, + 7.566459655761719 + ], + [ + 0.0192886833101511, + -0.9942751526832581, + -0.10509483516216278, + -5.7017998695373535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2394, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_838470220", + "mask_path": "../../mask/hdr_front_02394.png" + }, + { + "file_path": "../../rgb/hdr_front_02395.png", + "transform_matrix": [ + [ + 0.26227375864982605, + -0.10049495846033096, + 0.9597464799880981, + 44.3165397644043 + ], + [ + -0.9647659063339233, + -0.04890540614724159, + 0.2585245668888092, + 7.542677879333496 + ], + [ + 0.02095637284219265, + -0.9937349557876587, + -0.10978071391582489, + -5.679699420928955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2395, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_938469886", + "mask_path": "../../mask/hdr_front_02395.png" + }, + { + "file_path": "../../rgb/hdr_front_02397.png", + "transform_matrix": [ + [ + 0.2707255780696869, + -0.0854768380522728, + 0.9588542580604553, + 44.22333908081055 + ], + [ + -0.9623651504516602, + -0.048534393310546875, + 0.26739028096199036, + 7.508596897125244 + ], + [ + 0.023681730031967163, + -0.9951573610305786, + -0.09539942443370819, + -5.6803412437438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2397, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_138468980", + "mask_path": "../../mask/hdr_front_02397.png" + }, + { + "file_path": "../../rgb/hdr_front_02399.png", + "transform_matrix": [ + [ + 0.2559659779071808, + -0.0797293558716774, + 0.9633922576904297, + 44.143096923828125 + ], + [ + -0.96620112657547, + -0.05265536159276962, + 0.25235456228256226, + 7.48646879196167 + ], + [ + 0.03060769848525524, + -0.9954248666763306, + -0.09051258116960526, + -5.665921211242676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2399, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_338469028", + "mask_path": "../../mask/hdr_front_02399.png" + }, + { + "file_path": "../../rgb/hdr_front_02400.png", + "transform_matrix": [ + [ + 0.2561338543891907, + -0.08195594698190689, + 0.9631606936454773, + 44.09022903442383 + ], + [ + -0.9662414193153381, + -0.05036382004618645, + 0.2526676058769226, + 7.462400913238525 + ], + [ + 0.02780083939433098, + -0.9953626394271851, + -0.09208910912275314, + -5.664209842681885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2400, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_438468933", + "mask_path": "../../mask/hdr_front_02400.png" + }, + { + "file_path": "../../rgb/hdr_front_02401.png", + "transform_matrix": [ + [ + 0.2631637752056122, + -0.08464830368757248, + 0.9610304236412048, + 44.04342269897461 + ], + [ + -0.9644164443016052, + -0.04932049289345741, + 0.25974681973457336, + 7.440577030181885 + ], + [ + 0.025411365553736687, + -0.9951895475387573, + -0.09461559355258942, + -5.666834354400635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2401, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_538469314", + "mask_path": "../../mask/hdr_front_02401.png" + }, + { + "file_path": "../../rgb/hdr_front_02403.png", + "transform_matrix": [ + [ + 0.2632318437099457, + -0.08052818477153778, + 0.961365818977356, + 43.96080780029297 + ], + [ + -0.9645578861236572, + -0.040929388254880905, + 0.2606774568557739, + 7.424334526062012 + ], + [ + 0.01835622824728489, + -0.9959116578102112, + -0.08844801783561707, + -5.665747165679932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2403, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_738468885", + "mask_path": "../../mask/hdr_front_02403.png" + }, + { + "file_path": "../../rgb/hdr_front_02405.png", + "transform_matrix": [ + [ + 0.24037252366542816, + -0.07714730501174927, + 0.9676101803779602, + 43.87398910522461 + ], + [ + -0.9704586267471313, + -0.04042268544435501, + 0.23785728216171265, + 7.406966686248779 + ], + [ + 0.020763352513313293, + -0.9961999654769897, + -0.08458477258682251, + -5.658829212188721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2405, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_938469409", + "mask_path": "../../mask/hdr_front_02405.png" + }, + { + "file_path": "../../rgb/hdr_front_02406.png", + "transform_matrix": [ + [ + 0.23714761435985565, + -0.07357712090015411, + 0.9686833620071411, + 43.81313705444336 + ], + [ + -0.971375584602356, + -0.03212129697203636, + 0.23536694049835205, + 7.3873291015625 + ], + [ + 0.013797746039927006, + -0.9967721104621887, + -0.07908852398395538, + -5.655800819396973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2406, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_38468360", + "mask_path": "../../mask/hdr_front_02406.png" + }, + { + "file_path": "../../rgb/hdr_front_02407.png", + "transform_matrix": [ + [ + 0.24225713312625885, + -0.07432540506124496, + 0.9673610329627991, + 43.75959777832031 + ], + [ + -0.9701740145683289, + -0.027398742735385895, + 0.24085646867752075, + 7.3679518699646 + ], + [ + 0.008602721616625786, + -0.9968575835227966, + -0.07874611020088196, + -5.663671493530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2407, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_138469219", + "mask_path": "../../mask/hdr_front_02407.png" + }, + { + "file_path": "../../rgb/hdr_front_02408.png", + "transform_matrix": [ + [ + 0.24440616369247437, + -0.07329211384057999, + 0.9668990969657898, + 43.710418701171875 + ], + [ + -0.9696614146232605, + -0.02333075925707817, + 0.24333591759204865, + 7.354385852813721 + ], + [ + 0.004723887424916029, + -0.9970375895500183, + -0.07677073031663895, + -5.665911674499512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2408, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_238467693", + "mask_path": "../../mask/hdr_front_02408.png" + }, + { + "file_path": "../../rgb/hdr_front_02409.png", + "transform_matrix": [ + [ + 0.24256406724452972, + -0.07261880487203598, + 0.9674136638641357, + 43.65243911743164 + ], + [ + -0.9701353311538696, + -0.018534544855356216, + 0.2418551743030548, + 7.34487247467041 + ], + [ + 0.0003673364990390837, + -0.997187614440918, + -0.07494589686393738, + -5.651185989379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2409, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_338469266", + "mask_path": "../../mask/hdr_front_02409.png" + }, + { + "file_path": "../../rgb/hdr_front_02410.png", + "transform_matrix": [ + [ + 0.23068982362747192, + -0.07251150906085968, + 0.970321774482727, + 43.595672607421875 + ], + [ + -0.9730186462402344, + -0.01297994889318943, + 0.23036101460456848, + 7.337071418762207 + ], + [ + -0.004109098110347986, + -0.9972831010818481, + -0.07354940474033356, + -5.624852180480957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2410, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_438469171", + "mask_path": "../../mask/hdr_front_02410.png" + }, + { + "file_path": "../../rgb/hdr_front_02411.png", + "transform_matrix": [ + [ + 0.21791653335094452, + -0.0858352929353714, + 0.9721855521202087, + 43.54496765136719 + ], + [ + -0.9759578704833984, + -0.014748800545930862, + 0.21745990216732025, + 7.326739311218262 + ], + [ + -0.00432716216892004, + -0.9962002635002136, + -0.08698562532663345, + -5.604243755340576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2411, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_538470029", + "mask_path": "../../mask/hdr_front_02411.png" + }, + { + "file_path": "../../rgb/hdr_front_02412.png", + "transform_matrix": [ + [ + 0.21084696054458618, + -0.09438959509134293, + 0.9729512333869934, + 43.481624603271484 + ], + [ + -0.9775077700614929, + -0.015572366304695606, + 0.21032366156578064, + 7.313276290893555 + ], + [ + -0.004701210651546717, + -0.9954135417938232, + -0.09554995596408844, + -5.58162260055542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2412, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_638468027", + "mask_path": "../../mask/hdr_front_02412.png" + }, + { + "file_path": "../../rgb/hdr_front_02413.png", + "transform_matrix": [ + [ + 0.20988750457763672, + -0.09932319819927216, + 0.9726675748825073, + 43.413055419921875 + ], + [ + -0.9777060747146606, + -0.015042927116155624, + 0.20943863689899445, + 7.2989583015441895 + ], + [ + -0.006170348264276981, + -0.9949415326118469, + -0.10026621073484421, + -5.558463096618652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2413, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_738469123", + "mask_path": "../../mask/hdr_front_02413.png" + }, + { + "file_path": "../../rgb/hdr_front_02414.png", + "transform_matrix": [ + [ + 0.21239879727363586, + -0.10672172904014587, + 0.9713378548622131, + 43.362220764160156 + ], + [ + -0.9771286845207214, + -0.01270988117903471, + 0.21226860582828522, + 7.2799973487854 + ], + [ + -0.01030808687210083, + -0.9942077398300171, + -0.10698042809963226, + -5.54937744140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2414, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_838469266", + "mask_path": "../../mask/hdr_front_02414.png" + }, + { + "file_path": "../../rgb/hdr_front_02416.png", + "transform_matrix": [ + [ + 0.21206443011760712, + -0.09781326353549957, + 0.9723483324050903, + 43.27547073364258 + ], + [ + -0.9772550463676453, + -0.020124683156609535, + 0.21111014485359192, + 7.244264125823975 + ], + [ + -0.0010811657411977649, + -0.9950013160705566, + -0.09985623508691788, + -5.550115585327148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2416, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_38470029", + "mask_path": "../../mask/hdr_front_02416.png" + }, + { + "file_path": "../../rgb/hdr_front_02417.png", + "transform_matrix": [ + [ + 0.20622669160366058, + -0.09331931173801422, + 0.9740442633628845, + 43.21989440917969 + ], + [ + -0.9784931540489197, + -0.024400455877184868, + 0.20483092963695526, + 7.229790210723877 + ], + [ + 0.004652439616620541, + -0.9953372478485107, + -0.09634433686733246, + -5.544833660125732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2417, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_138469219", + "mask_path": "../../mask/hdr_front_02417.png" + }, + { + "file_path": "../../rgb/hdr_front_02418.png", + "transform_matrix": [ + [ + 0.19358475506305695, + -0.09383594244718552, + 0.9765858054161072, + 43.16988754272461 + ], + [ + -0.9810592532157898, + -0.02552029676735401, + 0.19201938807964325, + 7.22035551071167 + ], + [ + 0.0069044362753629684, + -0.9952605366706848, + -0.09699896723031998, + -5.5374860763549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2418, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_238469600", + "mask_path": "../../mask/hdr_front_02418.png" + }, + { + "file_path": "../../rgb/hdr_front_02420.png", + "transform_matrix": [ + [ + 0.1766745001077652, + -0.11140292137861252, + 0.9779444932937622, + 43.032981872558594 + ], + [ + -0.9841887950897217, + -0.032705049961805344, + 0.17407697439193726, + 7.183929920196533 + ], + [ + 0.0125910434871912, + -0.9932370185852051, + -0.1154196560382843, + -5.521588325500488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2420, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_438468933", + "mask_path": "../../mask/hdr_front_02420.png" + }, + { + "file_path": "../../rgb/hdr_front_02421.png", + "transform_matrix": [ + [ + 0.17587348818778992, + -0.1171676367521286, + 0.9774150848388672, + 42.96938705444336 + ], + [ + -0.9843837022781372, + -0.028574366122484207, + 0.17370206117630005, + 7.161585330963135 + ], + [ + 0.007576758973300457, + -0.9927010536193848, + -0.12036336958408356, + -5.5078301429748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2421, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_538471460", + "mask_path": "../../mask/hdr_front_02421.png" + }, + { + "file_path": "../../rgb/hdr_front_02422.png", + "transform_matrix": [ + [ + 0.17390993237495422, + -0.1176641583442688, + 0.9777067303657532, + 42.9130973815918 + ], + [ + -0.984760582447052, + -0.022137843072414398, + 0.17250044643878937, + 7.148765563964844 + ], + [ + 0.0013471991987898946, + -0.9928066730499268, + -0.11972101032733917, + -5.513561725616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2422, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_638469696", + "mask_path": "../../mask/hdr_front_02422.png" + }, + { + "file_path": "../../rgb/hdr_front_02423.png", + "transform_matrix": [ + [ + 0.1693166345357895, + -0.12165684998035431, + 0.9780243039131165, + 42.84008026123047 + ], + [ + -0.9855348467826843, + -0.013566426932811737, + 0.1689293384552002, + 7.142526149749756 + ], + [ + -0.007283116690814495, + -0.9924795031547546, + -0.1221940740942955, + -5.50857400894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2423, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_738469123", + "mask_path": "../../mask/hdr_front_02423.png" + }, + { + "file_path": "../../rgb/hdr_front_02424.png", + "transform_matrix": [ + [ + 0.15741844475269318, + -0.12190961092710495, + 0.9799783229827881, + 42.78135299682617 + ], + [ + -0.9875182509422302, + -0.014193059876561165, + 0.1568640023469925, + 7.142134666442871 + ], + [ + -0.005214336793869734, + -0.9924397468566895, + -0.12262221425771713, + -5.4922003746032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2424, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_838469266", + "mask_path": "../../mask/hdr_front_02424.png" + }, + { + "file_path": "../../rgb/hdr_front_02425.png", + "transform_matrix": [ + [ + 0.1460247039794922, + -0.12879593670368195, + 0.9808611273765564, + 42.72639465332031 + ], + [ + -0.9892634153366089, + -0.013114620000123978, + 0.14555352926254272, + 7.143136501312256 + ], + [ + -0.0058830794878304005, + -0.9915844202041626, + -0.1293281614780426, + -5.485156536102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2425, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_938469409", + "mask_path": "../../mask/hdr_front_02425.png" + }, + { + "file_path": "../../rgb/hdr_front_02426.png", + "transform_matrix": [ + [ + 0.13656610250473022, + -0.13140183687210083, + 0.9818774461746216, + 42.65745544433594 + ], + [ + -0.990581214427948, + -0.008185189217329025, + 0.13668131828308105, + 7.135240077972412 + ], + [ + -0.009923323057591915, + -0.9912953972816467, + -0.1312820315361023, + -5.482872486114502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2426, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_38470268", + "mask_path": "../../mask/hdr_front_02426.png" + }, + { + "file_path": "../../rgb/hdr_front_02427.png", + "transform_matrix": [ + [ + 0.13512103259563446, + -0.12301240116357803, + 0.9831634163856506, + 42.59267044067383 + ], + [ + -0.9904754757881165, + 0.00973573885858059, + 0.1373441070318222, + 7.129185676574707 + ], + [ + -0.02646685019135475, + -0.9923573732376099, + -0.12052527815103531, + -5.477330684661865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2427, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_138469934", + "mask_path": "../../mask/hdr_front_02427.png" + }, + { + "file_path": "../../rgb/hdr_front_02429.png", + "transform_matrix": [ + [ + 0.13016575574874878, + -0.11559835821390152, + 0.9847303628921509, + 42.482540130615234 + ], + [ + -0.9907429814338684, + 0.023439766839146614, + 0.13371214270591736, + 7.120966911315918 + ], + [ + -0.038538750261068344, + -0.9930194616317749, + -0.11147721111774445, + -5.4785308837890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2429, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_338469982", + "mask_path": "../../mask/hdr_front_02429.png" + }, + { + "file_path": "../../rgb/hdr_front_02430.png", + "transform_matrix": [ + [ + 0.12112650275230408, + -0.12140165269374847, + 0.9851852059364319, + 42.41846466064453 + ], + [ + -0.9917531609535217, + 0.027074791491031647, + 0.12527036666870117, + 7.124207019805908 + ], + [ + -0.04188171401619911, + -0.9922341704368591, + -0.11712098866701126, + -5.4500732421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2430, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_438471555", + "mask_path": "../../mask/hdr_front_02430.png" + }, + { + "file_path": "../../rgb/hdr_front_02433.png", + "transform_matrix": [ + [ + 0.10192117094993591, + -0.12711672484874725, + 0.986637532711029, + 42.27249526977539 + ], + [ + -0.9946645498275757, + 0.002880705054849386, + 0.10312154144048691, + 7.090724945068359 + ], + [ + -0.015950681641697884, + -0.9918836355209351, + -0.12614493072032928, + -5.415097236633301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2433, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_738470315", + "mask_path": "../../mask/hdr_front_02433.png" + }, + { + "file_path": "../../rgb/hdr_front_02441.png", + "transform_matrix": [ + [ + 0.15813665091991425, + -0.11949113756418228, + 0.9801605343818665, + 41.94131851196289 + ], + [ + -0.9871184825897217, + 0.005286108702421188, + 0.1599036455154419, + 7.008392333984375 + ], + [ + -0.024288302287459373, + -0.992821216583252, + -0.11711598187685013, + -5.359699726104736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2441, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594412_538470268", + "mask_path": "../../mask/hdr_front_02441.png" + }, + { + "file_path": "../../rgb/hdr_front_02443.png", + "transform_matrix": [ + [ + 0.18912672996520996, + -0.11543741077184677, + 0.9751437306404114, + 41.847434997558594 + ], + [ + -0.9815086722373962, + 0.00763555197045207, + 0.19126510620117188, + 6.986220836639404 + ], + [ + -0.0295249093323946, + -0.9932854175567627, + -0.11185873299837112, + -5.353193283081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2443, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594412_738470077", + "mask_path": "../../mask/hdr_front_02443.png" + }, + { + "file_path": "../../rgb/hdr_front_02448.png", + "transform_matrix": [ + [ + 0.24842776358127594, + -0.1257377713918686, + 0.9604549407958984, + 41.63612365722656 + ], + [ + -0.9680598378181458, + 0.002393788658082485, + 0.2507081925868988, + 6.917423725128174 + ], + [ + -0.033822622150182724, + -0.992060661315918, + -0.12112699449062347, + -5.312023162841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2448, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_238469123", + "mask_path": "../../mask/hdr_front_02448.png" + }, + { + "file_path": "../../rgb/hdr_front_02450.png", + "transform_matrix": [ + [ + 0.29151442646980286, + -0.12006291002035141, + 0.949001669883728, + 41.560142517089844 + ], + [ + -0.9558860063552856, + 0.0008489667670801282, + 0.29373660683631897, + 6.8757805824279785 + ], + [ + -0.036072537302970886, + -0.9927659630775452, + -0.11451897770166397, + -5.312500476837158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2450, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_438470602", + "mask_path": "../../mask/hdr_front_02450.png" + }, + { + "file_path": "../../rgb/hdr_front_02451.png", + "transform_matrix": [ + [ + 0.30915921926498413, + -0.12109771370887756, + 0.9432687163352966, + 41.512840270996094 + ], + [ + -0.9502344131469727, + 0.0007218932150863111, + 0.31153494119644165, + 6.859134197235107 + ], + [ + -0.038407109677791595, + -0.9926403760910034, + -0.11484803259372711, + -5.290589332580566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2451, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_538470268", + "mask_path": "../../mask/hdr_front_02451.png" + }, + { + "file_path": "../../rgb/hdr_front_02453.png", + "transform_matrix": [ + [ + 0.34061548113822937, + -0.13105474412441254, + 0.9310240149497986, + 41.44118881225586 + ], + [ + -0.9397938847541809, + -0.018260084092617035, + 0.3412535786628723, + 6.819585800170898 + ], + [ + -0.027722323313355446, + -0.9912070035934448, + -0.1293841302394867, + -5.267215251922607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2453, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_738469123", + "mask_path": "../../mask/hdr_front_02453.png" + }, + { + "file_path": "../../rgb/hdr_front_02455.png", + "transform_matrix": [ + [ + 0.39249494671821594, + -0.12541133165359497, + 0.9111639261245728, + 41.36069107055664 + ], + [ + -0.9190335273742676, + -0.014267968945205212, + 0.39392104744911194, + 6.758672714233398 + ], + [ + -0.03640170022845268, + -0.9920023083686829, + -0.12085731327533722, + -5.25197172164917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2455, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_938470125", + "mask_path": "../../mask/hdr_front_02455.png" + }, + { + "file_path": "../../rgb/hdr_front_02457.png", + "transform_matrix": [ + [ + 0.4624711871147156, + -0.1152041032910347, + 0.8791179656982422, + 41.32071304321289 + ], + [ + -0.8857762217521667, + -0.01642017997801304, + 0.46382206678390503, + 6.681786060333252 + ], + [ + -0.03899892792105675, + -0.9932061433792114, + -0.10963889956474304, + -5.256255626678467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2457, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_138468503", + "mask_path": "../../mask/hdr_front_02457.png" + }, + { + "file_path": "../../rgb/hdr_front_02459.png", + "transform_matrix": [ + [ + 0.5123208165168762, + -0.10092642903327942, + 0.8528430461883545, + 41.2696647644043 + ], + [ + -0.8584511876106262, + -0.03211571276187897, + 0.5118891000747681, + 6.615825176239014 + ], + [ + -0.024273473769426346, + -0.9943754076957703, + -0.1030939370393753, + -5.243890762329102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2459, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_338469028", + "mask_path": "../../mask/hdr_front_02459.png" + }, + { + "file_path": "../../rgb/hdr_front_02461.png", + "transform_matrix": [ + [ + 0.5602003931999207, + -0.09884108603000641, + 0.8224391341209412, + 41.20880889892578 + ], + [ + -0.8282068967819214, + -0.04791668802499771, + 0.5583704113960266, + 6.5342183113098145 + ], + [ + -0.015781372785568237, + -0.9939489960670471, + -0.10870379954576492, + -5.233264923095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2461, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_538468599", + "mask_path": "../../mask/hdr_front_02461.png" + }, + { + "file_path": "../../rgb/hdr_front_02462.png", + "transform_matrix": [ + [ + 0.5931380391120911, + -0.0968649834394455, + 0.799252450466156, + 41.182838439941406 + ], + [ + -0.804702639579773, + -0.04011298343539238, + 0.5923213958740234, + 6.486780643463135 + ], + [ + -0.025314798578619957, + -0.9944888949394226, + -0.1017400398850441, + -5.2299909591674805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2462, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_638468980", + "mask_path": "../../mask/hdr_front_02462.png" + }, + { + "file_path": "../../rgb/hdr_front_02464.png", + "transform_matrix": [ + [ + 0.6553123593330383, + -0.09348947554826736, + 0.7495502233505249, + 41.140045166015625 + ], + [ + -0.7546628713607788, + -0.038468196988105774, + 0.654984176158905, + 6.413614273071289 + ], + [ + -0.032400280237197876, + -0.9948769211769104, + -0.09576170891523361, + -5.228948593139648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2464, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_838471412", + "mask_path": "../../mask/hdr_front_02464.png" + }, + { + "file_path": "../../rgb/hdr_front_02465.png", + "transform_matrix": [ + [ + 0.6743098497390747, + -0.0987054705619812, + 0.73182213306427, + 41.106319427490234 + ], + [ + -0.7375084161758423, + -0.04002555459737778, + 0.6741507649421692, + 6.3759765625 + ], + [ + -0.037250783294439316, + -0.9943114519119263, + -0.09978573769330978, + -5.202653884887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2465, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_938470125", + "mask_path": "../../mask/hdr_front_02465.png" + }, + { + "file_path": "../../rgb/hdr_front_02467.png", + "transform_matrix": [ + [ + 0.7088935375213623, + -0.09417726844549179, + 0.6989997625350952, + 41.055419921875 + ], + [ + -0.7048870325088501, + -0.06005819886922836, + 0.70677250623703, + 6.29774284362793 + ], + [ + -0.02458123303949833, + -0.9937422275543213, + -0.10895919799804688, + -5.186061859130859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2467, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_138469934", + "mask_path": "../../mask/hdr_front_02467.png" + }, + { + "file_path": "../../rgb/hdr_front_02468.png", + "transform_matrix": [ + [ + 0.7343189120292664, + -0.09172184765338898, + 0.6725791692733765, + 41.03202819824219 + ], + [ + -0.6781629323959351, + -0.056060388684272766, + 0.7327702641487122, + 6.236880779266357 + ], + [ + -0.02950599044561386, + -0.9942053556442261, + -0.10336856544017792, + -5.180745601654053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2468, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_238469362", + "mask_path": "../../mask/hdr_front_02468.png" + }, + { + "file_path": "../../rgb/hdr_front_02475.png", + "transform_matrix": [ + [ + 0.8488355875015259, + -0.07457897812128067, + 0.5233699679374695, + 40.92501449584961 + ], + [ + -0.5275473594665527, + -0.05538872629404068, + 0.8477180600166321, + 5.924741268157959 + ], + [ + -0.03423314541578293, + -0.9956757426261902, + -0.08635987341403961, + -5.159114837646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2475, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_938470125", + "mask_path": "../../mask/hdr_front_02475.png" + }, + { + "file_path": "../../rgb/hdr_front_02477.png", + "transform_matrix": [ + [ + 0.876935601234436, + -0.07507805526256561, + 0.47470754384994507, + 40.90555953979492 + ], + [ + -0.478676974773407, + -0.04798969253897667, + 0.8766785860061646, + 5.839738845825195 + ], + [ + -0.0430382564663887, + -0.9960222244262695, + -0.07802200317382812, + -5.157957077026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2477, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_138469457", + "mask_path": "../../mask/hdr_front_02477.png" + }, + { + "file_path": "../../rgb/hdr_front_02479.png", + "transform_matrix": [ + [ + 0.8917295932769775, + -0.07169898599386215, + 0.4468529224395752, + 40.87629318237305 + ], + [ + -0.4508975148200989, + -0.05598229914903641, + 0.8908183574676514, + 5.769001483917236 + ], + [ + -0.038854919373989105, + -0.9958540797233582, + -0.0822499692440033, + -5.140793323516846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2479, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_338469505", + "mask_path": "../../mask/hdr_front_02479.png" + }, + { + "file_path": "../../rgb/hdr_front_02481.png", + "transform_matrix": [ + [ + 0.9144250154495239, + -0.06799864768981934, + 0.3990025818347931, + 40.866058349609375 + ], + [ + -0.40330424904823303, + -0.06967268884181976, + 0.9124097228050232, + 5.679211616516113 + ], + [ + -0.034243036061525345, + -0.9952498078346252, + -0.09113459289073944, + -5.1385884284973145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2481, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_538469076", + "mask_path": "../../mask/hdr_front_02481.png" + }, + { + "file_path": "../../rgb/hdr_front_02483.png", + "transform_matrix": [ + [ + 0.9437776207923889, + -0.0758705660700798, + 0.3217567801475525, + 40.8729248046875 + ], + [ + -0.32662782073020935, + -0.06394248455762863, + 0.9429876208305359, + 5.591354846954346 + ], + [ + -0.050971075892448425, + -0.9950653314590454, + -0.08512892574071884, + -5.147964000701904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2483, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_738469362", + "mask_path": "../../mask/hdr_front_02483.png" + }, + { + "file_path": "../../rgb/hdr_front_02485.png", + "transform_matrix": [ + [ + 0.9558748006820679, + -0.061598457396030426, + 0.2872438132762909, + 40.863826751708984 + ], + [ + -0.29049891233444214, + -0.05259109288454056, + 0.9554290175437927, + 5.513335227966309 + ], + [ + -0.04374648630619049, + -0.9967145919799805, + -0.06816478818655014, + -5.1360368728637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2485, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_938469171", + "mask_path": "../../mask/hdr_front_02485.png" + }, + { + "file_path": "../../rgb/hdr_front_02487.png", + "transform_matrix": [ + [ + 0.9584950804710388, + -0.053449101746082306, + 0.2800543010234833, + 40.846397399902344 + ], + [ + -0.2829362452030182, + -0.057278189808130264, + 0.9574269652366638, + 5.437036991119385 + ], + [ + -0.035132601857185364, + -0.996926486492157, + -0.0700235515832901, + -5.129396915435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2487, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_138468980", + "mask_path": "../../mask/hdr_front_02487.png" + }, + { + "file_path": "../../rgb/hdr_front_02488.png", + "transform_matrix": [ + [ + 0.9631220102310181, + -0.05462704971432686, + 0.263461172580719, + 40.846500396728516 + ], + [ + -0.26623573899269104, + -0.05186164751648903, + 0.9625117778778076, + 5.381892681121826 + ], + [ + -0.03891564533114433, + -0.9971591234207153, + -0.06449276953935623, + -5.12752628326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2488, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_238469600", + "mask_path": "../../mask/hdr_front_02488.png" + }, + { + "file_path": "../../rgb/hdr_front_02494.png", + "transform_matrix": [ + [ + 0.9731447696685791, + -0.0698045939207077, + 0.21935464441776276, + 40.810123443603516 + ], + [ + -0.22284874320030212, + -0.04688933864235878, + 0.9737247228622437, + 5.13021993637085 + ], + [ + -0.057685062289237976, + -0.996458113193512, + -0.06118598207831383, + -5.1051812171936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2494, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_838469266", + "mask_path": "../../mask/hdr_front_02494.png" + }, + { + "file_path": "../../rgb/hdr_front_02496.png", + "transform_matrix": [ + [ + 0.9747089743614197, + -0.07855862379074097, + 0.20921540260314941, + 40.7935676574707 + ], + [ + -0.21264223754405975, + -0.03804336115717888, + 0.9763892292976379, + 5.049076557159424 + ], + [ + -0.06874454021453857, + -0.9961833357810974, + -0.05378608778119087, + -5.1097588539123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2496, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_38467407", + "mask_path": "../../mask/hdr_front_02496.png" + }, + { + "file_path": "../../rgb/hdr_front_02498.png", + "transform_matrix": [ + [ + 0.9738413095474243, + -0.07000091671943665, + 0.21617810428142548, + 40.77728271484375 + ], + [ + -0.21926814317703247, + -0.03987492620944977, + 0.9748494625091553, + 4.989157199859619 + ], + [ + -0.059620268642902374, + -0.9967496395111084, + -0.054180823266506195, + -5.099121570587158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2498, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_238467693", + "mask_path": "../../mask/hdr_front_02498.png" + }, + { + "file_path": "../../rgb/hdr_front_02500.png", + "transform_matrix": [ + [ + 0.976276695728302, + -0.0654909685254097, + 0.2063847929239273, + 40.78105926513672 + ], + [ + -0.20996235311031342, + -0.053417935967445374, + 0.9762491583824158, + 4.934084415435791 + ], + [ + -0.05291084945201874, + -0.9964223504066467, + -0.06590132415294647, + -5.0856451988220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2500, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_438466787", + "mask_path": "../../mask/hdr_front_02500.png" + }, + { + "file_path": "../../rgb/hdr_front_02536.png", + "transform_matrix": [ + [ + 0.9444218277931213, + -0.047831661999225616, + 0.32523787021636963, + 40.7371940612793 + ], + [ + -0.327529639005661, + -0.052220508456230164, + 0.9433967471122742, + 4.904687881469727 + ], + [ + -0.028140146285295486, + -0.9974895119667053, + -0.06498447805643082, + -5.120598793029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2536, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594422_38468837", + "mask_path": "../../mask/hdr_front_02536.png" + }, + { + "file_path": "../../rgb/hdr_front_02634.png", + "transform_matrix": [ + [ + 0.9054933786392212, + -0.06018015369772911, + 0.42007148265838623, + 40.670921325683594 + ], + [ + -0.42360472679138184, + -0.06913956999778748, + 0.903204619884491, + 4.81191873550415 + ], + [ + -0.025311436504125595, + -0.9957902431488037, + -0.08809801936149597, + -5.096909999847412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2634, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594431_838468074", + "mask_path": "../../mask/hdr_front_02634.png" + }, + { + "file_path": "../../rgb/hdr_front_02636.png", + "transform_matrix": [ + [ + 0.9033553600311279, + -0.05944621562957764, + 0.42475324869155884, + 40.64550018310547 + ], + [ + -0.4280295670032501, + -0.062151797115802765, + 0.9016251564025879, + 4.744871616363525 + ], + [ + -0.027199022471904755, + -0.9962947964668274, + -0.08158989250659943, + -5.085277557373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2636, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_38468122", + "mask_path": "../../mask/hdr_front_02636.png" + }, + { + "file_path": "../../rgb/hdr_left_02203.png", + "transform_matrix": [ + [ + -0.9831493496894836, + -0.09971336275339127, + 0.15321408212184906, + 54.69001770019531 + ], + [ + -0.1527002453804016, + -0.012810803949832916, + -0.9881895184516907, + 11.025542259216309 + ], + [ + 0.10049848258495331, + -0.9949337244033813, + -0.0026313154958188534, + -7.282827854156494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2203, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_138470172", + "mask_path": "../../mask/hdr_left_02203.png" + }, + { + "file_path": "../../rgb/hdr_left_02204.png", + "transform_matrix": [ + [ + -0.985235333442688, + -0.09901878237724304, + 0.13966628909111023, + 54.62628173828125 + ], + [ + -0.1386752873659134, + -0.016854971647262573, + -0.9901944994926453, + 11.012507438659668 + ], + [ + 0.10040193051099777, + -0.9949427843093872, + 0.0028746563475579023, + -7.272298812866211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2204, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_238470315", + "mask_path": "../../mask/hdr_left_02204.png" + }, + { + "file_path": "../../rgb/hdr_left_02205.png", + "transform_matrix": [ + [ + -0.9876619577407837, + -0.101252481341362, + 0.11946450173854828, + 54.564300537109375 + ], + [ + -0.11793351173400879, + -0.02099580131471157, + -0.9927995204925537, + 11.000508308410645 + ], + [ + 0.10303166508674622, + -0.9946392178535461, + 0.008795696310698986, + -7.261048316955566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2205, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_338470458", + "mask_path": "../../mask/hdr_left_02205.png" + }, + { + "file_path": "../../rgb/hdr_left_02206.png", + "transform_matrix": [ + [ + -0.990011990070343, + -0.10478796809911728, + 0.09431654214859009, + 54.5128173828125 + ], + [ + -0.09195924550294876, + -0.027114609256386757, + -0.9953935146331787, + 10.988070487976074 + ], + [ + 0.1068626120686531, + -0.9941248893737793, + 0.017207564786076546, + -7.254554748535156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2206, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_438469171", + "mask_path": "../../mask/hdr_left_02206.png" + }, + { + "file_path": "../../rgb/hdr_left_02207.png", + "transform_matrix": [ + [ + -0.9907053709030151, + -0.11364953964948654, + 0.07474362105131149, + 54.442543029785156 + ], + [ + -0.071385957300663, + -0.033337660133838654, + -0.996891438961029, + 10.963160514831543 + ], + [ + 0.11578802764415741, + -0.9929614663124084, + 0.02491481602191925, + -7.239749908447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2207, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_538470506", + "mask_path": "../../mask/hdr_left_02207.png" + }, + { + "file_path": "../../rgb/hdr_left_02208.png", + "transform_matrix": [ + [ + -0.9901726841926575, + -0.12029781192541122, + 0.07131960988044739, + 54.362953186035156 + ], + [ + -0.06756573915481567, + -0.03500561788678169, + -0.9971004724502563, + 10.932560920715332 + ], + [ + 0.12244559079408646, + -0.9921205043792725, + 0.026533596217632294, + -7.2162017822265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2208, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_638469457", + "mask_path": "../../mask/hdr_left_02208.png" + }, + { + "file_path": "../../rgb/hdr_left_02209.png", + "transform_matrix": [ + [ + -0.9896746277809143, + -0.12162318080663681, + 0.07584019005298615, + 54.30609893798828 + ], + [ + -0.07239317148923874, + -0.032520610839128494, + -0.9968459010124207, + 10.914493560791016 + ], + [ + 0.1237059012055397, + -0.9920434951782227, + 0.023380139842629433, + -7.216617584228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2209, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_738470315", + "mask_path": "../../mask/hdr_left_02209.png" + }, + { + "file_path": "../../rgb/hdr_left_02210.png", + "transform_matrix": [ + [ + -0.9896442890167236, + -0.12137900292873383, + 0.07662399858236313, + 54.248130798339844 + ], + [ + -0.07327190041542053, + -0.03185000270605087, + -0.9968032836914062, + 10.90019702911377 + ], + [ + 0.12343145906925201, + -0.9920951724052429, + 0.02262650616466999, + -7.207791328430176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2210, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_838469982", + "mask_path": "../../mask/hdr_left_02210.png" + }, + { + "file_path": "../../rgb/hdr_left_02211.png", + "transform_matrix": [ + [ + -0.990871012210846, + -0.11753582954406738, + 0.066029854118824, + 54.19804000854492 + ], + [ + -0.06295386701822281, + -0.029697801917791367, + -0.997574508190155, + 10.893765449523926 + ], + [ + 0.11921168118715286, + -0.9926245212554932, + 0.022027356550097466, + -7.18885612487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2211, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_938470125", + "mask_path": "../../mask/hdr_left_02211.png" + }, + { + "file_path": "../../rgb/hdr_left_02213.png", + "transform_matrix": [ + [ + -0.990927517414093, + -0.12339906394481659, + 0.05324626713991165, + 54.09263229370117 + ], + [ + -0.04836781695485115, + -0.04220029339194298, + -0.9979376196861267, + 10.867100715637207 + ], + [ + 0.12539155781269073, + -0.9914594888687134, + 0.035848893225193024, + -7.170125961303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2213, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_138468742", + "mask_path": "../../mask/hdr_left_02213.png" + }, + { + "file_path": "../../rgb/hdr_left_02214.png", + "transform_matrix": [ + [ + -0.9906162023544312, + -0.12413190305233002, + 0.05719016119837761, + 54.029170989990234 + ], + [ + -0.05203937366604805, + -0.044350042939186096, + -0.9976598024368286, + 10.847522735595703 + ], + [ + 0.12637777626514435, + -0.9912741780281067, + 0.037474125623703, + -7.1578850746154785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2214, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_238469839", + "mask_path": "../../mask/hdr_left_02214.png" + }, + { + "file_path": "../../rgb/hdr_left_02217.png", + "transform_matrix": [ + [ + -0.9913175702095032, + -0.12059630453586578, + 0.05240148678421974, + 53.88920593261719 + ], + [ + -0.04983001947402954, + -0.02424270287156105, + -0.99846351146698, + 10.825363159179688 + ], + [ + 0.1216813251376152, + -0.9924056529998779, + 0.018022896721959114, + -7.130205154418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2217, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_538470506", + "mask_path": "../../mask/hdr_left_02217.png" + }, + { + "file_path": "../../rgb/hdr_left_02219.png", + "transform_matrix": [ + [ + -0.9905178546905518, + -0.13027724623680115, + 0.04361309856176376, + 53.785804748535156 + ], + [ + -0.03993738815188408, + -0.030696138739585876, + -0.9987305402755737, + 10.803461074829102 + ], + [ + 0.1314505934715271, + -0.9910023808479309, + 0.02520214207470417, + -7.106767177581787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2219, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_738470315", + "mask_path": "../../mask/hdr_left_02219.png" + }, + { + "file_path": "../../rgb/hdr_left_02220.png", + "transform_matrix": [ + [ + -0.9899234175682068, + -0.1335921734571457, + 0.04695410653948784, + 53.733551025390625 + ], + [ + -0.04356752708554268, + -0.02816302329301834, + -0.9986534118652344, + 10.789880752563477 + ], + [ + 0.134734645485878, + -0.9906361699104309, + 0.022058958187699318, + -7.1037445068359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2220, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_838471412", + "mask_path": "../../mask/hdr_left_02220.png" + }, + { + "file_path": "../../rgb/hdr_left_02221.png", + "transform_matrix": [ + [ + -0.9904266595840454, + -0.13034771382808685, + 0.04543681442737579, + 53.68107986450195 + ], + [ + -0.04184176027774811, + -0.03018900938332081, + -0.9986680746078491, + 10.779431343078613 + ], + [ + 0.1315457671880722, + -0.9910086989402771, + 0.024446016177535057, + -7.0957183837890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2221, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_938471078", + "mask_path": "../../mask/hdr_left_02221.png" + }, + { + "file_path": "../../rgb/hdr_left_02224.png", + "transform_matrix": [ + [ + -0.9917270541191101, + -0.12623091042041779, + 0.0233023539185524, + 53.5265007019043 + ], + [ + -0.018163133412599564, + -0.041711777448654175, + -0.9989646077156067, + 10.740998268127441 + ], + [ + 0.12707218527793884, + -0.9911235570907593, + 0.03907395154237747, + -7.062959671020508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2224, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_238471508", + "mask_path": "../../mask/hdr_left_02224.png" + }, + { + "file_path": "../../rgb/hdr_left_02225.png", + "transform_matrix": [ + [ + -0.9909752607345581, + -0.13006103038787842, + 0.032436009496450424, + 53.46101760864258 + ], + [ + -0.027150917798280716, + -0.04220524802803993, + -0.9987399578094482, + 10.71767807006836 + ], + [ + 0.13126610219478607, + -0.9906073212623596, + 0.03829308599233627, + -7.057982444763184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2225, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_338471174", + "mask_path": "../../mask/hdr_left_02225.png" + }, + { + "file_path": "../../rgb/hdr_left_02226.png", + "transform_matrix": [ + [ + -0.9909385442733765, + -0.1288023293018341, + 0.03808768466114998, + 53.40837478637695 + ], + [ + -0.032860901206731796, + -0.042465075850486755, + -0.9985573887825012, + 10.707386016845703 + ], + [ + 0.13023391366004944, + -0.9907607436180115, + 0.037847720086574554, + -7.056188106536865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2226, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_438469648", + "mask_path": "../../mask/hdr_left_02226.png" + }, + { + "file_path": "../../rgb/hdr_left_02227.png", + "transform_matrix": [ + [ + -0.9913765788078308, + -0.12602129578590393, + 0.035930659621953964, + 53.34965896606445 + ], + [ + -0.03119511902332306, + -0.03935210779309273, + -0.9987383484840393, + 10.702116012573242 + ], + [ + 0.1272762566804886, + -0.99124675989151, + 0.03508150577545166, + -7.045164585113525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2227, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_538469076", + "mask_path": "../../mask/hdr_left_02227.png" + }, + { + "file_path": "../../rgb/hdr_left_02228.png", + "transform_matrix": [ + [ + -0.9910195469856262, + -0.1310613602399826, + 0.026515699923038483, + 53.29923629760742 + ], + [ + -0.021859481930732727, + -0.03683903068304062, + -0.999082088470459, + 10.698285102844238 + ], + [ + 0.13191784918308258, + -0.9906895756721497, + 0.03364326432347298, + -7.029019832611084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2228, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_638470649", + "mask_path": "../../mask/hdr_left_02228.png" + }, + { + "file_path": "../../rgb/hdr_left_02229.png", + "transform_matrix": [ + [ + -0.9908760190010071, + -0.13263845443725586, + 0.023910734802484512, + 53.246307373046875 + ], + [ + -0.018367812037467957, + -0.04285695403814316, + -0.9989123940467834, + 10.680584907531738 + ], + [ + 0.13351891934871674, + -0.9902374744415283, + 0.04002964496612549, + -7.013884544372559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2229, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_738470554", + "mask_path": "../../mask/hdr_left_02229.png" + }, + { + "file_path": "../../rgb/hdr_left_02230.png", + "transform_matrix": [ + [ + -0.9908270239830017, + -0.13241595029830933, + 0.0269766952842474, + 53.185768127441406 + ], + [ + -0.021098827943205833, + -0.0455939881503582, + -0.9987371563911438, + 10.655987739562988 + ], + [ + 0.13347870111465454, + -0.9901450872421265, + 0.04238193854689598, + -7.00554895401001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2230, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_838469266", + "mask_path": "../../mask/hdr_left_02230.png" + }, + { + "file_path": "../../rgb/hdr_left_02231.png", + "transform_matrix": [ + [ + -0.990885853767395, + -0.13082489371299744, + 0.0320933498442173, + 53.12826156616211 + ], + [ + -0.02599777840077877, + -0.04803812876343727, + -0.998507022857666, + 10.639933586120605 + ], + [ + 0.13217127323150635, + -0.9902409911155701, + 0.044199150055646896, + -7.002915382385254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2231, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_938470363", + "mask_path": "../../mask/hdr_left_02231.png" + }, + { + "file_path": "../../rgb/hdr_left_02232.png", + "transform_matrix": [ + [ + -0.9920457005500793, + -0.12242168188095093, + 0.029293546453118324, + 53.0661506652832 + ], + [ + -0.023116081953048706, + -0.05157967284321785, + -0.998401403427124, + 10.628740310668945 + ], + [ + 0.12373688817024231, + -0.9911369681358337, + 0.04833947867155075, + -6.997156620025635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2232, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_38469552", + "mask_path": "../../mask/hdr_left_02232.png" + }, + { + "file_path": "../../rgb/hdr_left_02233.png", + "transform_matrix": [ + [ + -0.9928432106971741, + -0.11806677281856537, + 0.017957128584384918, + 53.00910568237305 + ], + [ + -0.012182051315903664, + -0.04945477843284607, + -0.9987020492553711, + 10.619902610778809 + ], + [ + 0.11880158632993698, + -0.9917734861373901, + 0.04766254499554634, + -6.98048734664917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2233, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_138470649", + "mask_path": "../../mask/hdr_left_02233.png" + }, + { + "file_path": "../../rgb/hdr_left_02234.png", + "transform_matrix": [ + [ + -0.9927200675010681, + -0.11981049180030823, + 0.01234154962003231, + 52.945220947265625 + ], + [ + -0.00623043579980731, + -0.0512474961578846, + -0.9986665844917297, + 10.605635643005371 + ], + [ + 0.12028320878744125, + -0.9914732575416565, + 0.050127942115068436, + -6.9646830558776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2234, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_238470554", + "mask_path": "../../mask/hdr_left_02234.png" + }, + { + "file_path": "../../rgb/hdr_left_02235.png", + "transform_matrix": [ + [ + -0.9928564429283142, + -0.11843663454055786, + 0.014454842545092106, + 52.86565399169922 + ], + [ + -0.008653885684907436, + -0.04934803396463394, + -0.9987440705299377, + 10.584212303161621 + ], + [ + 0.11900121718645096, + -0.9917346239089966, + 0.04797057434916496, + -6.959115028381348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2235, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_338470220", + "mask_path": "../../mask/hdr_left_02235.png" + }, + { + "file_path": "../../rgb/hdr_left_02236.png", + "transform_matrix": [ + [ + -0.9925155639648438, + -0.12055257707834244, + 0.019491570070385933, + 52.796104431152344 + ], + [ + -0.014398024417459965, + -0.04297931492328644, + -0.9989722371101379, + 10.571015357971191 + ], + [ + 0.12126638740301132, + -0.9917761087417603, + 0.04092191904783249, + -6.9565277099609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2236, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_438470840", + "mask_path": "../../mask/hdr_left_02236.png" + }, + { + "file_path": "../../rgb/hdr_left_02237.png", + "transform_matrix": [ + [ + -0.9919937252998352, + -0.12511911988258362, + 0.01713644526898861, + 52.72987747192383 + ], + [ + -0.012971838936209679, + -0.03402432054281235, + -0.999336838722229, + 10.568799018859863 + ], + [ + 0.12561920285224915, + -0.9915581941604614, + 0.03212888538837433, + -6.936398029327393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2237, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_538470268", + "mask_path": "../../mask/hdr_left_02237.png" + }, + { + "file_path": "../../rgb/hdr_left_02238.png", + "transform_matrix": [ + [ + -0.9920470118522644, + -0.1257508099079132, + 0.005428893491625786, + 52.67115783691406 + ], + [ + -0.0020659291185438633, + -0.02685842663049698, + -0.9996370077133179, + 10.568951606750488 + ], + [ + 0.12585094571113586, + -0.9916982650756836, + 0.026385033503174782, + -6.906150817871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2238, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_638469457", + "mask_path": "../../mask/hdr_left_02238.png" + }, + { + "file_path": "../../rgb/hdr_left_02239.png", + "transform_matrix": [ + [ + -0.9914312958717346, + -0.13046570122241974, + -0.006531149614602327, + 52.61629104614258 + ], + [ + 0.010559679940342903, + -0.030210191383957863, + -0.9994877576828003, + 10.567950248718262 + ], + [ + 0.1302015334367752, + -0.9909924268722534, + 0.03132900595664978, + -6.888367176055908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2239, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_738469600", + "mask_path": "../../mask/hdr_left_02239.png" + }, + { + "file_path": "../../rgb/hdr_left_02240.png", + "transform_matrix": [ + [ + -0.9914490580558777, + -0.12970015406608582, + -0.014369366690516472, + 52.55397415161133 + ], + [ + 0.017916744574904442, + -0.02622515894472599, + -0.9994954466819763, + 10.562692642211914 + ], + [ + 0.12925787270069122, + -0.9912064671516418, + 0.028324715793132782, + -6.885261535644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2240, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_838468790", + "mask_path": "../../mask/hdr_left_02240.png" + }, + { + "file_path": "../../rgb/hdr_left_02241.png", + "transform_matrix": [ + [ + -0.9911293983459473, + -0.13162337243556976, + -0.01837560348212719, + 52.4937744140625 + ], + [ + 0.02153966762125492, + -0.022655367851257324, + -0.999511182308197, + 10.554773330688477 + ], + [ + 0.1311427354812622, + -0.9910408854484558, + 0.02528952807188034, + -6.886004447937012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2241, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_938469171", + "mask_path": "../../mask/hdr_left_02241.png" + }, + { + "file_path": "../../rgb/hdr_left_02242.png", + "transform_matrix": [ + [ + -0.9914582371711731, + -0.12823368608951569, + -0.02380557358264923, + 52.44038009643555 + ], + [ + 0.026837117969989777, + -0.02196495793759823, + -0.9993984699249268, + 10.545089721679688 + ], + [ + 0.12763367593288422, + -0.991500735282898, + 0.025218766182661057, + -6.880101680755615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2242, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_38470745", + "mask_path": "../../mask/hdr_left_02242.png" + }, + { + "file_path": "../../rgb/hdr_left_02243.png", + "transform_matrix": [ + [ + -0.9922796487808228, + -0.1192813441157341, + -0.033957310020923615, + 52.382720947265625 + ], + [ + 0.03683655709028244, + -0.022016318514943123, + -0.9990787506103516, + 10.54242992401123 + ], + [ + 0.11842382699251175, + -0.9926164150238037, + 0.026240255683660507, + -6.873809814453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2243, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_138471126", + "mask_path": "../../mask/hdr_left_02243.png" + }, + { + "file_path": "../../rgb/hdr_left_02244.png", + "transform_matrix": [ + [ + -0.9907394051551819, + -0.1260971575975418, + -0.05034731328487396, + 52.33380889892578 + ], + [ + 0.05345945432782173, + -0.021417001262307167, + -0.9983403086662292, + 10.545351028442383 + ], + [ + 0.12480959296226501, + -0.9917867183685303, + 0.027959756553173065, + -6.8544020652771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2244, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_238470792", + "mask_path": "../../mask/hdr_left_02244.png" + }, + { + "file_path": "../../rgb/hdr_left_02245.png", + "transform_matrix": [ + [ + -0.9894925355911255, + -0.13041073083877563, + -0.062430232763290405, + 52.27519226074219 + ], + [ + 0.06657077372074127, + -0.027631454169750214, + -0.9973990321159363, + 10.535115242004395 + ], + [ + 0.1283464878797531, + -0.9910749793052673, + 0.03602266311645508, + -6.836563587188721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2245, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_338470458", + "mask_path": "../../mask/hdr_left_02245.png" + }, + { + "file_path": "../../rgb/hdr_left_02246.png", + "transform_matrix": [ + [ + -0.9886055588722229, + -0.1347787231206894, + -0.06703467667102814, + 52.20082092285156 + ], + [ + 0.07202430069446564, + -0.03248662129044533, + -0.9968736171722412, + 10.520377159118652 + ], + [ + 0.1321796178817749, + -0.9903430938720703, + 0.04182380065321922, + -6.822781085968018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2246, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_438470840", + "mask_path": "../../mask/hdr_left_02246.png" + }, + { + "file_path": "../../rgb/hdr_left_02247.png", + "transform_matrix": [ + [ + -0.9887840747833252, + -0.13476188480854034, + -0.06438394635915756, + 52.13877868652344 + ], + [ + 0.06920380145311356, + -0.0313873328268528, + -0.9971086382865906, + 10.507463455200195 + ], + [ + 0.13235139846801758, + -0.9903808236122131, + 0.04036132991313934, + -6.816896915435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2247, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_538471221", + "mask_path": "../../mask/hdr_left_02247.png" + }, + { + "file_path": "../../rgb/hdr_left_02248.png", + "transform_matrix": [ + [ + -0.9894786477088928, + -0.1283918172121048, + -0.06668976694345474, + 52.082977294921875 + ], + [ + 0.07158686965703964, + -0.03390742465853691, + -0.9968579411506653, + 10.495675086975098 + ], + [ + 0.1257271021604538, + -0.9911437630653381, + 0.042741838842630386, + -6.815772533416748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2248, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_638470888", + "mask_path": "../../mask/hdr_left_02248.png" + }, + { + "file_path": "../../rgb/hdr_left_02251.png", + "transform_matrix": [ + [ + -0.9893298745155334, + -0.11755704134702682, + -0.08606187999248505, + 51.91535568237305 + ], + [ + 0.08894041925668716, + -0.01945394091308117, + -0.9958469867706299, + 10.469356536865234 + ], + [ + 0.11539456248283386, + -0.9928755760192871, + 0.02970193512737751, + -6.787355422973633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2251, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_938469409", + "mask_path": "../../mask/hdr_left_02251.png" + }, + { + "file_path": "../../rgb/hdr_left_02252.png", + "transform_matrix": [ + [ + -0.9894561171531677, + -0.11829012632369995, + -0.08357015252113342, + 51.84794998168945 + ], + [ + 0.08635146170854568, + -0.01857680082321167, + -0.9960915446281433, + 10.459172248840332 + ], + [ + 0.11627530306577682, + -0.9928053021430969, + 0.0285954512655735, + -6.782170295715332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2252, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_38470506", + "mask_path": "../../mask/hdr_left_02252.png" + }, + { + "file_path": "../../rgb/hdr_left_02253.png", + "transform_matrix": [ + [ + -0.9900484085083008, + -0.11405274271965027, + -0.08243851363658905, + 51.78592300415039 + ], + [ + 0.08440229296684265, + -0.01248938124626875, + -0.9963534474372864, + 10.469512939453125 + ], + [ + 0.11260723322629929, + -0.9933962225914001, + 0.02199140377342701, + -6.7730560302734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2253, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_138469457", + "mask_path": "../../mask/hdr_left_02253.png" + }, + { + "file_path": "../../rgb/hdr_left_02254.png", + "transform_matrix": [ + [ + -0.9900408387184143, + -0.11236262321472168, + -0.0848153755068779, + 51.72480010986328 + ], + [ + 0.0864357054233551, + -0.00961928442120552, + -0.9962109923362732, + 10.47510814666748 + ], + [ + 0.11112102121114731, + -0.9936208128929138, + 0.019235633313655853, + -6.7620625495910645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2254, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_238469123", + "mask_path": "../../mask/hdr_left_02254.png" + }, + { + "file_path": "../../rgb/hdr_left_02257.png", + "transform_matrix": [ + [ + -0.9884157776832581, + -0.12040359526872635, + -0.0923972874879837, + 51.541175842285156 + ], + [ + 0.09523071348667145, + -0.01798272877931595, + -0.9952927827835083, + 10.44601821899414 + ], + [ + 0.11817526072263718, + -0.9925621747970581, + 0.029240529984235764, + -6.74783992767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2257, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_538468837", + "mask_path": "../../mask/hdr_left_02257.png" + }, + { + "file_path": "../../rgb/hdr_left_02258.png", + "transform_matrix": [ + [ + -0.9890187382698059, + -0.11981967836618423, + -0.08651699870824814, + 51.48163604736328 + ], + [ + 0.08922925591468811, + -0.017449036240577698, + -0.9958582520484924, + 10.431828498840332 + ], + [ + 0.11781375855207443, + -0.9926424026489258, + 0.02794884517788887, + -6.744076728820801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2258, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_638469457", + "mask_path": "../../mask/hdr_left_02258.png" + }, + { + "file_path": "../../rgb/hdr_left_02259.png", + "transform_matrix": [ + [ + -0.9898146986961365, + -0.11316131800413132, + -0.08637844026088715, + 51.426883697509766 + ], + [ + 0.0892043188214302, + -0.02014181949198246, + -0.9958096146583557, + 10.420001029968262 + ], + [ + 0.11094730347394943, + -0.9933724999427795, + 0.030031152069568634, + -6.743941783905029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2259, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_738469362", + "mask_path": "../../mask/hdr_left_02259.png" + }, + { + "file_path": "../../rgb/hdr_left_02260.png", + "transform_matrix": [ + [ + -0.9897336363792419, + -0.1082305908203125, + -0.09334512054920197, + 51.37373733520508 + ], + [ + 0.09579497575759888, + -0.017649823799729347, + -0.9952446222305298, + 10.41746997833252 + ], + [ + 0.10606838017702103, + -0.9939691424369812, + 0.027836570516228676, + -6.725533962249756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2260, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_838469505", + "mask_path": "../../mask/hdr_left_02260.png" + }, + { + "file_path": "../../rgb/hdr_left_02261.png", + "transform_matrix": [ + [ + -0.9866623282432556, + -0.1283012479543686, + -0.10018100589513779, + 51.322635650634766 + ], + [ + 0.10366427153348923, + -0.020748240873217583, + -0.994395911693573, + 10.417984962463379 + ], + [ + 0.12550364434719086, + -0.9915183186531067, + 0.033771757036447525, + -6.693602085113525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2261, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_938466548", + "mask_path": "../../mask/hdr_left_02261.png" + }, + { + "file_path": "../../rgb/hdr_left_02263.png", + "transform_matrix": [ + [ + -0.9866825342178345, + -0.13207142055034637, + -0.09494546800851822, + 51.22188949584961 + ], + [ + 0.09811138361692429, + -0.017659107223153114, + -0.995018720626831, + 10.39455509185791 + ], + [ + 0.12973687052726746, + -0.9910829663276672, + 0.030381644144654274, + -6.685025215148926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2263, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_138466119", + "mask_path": "../../mask/hdr_left_02263.png" + }, + { + "file_path": "../../rgb/hdr_left_02265.png", + "transform_matrix": [ + [ + -0.987265408039093, + -0.13340814411640167, + -0.08665597438812256, + 51.13335037231445 + ], + [ + 0.08927655220031738, + -0.013777020387351513, + -0.9959115982055664, + 10.390382766723633 + ], + [ + 0.1316688358783722, + -0.9909654259681702, + 0.025511793792247772, + -6.682858943939209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2265, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_338469266", + "mask_path": "../../mask/hdr_left_02265.png" + }, + { + "file_path": "../../rgb/hdr_left_02267.png", + "transform_matrix": [ + [ + -0.9855729341506958, + -0.13786987960338593, + -0.09817293286323547, + 51.0576171875 + ], + [ + 0.10323474556207657, + -0.030039461329579353, + -0.9942032694816589, + 10.391101837158203 + ], + [ + 0.1341216117143631, + -0.9899947643280029, + 0.04383904114365578, + -6.652078628540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2267, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_538469314", + "mask_path": "../../mask/hdr_left_02267.png" + }, + { + "file_path": "../../rgb/hdr_left_02269.png", + "transform_matrix": [ + [ + -0.9860868453979492, + -0.13415245711803436, + -0.09816201776266098, + 50.965274810791016 + ], + [ + 0.1047295480966568, + -0.042792126536369324, + -0.9935795664787292, + 10.374232292175293 + ], + [ + 0.1290905773639679, + -0.9900363683700562, + 0.056246478110551834, + -6.649491786956787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2269, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_738468647", + "mask_path": "../../mask/hdr_left_02269.png" + }, + { + "file_path": "../../rgb/hdr_left_02271.png", + "transform_matrix": [ + [ + -0.9878518581390381, + -0.13026201725006104, + -0.08473789691925049, + 50.88298034667969 + ], + [ + 0.09019135683774948, + -0.03654153272509575, + -0.9952538013458252, + 10.35500717163086 + ], + [ + 0.12654733657836914, + -0.9908060431480408, + 0.04784613102674484, + -6.642460346221924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2271, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_938469171", + "mask_path": "../../mask/hdr_left_02271.png" + }, + { + "file_path": "../../rgb/hdr_left_02273.png", + "transform_matrix": [ + [ + -0.9873955249786377, + -0.12483227998018265, + -0.09729805588722229, + 50.80478286743164 + ], + [ + 0.10302116721868515, + -0.04022562876343727, + -0.993865430355072, + 10.348048210144043 + ], + [ + 0.12015260756015778, + -0.9913621544837952, + 0.05257897078990936, + -6.629398345947266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2273, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_138468980", + "mask_path": "../../mask/hdr_left_02273.png" + }, + { + "file_path": "../../rgb/hdr_left_02275.png", + "transform_matrix": [ + [ + -0.9842590093612671, + -0.136659637093544, + -0.11206305027008057, + 50.714317321777344 + ], + [ + 0.11733077466487885, + -0.03109506145119667, + -0.9926059246063232, + 10.332597732543945 + ], + [ + 0.13216455280780792, + -0.9901300072669983, + 0.046639978885650635, + -6.605325698852539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2275, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_338468074", + "mask_path": "../../mask/hdr_left_02275.png" + }, + { + "file_path": "../../rgb/hdr_left_02276.png", + "transform_matrix": [ + [ + -0.9846886992454529, + -0.13665778934955597, + -0.10822595655918121, + 50.65525817871094 + ], + [ + 0.11428413540124893, + -0.03726912662386894, + -0.9927487969398499, + 10.317587852478027 + ], + [ + 0.13163337111473083, + -0.9899170398712158, + 0.05231630429625511, + -6.6137213706970215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2276, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_438468456", + "mask_path": "../../mask/hdr_left_02276.png" + }, + { + "file_path": "../../rgb/hdr_left_02277.png", + "transform_matrix": [ + [ + -0.9860938191413879, + -0.13943667709827423, + -0.09042304009199142, + 50.60409164428711 + ], + [ + 0.09615030884742737, + -0.034886207431554794, + -0.9947553277015686, + 10.29891586303711 + ], + [ + 0.1355508416891098, + -0.989616334438324, + 0.047807950526475906, + -6.591353893280029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2277, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_538469076", + "mask_path": "../../mask/hdr_left_02277.png" + }, + { + "file_path": "../../rgb/hdr_left_02278.png", + "transform_matrix": [ + [ + -0.9872938990592957, + -0.1442779153585434, + -0.0665929839015007, + 50.553829193115234 + ], + [ + 0.0705399438738823, + -0.022410476580262184, + -0.9972571134567261, + 10.283435821533203 + ], + [ + 0.14238980412483215, + -0.9892834424972534, + 0.032303083688020706, + -6.5655035972595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2278, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_638469219", + "mask_path": "../../mask/hdr_left_02278.png" + }, + { + "file_path": "../../rgb/hdr_left_02285.png", + "transform_matrix": [ + [ + -0.986588180065155, + -0.13216471672058105, + 0.095792256295681, + 50.25129318237305 + ], + [ + -0.09866854548454285, + 0.01537308655679226, + -0.9950016140937805, + 10.25202751159668 + ], + [ + 0.13003146648406982, + -0.9911086559295654, + -0.028207402676343918, + -6.540309906005859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2285, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_338469982", + "mask_path": "../../mask/hdr_left_02285.png" + }, + { + "file_path": "../../rgb/hdr_left_02286.png", + "transform_matrix": [ + [ + -0.9830378293991089, + -0.13000720739364624, + 0.12936285138130188, + 50.201297760009766 + ], + [ + -0.1315711885690689, + 0.008506856858730316, + -0.9912701845169067, + 10.231940269470215 + ], + [ + 0.12777179479599, + -0.9914765954017639, + -0.02546776458621025, + -6.526300430297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2286, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_438468694", + "mask_path": "../../mask/hdr_left_02286.png" + }, + { + "file_path": "../../rgb/hdr_left_02288.png", + "transform_matrix": [ + [ + -0.9780229926109314, + -0.13038408756256104, + 0.16269898414611816, + 50.13433074951172 + ], + [ + -0.1632460057735443, + -0.006553879473358393, + -0.9865636825561523, + 10.202269554138184 + ], + [ + 0.1296984851360321, + -0.9914419054985046, + -0.014874834567308426, + -6.516750812530518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2288, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_638470172", + "mask_path": "../../mask/hdr_left_02288.png" + }, + { + "file_path": "../../rgb/hdr_left_02290.png", + "transform_matrix": [ + [ + -0.9736828804016113, + -0.1271260380744934, + 0.1891571283340454, + 50.04689407348633 + ], + [ + -0.18851108849048615, + -0.017204847186803818, + -0.9819203019142151, + 10.144920349121094 + ], + [ + 0.1280820518732071, + -0.991737425327301, + -0.007212603464722633, + -6.503063201904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2290, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_838470220", + "mask_path": "../../mask/hdr_left_02290.png" + }, + { + "file_path": "../../rgb/hdr_left_02292.png", + "transform_matrix": [ + [ + -0.9718294143676758, + -0.12213831394910812, + 0.20156805217266083, + 49.972869873046875 + ], + [ + -0.20106694102287292, + -0.01654348336160183, + -0.9794377684593201, + 10.087002754211426 + ], + [ + 0.12296152114868164, + -0.9923751950263977, + -0.008480526506900787, + -6.500864505767822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2292, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_38470506", + "mask_path": "../../mask/hdr_left_02292.png" + }, + { + "file_path": "../../rgb/hdr_left_02293.png", + "transform_matrix": [ + [ + -0.9708986878395081, + -0.121158666908741, + 0.20658236742019653, + 49.923824310302734 + ], + [ + -0.20598630607128143, + -0.01756138727068901, + -0.9783972501754761, + 10.045999526977539 + ], + [ + 0.12216916680335999, + -0.9924778938293457, + -0.007906697690486908, + -6.49039888381958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2293, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_138469457", + "mask_path": "../../mask/hdr_left_02293.png" + }, + { + "file_path": "../../rgb/hdr_left_02294.png", + "transform_matrix": [ + [ + -0.9726833701133728, + -0.11766630411148071, + 0.20010417699813843, + 49.871585845947266 + ], + [ + -0.1988016813993454, + -0.02282518334686756, + -0.9797738790512085, + 10.023041725158691 + ], + [ + 0.11985377967357635, + -0.992790937423706, + -0.0011905771680176258, + -6.4784345626831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2294, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_238470792", + "mask_path": "../../mask/hdr_left_02294.png" + }, + { + "file_path": "../../rgb/hdr_left_02295.png", + "transform_matrix": [ + [ + -0.972843587398529, + -0.12531477212905884, + 0.19460570812225342, + 49.80149459838867 + ], + [ + -0.1924704760313034, + -0.029044725000858307, + -0.9808728098869324, + 9.990169525146484 + ], + [ + 0.12857012450695038, + -0.9916918277740479, + 0.004136578645557165, + -6.465020179748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2295, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_338471174", + "mask_path": "../../mask/hdr_left_02295.png" + }, + { + "file_path": "../../rgb/hdr_left_02296.png", + "transform_matrix": [ + [ + -0.9711563587188721, + -0.13171055912971497, + 0.1987650990486145, + 49.72829055786133 + ], + [ + -0.19591672718524933, + -0.034375064074993134, + -0.9800178408622742, + 9.953694343566895 + ], + [ + 0.1359112560749054, + -0.9906920790672302, + 0.0075792595744132996, + -6.459015369415283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2296, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_438469409", + "mask_path": "../../mask/hdr_left_02296.png" + }, + { + "file_path": "../../rgb/hdr_left_02297.png", + "transform_matrix": [ + [ + -0.9707303047180176, + -0.1294560581445694, + 0.20229601860046387, + 49.673561096191406 + ], + [ + -0.19927848875522614, + -0.03598986566066742, + -0.9792817831039429, + 9.929631233215332 + ], + [ + 0.13405457139015198, + -0.9909318685531616, + 0.009138650260865688, + -6.457013130187988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2297, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_538470029", + "mask_path": "../../mask/hdr_left_02297.png" + }, + { + "file_path": "../../rgb/hdr_left_02298.png", + "transform_matrix": [ + [ + -0.9717620611190796, + -0.12428821623325348, + 0.20057637989521027, + 49.61316680908203 + ], + [ + -0.1970171481370926, + -0.04042269289493561, + -0.9795663952827454, + 9.900988578796387 + ], + [ + 0.12985637784004211, + -0.9914224743843079, + 0.014794319868087769, + -6.447811603546143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2298, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_638468503", + "mask_path": "../../mask/hdr_left_02298.png" + }, + { + "file_path": "../../rgb/hdr_left_02299.png", + "transform_matrix": [ + [ + -0.9751181602478027, + -0.1145687848329544, + 0.18978528678417206, + 49.5577507019043 + ], + [ + -0.1860007345676422, + -0.042964477092027664, + -0.9816098213195801, + 9.87438678741455 + ], + [ + 0.12061585485935211, + -0.9924858212471008, + 0.0205855630338192, + -6.4360504150390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2299, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_738468170", + "mask_path": "../../mask/hdr_left_02299.png" + }, + { + "file_path": "../../rgb/hdr_left_02300.png", + "transform_matrix": [ + [ + -0.977321207523346, + -0.11588944494724274, + 0.17723675072193146, + 49.50027847290039 + ], + [ + -0.17301370203495026, + -0.045617736876010895, + -0.9838624000549316, + 9.850894927978516 + ], + [ + 0.12210440635681152, + -0.9922140836715698, + 0.02453272044658661, + -6.425142765045166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2300, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_838469743", + "mask_path": "../../mask/hdr_left_02300.png" + }, + { + "file_path": "../../rgb/hdr_left_02301.png", + "transform_matrix": [ + [ + -0.9785681366920471, + -0.11537192016839981, + 0.1705685704946518, + 49.42045211791992 + ], + [ + -0.16684433817863464, + -0.04127366840839386, + -0.9851189255714417, + 9.815669059753418 + ], + [ + 0.12069505453109741, + -0.992464542388916, + 0.021139947697520256, + -6.4200263023376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2301, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_938468217", + "mask_path": "../../mask/hdr_left_02301.png" + }, + { + "file_path": "../../rgb/hdr_left_02302.png", + "transform_matrix": [ + [ + -0.9782748818397522, + -0.10989300906658173, + 0.17578934133052826, + 49.336517333984375 + ], + [ + -0.1738053411245346, + -0.02745559997856617, + -0.984397292137146, + 9.778377532958984 + ], + [ + 0.11300476640462875, + -0.9935641288757324, + 0.007759131025522947, + -6.418953895568848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2302, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_38469552", + "mask_path": "../../mask/hdr_left_02302.png" + }, + { + "file_path": "../../rgb/hdr_left_02303.png", + "transform_matrix": [ + [ + -0.9777329564094543, + -0.11011216789484024, + 0.17864324152469635, + 49.27320098876953 + ], + [ + -0.17790980637073517, + -0.016529912129044533, + -0.98390793800354, + 9.754502296447754 + ], + [ + 0.11129318177700043, + -0.9937818646430969, + -0.003428193274885416, + -6.415233135223389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2303, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_138468265", + "mask_path": "../../mask/hdr_left_02303.png" + }, + { + "file_path": "../../rgb/hdr_left_02304.png", + "transform_matrix": [ + [ + -0.9774527549743652, + -0.11728249490261078, + 0.17558714747428894, + 49.19062805175781 + ], + [ + -0.17521242797374725, + -0.013579139485955238, + -0.9844370484352112, + 9.73563289642334 + ], + [ + 0.11784154921770096, + -0.9930058121681213, + -0.007276379968971014, + -6.390357494354248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2304, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_238469600", + "mask_path": "../../mask/hdr_left_02304.png" + }, + { + "file_path": "../../rgb/hdr_left_02305.png", + "transform_matrix": [ + [ + -0.9783392548561096, + -0.12425609678030014, + 0.1655680388212204, + 49.11729049682617 + ], + [ + -0.16413842141628265, + -0.021727701649069786, + -0.9861979484558105, + 9.724946022033691 + ], + [ + 0.12613852322101593, + -0.9920123219490051, + 0.000861861917655915, + -6.365536212921143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2305, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_338469505", + "mask_path": "../../mask/hdr_left_02305.png" + }, + { + "file_path": "../../rgb/hdr_left_02306.png", + "transform_matrix": [ + [ + -0.9793843626976013, + -0.12887398898601532, + 0.15555615723133087, + 49.0653190612793 + ], + [ + -0.15308471024036407, + -0.028927193954586983, + -0.9877896308898926, + 9.709535598754883 + ], + [ + 0.13180018961429596, + -0.9912390112876892, + 0.008602201007306576, + -6.360387325286865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2306, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_438469648", + "mask_path": "../../mask/hdr_left_02306.png" + }, + { + "file_path": "../../rgb/hdr_left_02307.png", + "transform_matrix": [ + [ + -0.9797474145889282, + -0.130525603890419, + 0.15184862911701202, + 48.999595642089844 + ], + [ + -0.14882084727287292, + -0.03270404785871506, + -0.9883232116699219, + 9.681812286376953 + ], + [ + 0.1339675635099411, + -0.9909055233001709, + 0.012616777792572975, + -6.355374336242676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2307, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_538469076", + "mask_path": "../../mask/hdr_left_02307.png" + }, + { + "file_path": "../../rgb/hdr_left_02308.png", + "transform_matrix": [ + [ + -0.9789590239524841, + -0.12861333787441254, + 0.158422589302063, + 48.92815399169922 + ], + [ + -0.15561828017234802, + -0.03163269907236099, + -0.987310528755188, + 9.65060043334961 + ], + [ + 0.1319926381111145, + -0.9911902546882629, + 0.010952540673315525, + -6.339955806732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2308, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_638469696", + "mask_path": "../../mask/hdr_left_02308.png" + }, + { + "file_path": "../../rgb/hdr_left_02309.png", + "transform_matrix": [ + [ + -0.9779996275901794, + -0.12698908150196075, + 0.16550025343894958, + 48.86881637573242 + ], + [ + -0.16339348256587982, + -0.02690446935594082, + -0.9861939549446106, + 9.625707626342773 + ], + [ + 0.1296885460615158, + -0.9915391802787781, + 0.005563382059335709, + -6.335174083709717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2309, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_738469362", + "mask_path": "../../mask/hdr_left_02309.png" + }, + { + "file_path": "../../rgb/hdr_left_02310.png", + "transform_matrix": [ + [ + -0.9777771234512329, + -0.12292729318141937, + 0.16982552409172058, + 48.80524826049805 + ], + [ + -0.16786248981952667, + -0.026230229064822197, + -0.9854613542556763, + 9.601874351501465 + ], + [ + 0.12559464573860168, + -0.9920690059661865, + 0.0050124432891607285, + -6.325250148773193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2310, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_838470220", + "mask_path": "../../mask/hdr_left_02310.png" + }, + { + "file_path": "../../rgb/hdr_left_02311.png", + "transform_matrix": [ + [ + -0.9793180227279663, + -0.11411938071250916, + 0.1670716404914856, + 48.74801254272461 + ], + [ + -0.16495148837566376, + -0.027842927724123, + -0.985908567905426, + 9.580643653869629 + ], + [ + 0.1171630397439003, + -0.9930768609046936, + 0.008442922495305538, + -6.314303398132324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2311, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_938469648", + "mask_path": "../../mask/hdr_left_02311.png" + }, + { + "file_path": "../../rgb/hdr_left_02312.png", + "transform_matrix": [ + [ + -0.9803075194358826, + -0.11124079674482346, + 0.1631644070148468, + 48.695106506347656 + ], + [ + -0.16083824634552002, + -0.029634343460202217, + -0.9865357279777527, + 9.553221702575684 + ], + [ + 0.11457828432321548, + -0.9933515787124634, + 0.011158992536365986, + -6.308962821960449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2312, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_38469314", + "mask_path": "../../mask/hdr_left_02312.png" + }, + { + "file_path": "../../rgb/hdr_left_02313.png", + "transform_matrix": [ + [ + -0.9795987010002136, + -0.1103682592511177, + 0.16794438660144806, + 48.634647369384766 + ], + [ + -0.16543833911418915, + -0.031550921499729156, + -0.9857153296470642, + 9.50967025756836 + ], + [ + 0.1140904650092125, + -0.993389904499054, + 0.012648102827370167, + -6.307806491851807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2313, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_138470649", + "mask_path": "../../mask/hdr_left_02313.png" + }, + { + "file_path": "../../rgb/hdr_left_02314.png", + "transform_matrix": [ + [ + -0.9780679941177368, + -0.11126057058572769, + 0.1760796755552292, + 48.575096130371094 + ], + [ + -0.17361240088939667, + -0.031564872711896896, + -0.984308123588562, + 9.467716217041016 + ], + [ + 0.11507260054349899, + -0.9932899475097656, + 0.011556380428373814, + -6.305360317230225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2314, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_238470315", + "mask_path": "../../mask/hdr_left_02314.png" + }, + { + "file_path": "../../rgb/hdr_left_02316.png", + "transform_matrix": [ + [ + -0.9807841777801514, + -0.09955043345689774, + 0.1677856594324112, + 48.485931396484375 + ], + [ + -0.16556836664676666, + -0.03019038774073124, + -0.9857361316680908, + 9.431376457214355 + ], + [ + 0.10319597274065018, + -0.9945744276046753, + 0.01312784943729639, + -6.296099662780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2316, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_438469648", + "mask_path": "../../mask/hdr_left_02316.png" + }, + { + "file_path": "../../rgb/hdr_left_02318.png", + "transform_matrix": [ + [ + -0.9850093126296997, + -0.09192311763763428, + 0.14596863090991974, + 48.40530776977539 + ], + [ + -0.14425434172153473, + -0.025061216205358505, + -0.9892231822013855, + 9.40500545501709 + ], + [ + 0.09459061920642853, + -0.9954506754875183, + 0.011425224132835865, + -6.27399206161499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2318, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_638470411", + "mask_path": "../../mask/hdr_left_02318.png" + }, + { + "file_path": "../../rgb/hdr_left_02319.png", + "transform_matrix": [ + [ + -0.9851054549217224, + -0.08757062256336212, + 0.14798177778720856, + 48.35736846923828 + ], + [ + -0.14641939103603363, + -0.024039510637521744, + -0.9889304041862488, + 9.373641014099121 + ], + [ + 0.09015866369009018, + -0.9958682656288147, + 0.010859422385692596, + -6.270324230194092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2319, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_738469600", + "mask_path": "../../mask/hdr_left_02319.png" + }, + { + "file_path": "../../rgb/hdr_left_02320.png", + "transform_matrix": [ + [ + -0.9836333394050598, + -0.08781352639198303, + 0.1573348343372345, + 48.314369201660156 + ], + [ + -0.15599429607391357, + -0.021967846900224686, + -0.9875136017799377, + 9.341628074645996 + ], + [ + 0.09017334878444672, + -0.995894730091095, + 0.007909898646175861, + -6.272895336151123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2320, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_838470220", + "mask_path": "../../mask/hdr_left_02320.png" + }, + { + "file_path": "../../rgb/hdr_left_02322.png", + "transform_matrix": [ + [ + -0.9838030934333801, + -0.09786304831504822, + 0.15018026530742645, + 48.24042510986328 + ], + [ + -0.14976181089878082, + -0.011649657040834427, + -0.9886534810066223, + 9.306172370910645 + ], + [ + 0.09850218147039413, + -0.9951317310333252, + -0.0031951761338859797, + -6.25588846206665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2322, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_38469314", + "mask_path": "../../mask/hdr_left_02322.png" + }, + { + "file_path": "../../rgb/hdr_left_02324.png", + "transform_matrix": [ + [ + -0.987912118434906, + -0.09400853514671326, + 0.12325575202703476, + 48.16176223754883 + ], + [ + -0.12194469571113586, + -0.019587792456150055, + -0.9923436045646667, + 9.272677421569824 + ], + [ + 0.09570307284593582, + -0.9953787326812744, + 0.007887177169322968, + -6.233731746673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2324, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_238468647", + "mask_path": "../../mask/hdr_left_02324.png" + }, + { + "file_path": "../../rgb/hdr_left_02326.png", + "transform_matrix": [ + [ + -0.9875878095626831, + -0.09526582807302475, + 0.12487867474555969, + 48.06159210205078 + ], + [ + -0.12297090888023376, + -0.025663672015070915, + -0.9920783638954163, + 9.223033905029297 + ], + [ + 0.09771601110696793, + -0.9951210021972656, + 0.013630205765366554, + -6.219110488891602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2326, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_438470602", + "mask_path": "../../mask/hdr_left_02326.png" + }, + { + "file_path": "../../rgb/hdr_left_02328.png", + "transform_matrix": [ + [ + -0.9859281182289124, + -0.11240517348051071, + 0.1237371414899826, + 48.009342193603516 + ], + [ + -0.12294551730155945, + -0.013973990455269814, + -0.9923149943351746, + 9.177935600280762 + ], + [ + 0.11327044665813446, + -0.9935641884803772, + -4.236162203596905e-05, + -6.208642959594727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2328, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_638468980", + "mask_path": "../../mask/hdr_left_02328.png" + }, + { + "file_path": "../../rgb/hdr_left_02330.png", + "transform_matrix": [ + [ + -0.9906657934188843, + -0.0941099226474762, + 0.09861237555742264, + 47.97699737548828 + ], + [ + -0.096572645008564, + -0.02599876932799816, + -0.9949862957000732, + 9.138005256652832 + ], + [ + 0.09620188921689987, + -0.9952223300933838, + 0.016667651012539864, + -6.205737590789795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2330, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_838468551", + "mask_path": "../../mask/hdr_left_02330.png" + }, + { + "file_path": "../../rgb/hdr_left_02332.png", + "transform_matrix": [ + [ + -0.9934617877006531, + -0.085391566157341, + 0.07577482610940933, + 47.88247299194336 + ], + [ + -0.07207668572664261, + -0.04559361934661865, + -0.9963564276695251, + 9.103710174560547 + ], + [ + 0.08853528648614883, + -0.9953038096427917, + 0.03914078325033188, + -6.206820011138916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2332, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594399_38469552", + "mask_path": "../../mask/hdr_left_02332.png" + }, + { + "file_path": "../../rgb/hdr_left_02333.png", + "transform_matrix": [ + [ + -0.9925606846809387, + -0.08835151791572571, + 0.08376872539520264, + 47.82686996459961 + ], + [ + -0.08019109070301056, + -0.043299730867147446, + -0.9958385825157166, + 9.070372581481934 + ], + [ + 0.09161101281642914, + -0.9951478838920593, + 0.035892605781555176, + -6.1962432861328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2333, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594399_138469219", + "mask_path": "../../mask/hdr_left_02333.png" + }, + { + "file_path": "../../rgb/hdr_left_02345.png", + "transform_matrix": [ + [ + -0.9591136574745178, + -0.0754619687795639, + 0.27277517318725586, + 47.651939392089844 + ], + [ + -0.2699081003665924, + -0.04608678072690964, + -0.9617825746536255, + 8.781279563903809 + ], + [ + 0.08514932543039322, + -0.9960830807685852, + 0.023834669962525368, + -6.1624298095703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2345, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_338469505", + "mask_path": "../../mask/hdr_left_02345.png" + }, + { + "file_path": "../../rgb/hdr_left_02347.png", + "transform_matrix": [ + [ + -0.9560860991477966, + -0.08263691514730453, + 0.28119441866874695, + 47.59624099731445 + ], + [ + -0.278057724237442, + -0.04752589017152786, + -0.9593878984451294, + 8.739294052124023 + ], + [ + 0.09264486283063889, + -0.9954459071159363, + 0.022461017593741417, + -6.152961254119873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2347, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_538469314", + "mask_path": "../../mask/hdr_left_02347.png" + }, + { + "file_path": "../../rgb/hdr_left_02349.png", + "transform_matrix": [ + [ + -0.9579576253890991, + -0.07118427753448486, + 0.2779389023780823, + 47.528076171875 + ], + [ + -0.2755447328090668, + -0.04169203341007233, + -0.9603837132453918, + 8.698164939880371 + ], + [ + 0.07995206117630005, + -0.9965915083885193, + 0.020324746146798134, + -6.148313045501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2349, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_738468170", + "mask_path": "../../mask/hdr_left_02349.png" + }, + { + "file_path": "../../rgb/hdr_left_02351.png", + "transform_matrix": [ + [ + -0.9624857306480408, + -0.0804765522480011, + 0.25912296772003174, + 47.44156265258789 + ], + [ + -0.25606000423431396, + -0.04647645354270935, + -0.9655429124832153, + 8.676383972167969 + ], + [ + 0.08974668383598328, + -0.9956724643707275, + 0.024126099422574043, + -6.1377854347229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2351, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_938468694", + "mask_path": "../../mask/hdr_left_02351.png" + }, + { + "file_path": "../../rgb/hdr_left_02352.png", + "transform_matrix": [ + [ + -0.9630388021469116, + -0.08003310114145279, + 0.2571983337402344, + 47.391361236572266 + ], + [ + -0.2542412579059601, + -0.04534617438912392, + -0.9660772085189819, + 8.659740447998047 + ], + [ + 0.08898109942674637, + -0.9957602620124817, + 0.02332240715622902, + -6.134451866149902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2352, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_38469552", + "mask_path": "../../mask/hdr_left_02352.png" + }, + { + "file_path": "../../rgb/hdr_left_02353.png", + "transform_matrix": [ + [ + -0.9608148336410522, + -0.08532076328992844, + 0.2637332081794739, + 47.34014892578125 + ], + [ + -0.2614544928073883, + -0.037063803523778915, + -0.9645039439201355, + 8.642874717712402 + ], + [ + 0.0920671597123146, + -0.9956640005111694, + 0.013303957879543304, + -6.1337080001831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2353, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_138469457", + "mask_path": "../../mask/hdr_left_02353.png" + }, + { + "file_path": "../../rgb/hdr_left_02355.png", + "transform_matrix": [ + [ + -0.9605196714401245, + -0.08499837666749954, + 0.2649097442626953, + 47.23686218261719 + ], + [ + -0.26340100169181824, + -0.028704127296805382, + -0.9642593860626221, + 8.611601829528809 + ], + [ + 0.0895644798874855, + -0.9959675669670105, + 0.00518221827223897, + -6.123925685882568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2355, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_338469266", + "mask_path": "../../mask/hdr_left_02355.png" + }, + { + "file_path": "../../rgb/hdr_left_02358.png", + "transform_matrix": [ + [ + -0.967082679271698, + -0.09112489968538284, + 0.23758642375469208, + 47.09807205200195 + ], + [ + -0.23520512878894806, + -0.03619382157921791, + -0.9712716341018677, + 8.577518463134766 + ], + [ + 0.09710616618394852, + -0.9951815605163574, + 0.01356937550008297, + -6.101336479187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2358, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_638468503", + "mask_path": "../../mask/hdr_left_02358.png" + }, + { + "file_path": "../../rgb/hdr_left_02359.png", + "transform_matrix": [ + [ + -0.9675845503807068, + -0.08728128671646118, + 0.23698566854000092, + 47.04397201538086 + ], + [ + -0.2348843514919281, + -0.033754780888557434, + -0.9714370369911194, + 8.552708625793457 + ], + [ + 0.09278766810894012, + -0.9956116676330566, + 0.01215959619730711, + -6.095003604888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2359, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_738470315", + "mask_path": "../../mask/hdr_left_02359.png" + }, + { + "file_path": "../../rgb/hdr_left_02361.png", + "transform_matrix": [ + [ + -0.9654562473297119, + -0.085200235247612, + 0.2462417483329773, + 46.960975646972656 + ], + [ + -0.24465709924697876, + -0.028729373589158058, + -0.9691838622093201, + 8.507349967956543 + ], + [ + 0.08964907377958298, + -0.9959495663642883, + 0.006892116274684668, + -6.097601890563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2361, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_938469886", + "mask_path": "../../mask/hdr_left_02361.png" + }, + { + "file_path": "../../rgb/hdr_left_02362.png", + "transform_matrix": [ + [ + -0.966206431388855, + -0.08016598224639893, + 0.24498698115348816, + 46.911800384521484 + ], + [ + -0.24349160492420197, + -0.028077762573957443, + -0.969496488571167, + 8.487343788146973 + ], + [ + 0.0845993161201477, + -0.9963860511779785, + 0.007609171327203512, + -6.092042446136475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2362, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_38470268", + "mask_path": "../../mask/hdr_left_02362.png" + }, + { + "file_path": "../../rgb/hdr_left_02364.png", + "transform_matrix": [ + [ + -0.9710230827331543, + -0.08184392005205154, + 0.22453418374061584, + 46.82320785522461 + ], + [ + -0.22190062701702118, + -0.040084440261125565, + -0.9742449522018433, + 8.449738502502441 + ], + [ + 0.08873634785413742, + -0.9958388209342957, + 0.020761702209711075, + -6.072488784790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2364, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_238471269", + "mask_path": "../../mask/hdr_left_02364.png" + }, + { + "file_path": "../../rgb/hdr_left_02365.png", + "transform_matrix": [ + [ + -0.9720708131790161, + -0.08546558022499084, + 0.21857285499572754, + 46.764835357666016 + ], + [ + -0.21551352739334106, + -0.04363158717751503, + -0.9755256175994873, + 8.418928146362305 + ], + [ + 0.092910535633564, + -0.9953853487968445, + 0.023993996903300285, + -6.060966968536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2365, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_338469982", + "mask_path": "../../mask/hdr_left_02365.png" + }, + { + "file_path": "../../rgb/hdr_left_02366.png", + "transform_matrix": [ + [ + -0.9713360071182251, + -0.08484654128551483, + 0.22205273807048798, + 46.706974029541016 + ], + [ + -0.21945033967494965, + -0.03897536173462868, + -0.9748448729515076, + 8.385236740112305 + ], + [ + 0.09136679768562317, + -0.9956315159797668, + 0.019238565117120743, + -6.050207138061523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2366, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_438471317", + "mask_path": "../../mask/hdr_left_02366.png" + }, + { + "file_path": "../../rgb/hdr_left_02368.png", + "transform_matrix": [ + [ + -0.97122722864151, + -0.08345292508602142, + 0.22305434942245483, + 46.62111282348633 + ], + [ + -0.22091232240200043, + -0.034195058047771454, + -0.9746940732002258, + 8.34899616241455 + ], + [ + 0.0889684185385704, + -0.9959248900413513, + 0.01477538887411356, + -6.049576759338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2368, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_638471841", + "mask_path": "../../mask/hdr_left_02368.png" + }, + { + "file_path": "../../rgb/hdr_left_02369.png", + "transform_matrix": [ + [ + -0.9738211035728455, + -0.08173027634620667, + 0.21211422979831696, + 46.57150650024414 + ], + [ + -0.21027955412864685, + -0.0305367149412632, + -0.9771642684936523, + 8.337483406066895 + ], + [ + 0.08634116500616074, + -0.9961866140365601, + 0.012551096267998219, + -6.031979560852051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2369, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_738470792", + "mask_path": "../../mask/hdr_left_02369.png" + }, + { + "file_path": "../../rgb/hdr_left_02371.png", + "transform_matrix": [ + [ + -0.9786189794540405, + -0.09163622558116913, + 0.18413984775543213, + 46.47587203979492 + ], + [ + -0.1809770166873932, + -0.04177546873688698, + -0.982599675655365, + 8.313841819763184 + ], + [ + 0.0977342426776886, + -0.9949159026145935, + 0.02429822087287903, + -6.016792297363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2371, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_938470125", + "mask_path": "../../mask/hdr_left_02371.png" + }, + { + "file_path": "../../rgb/hdr_left_02372.png", + "transform_matrix": [ + [ + -0.9795023798942566, + -0.09277398884296417, + 0.17879626154899597, + 46.41921615600586 + ], + [ + -0.17517560720443726, + -0.04586926847696304, + -0.9834680557250977, + 8.29041576385498 + ], + [ + 0.09944149851799011, + -0.9946300983428955, + 0.0286773182451725, + -6.005999565124512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2372, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_38470029", + "mask_path": "../../mask/hdr_left_02372.png" + }, + { + "file_path": "../../rgb/hdr_left_02373.png", + "transform_matrix": [ + [ + -0.978880763053894, + -0.09592346101999283, + 0.1805298626422882, + 46.372108459472656 + ], + [ + -0.1774631291627884, + -0.03966480493545532, + -0.9833277463912964, + 8.271031379699707 + ], + [ + 0.10148486495018005, + -0.9945982098579407, + 0.021804237738251686, + -6.000546932220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2373, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_138470172", + "mask_path": "../../mask/hdr_left_02373.png" + }, + { + "file_path": "../../rgb/hdr_left_02375.png", + "transform_matrix": [ + [ + -0.9798789620399475, + -0.09742525964975357, + 0.17419949173927307, + 46.274044036865234 + ], + [ + -0.17178986966609955, + -0.032662283629179, + -0.9845919609069824, + 8.24955940246582 + ], + [ + 0.10161388665437698, + -0.9947068691253662, + 0.015268412418663502, + -5.985757827758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2375, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_338469982", + "mask_path": "../../mask/hdr_left_02375.png" + }, + { + "file_path": "../../rgb/hdr_left_02383.png", + "transform_matrix": [ + [ + -0.9822319149971008, + -0.10858453810214996, + 0.15306821465492249, + 45.95707702636719 + ], + [ + -0.14833390712738037, + -0.05046149343252182, + -0.987649142742157, + 8.135356903076172 + ], + [ + 0.1149674654006958, + -0.9928057789802551, + 0.03345811739563942, + -5.919198036193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2383, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_138469696", + "mask_path": "../../mask/hdr_left_02383.png" + }, + { + "file_path": "../../rgb/hdr_left_02385.png", + "transform_matrix": [ + [ + -0.9818452596664429, + -0.11202491819858551, + 0.15306946635246277, + 45.88603210449219 + ], + [ + -0.1490292251110077, + -0.04364210367202759, + -0.9878692626953125, + 8.113839149475098 + ], + [ + 0.11734623461961746, + -0.9927465915679932, + 0.02615480311214924, + -5.913796424865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2385, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_338469266", + "mask_path": "../../mask/hdr_left_02385.png" + }, + { + "file_path": "../../rgb/hdr_left_02387.png", + "transform_matrix": [ + [ + -0.9846316576004028, + -0.10493157804012299, + 0.13960516452789307, + 45.8215446472168 + ], + [ + -0.1352425217628479, + -0.04763566330075264, + -0.989666759967804, + 8.100516319274902 + ], + [ + 0.11049747467041016, + -0.9933380484580994, + 0.03271237760782242, + -5.901121616363525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2387, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_538470506", + "mask_path": "../../mask/hdr_left_02387.png" + }, + { + "file_path": "../../rgb/hdr_left_02389.png", + "transform_matrix": [ + [ + -0.9834460616111755, + -0.10918191075325012, + 0.14461345970630646, + 45.7431755065918 + ], + [ + -0.1402360498905182, + -0.046800319105386734, + -0.9890114665031433, + 8.069091796875 + ], + [ + 0.11475010216236115, + -0.9929194450378418, + 0.03071434795856476, + -5.88972806930542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2389, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_738470315", + "mask_path": "../../mask/hdr_left_02389.png" + }, + { + "file_path": "../../rgb/hdr_left_02391.png", + "transform_matrix": [ + [ + -0.9840055704116821, + -0.10367396473884583, + 0.1448603868484497, + 45.67973327636719 + ], + [ + -0.14135882258415222, + -0.040399882942438126, + -0.9891336560249329, + 8.053644180297852 + ], + [ + 0.10839974135160446, + -0.9937905669212341, + 0.025098484009504318, + -5.884326457977295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2391, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_938469409", + "mask_path": "../../mask/hdr_left_02391.png" + }, + { + "file_path": "../../rgb/hdr_left_02393.png", + "transform_matrix": [ + [ + -0.9858257174491882, + -0.10553347319364548, + 0.13042284548282623, + 45.61100769042969 + ], + [ + -0.12615247070789337, + -0.04620456323027611, + -0.9909342527389526, + 8.035155296325684 + ], + [ + 0.11060286313295364, + -0.9933417439460754, + 0.03223634511232376, + -5.868734359741211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2393, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_138469934", + "mask_path": "../../mask/hdr_left_02393.png" + }, + { + "file_path": "../../rgb/hdr_left_02395.png", + "transform_matrix": [ + [ + -0.985985279083252, + -0.1094164103269577, + 0.12594068050384521, + 45.54068374633789 + ], + [ + -0.12184789776802063, + -0.04334595426917076, + -0.991601824760437, + 8.022676467895508 + ], + [ + 0.11395654082298279, + -0.9930504560470581, + 0.029406314715743065, + -5.8612189292907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2395, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_338469505", + "mask_path": "../../mask/hdr_left_02395.png" + }, + { + "file_path": "../../rgb/hdr_left_02397.png", + "transform_matrix": [ + [ + -0.9879961609840393, + -0.10154037177562714, + 0.11641809344291687, + 45.47761535644531 + ], + [ + -0.11171037703752518, + -0.05089755356311798, + -0.9924364686012268, + 8.013727188110352 + ], + [ + 0.10669775307178497, + -0.9935286045074463, + 0.03894348070025444, + -5.852427959442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2397, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_538469076", + "mask_path": "../../mask/hdr_left_02397.png" + }, + { + "file_path": "../../rgb/hdr_left_02399.png", + "transform_matrix": [ + [ + -0.986510694026947, + -0.1112288162112236, + 0.12010326981544495, + 45.3917121887207 + ], + [ + -0.11371222138404846, + -0.062144260853528976, + -0.9915682673454285, + 7.968778133392334 + ], + [ + 0.11775469779968262, + -0.991849958896637, + 0.04865790531039238, + -5.842811107635498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2399, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_738470554", + "mask_path": "../../mask/hdr_left_02399.png" + }, + { + "file_path": "../../rgb/hdr_left_02401.png", + "transform_matrix": [ + [ + -0.9875410199165344, + -0.10683304816484451, + 0.11553943902254105, + 45.323707580566406 + ], + [ + -0.10927996039390564, + -0.06271626055240631, + -0.9920305013656616, + 7.954562187194824 + ], + [ + 0.11322783678770065, + -0.9922970533370972, + 0.05026016756892204, + -5.839413166046143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2401, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_938469886", + "mask_path": "../../mask/hdr_left_02401.png" + }, + { + "file_path": "../../rgb/hdr_left_02403.png", + "transform_matrix": [ + [ + -0.9884867668151855, + -0.1039048284292221, + 0.10998911410570145, + 45.235816955566406 + ], + [ + -0.10272137075662613, + -0.0728967934846878, + -0.9920355081558228, + 7.92492151260376 + ], + [ + 0.1110951155424118, + -0.9919122457504272, + 0.06138426810503006, + -5.819480895996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2403, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_138470649", + "mask_path": "../../mask/hdr_left_02403.png" + }, + { + "file_path": "../../rgb/hdr_left_02404.png", + "transform_matrix": [ + [ + -0.9878718852996826, + -0.10360098630189896, + 0.11565487831830978, + 45.17973327636719 + ], + [ + -0.1084897518157959, + -0.07233070582151413, + -0.9914627075195312, + 7.899335861206055 + ], + [ + 0.11108191311359406, + -0.9919854998588562, + 0.06021382659673691, + -5.812051296234131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2404, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_238470315", + "mask_path": "../../mask/hdr_left_02404.png" + }, + { + "file_path": "../../rgb/hdr_left_02405.png", + "transform_matrix": [ + [ + -0.9870427846908569, + -0.10347788780927658, + 0.12263249605894089, + 45.13115692138672 + ], + [ + -0.11516197770833969, + -0.07533872127532959, + -0.9904855489730835, + 7.877326965332031 + ], + [ + 0.11173233389854431, + -0.9917743802070618, + 0.06244582682847977, + -5.8097920417785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2405, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_338470458", + "mask_path": "../../mask/hdr_left_02405.png" + }, + { + "file_path": "../../rgb/hdr_left_02407.png", + "transform_matrix": [ + [ + -0.9889743328094482, + -0.09199006855487823, + 0.11604971438646317, + 45.050411224365234 + ], + [ + -0.10866667330265045, + -0.0815827026963234, + -0.9907249212265015, + 7.841092586517334 + ], + [ + 0.10060448944568634, + -0.9924123287200928, + 0.0706869438290596, + -5.796346187591553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2407, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_538470506", + "mask_path": "../../mask/hdr_left_02407.png" + }, + { + "file_path": "../../rgb/hdr_left_02409.png", + "transform_matrix": [ + [ + -0.9898443222045898, + -0.09209652245044708, + 0.10828818380832672, + 44.95205307006836 + ], + [ + -0.10178720951080322, + -0.07258830219507217, + -0.9921543598175049, + 7.805671691894531 + ], + [ + 0.09923440963029861, + -0.9931008815765381, + 0.06247687339782715, + -5.781051158905029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2409, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_738470554", + "mask_path": "../../mask/hdr_left_02409.png" + }, + { + "file_path": "../../rgb/hdr_left_02410.png", + "transform_matrix": [ + [ + -0.9890182614326477, + -0.09400376677513123, + 0.1140442043542862, + 44.903175354003906 + ], + [ + -0.10763178765773773, + -0.07068819552659988, + -0.9916746616363525, + 7.787692546844482 + ], + [ + 0.10128271579742432, + -0.9930592179298401, + 0.05979413166642189, + -5.780195236206055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2410, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_838470458", + "mask_path": "../../mask/hdr_left_02410.png" + }, + { + "file_path": "../../rgb/hdr_left_02412.png", + "transform_matrix": [ + [ + -0.9903751611709595, + -0.08915197849273682, + 0.10587261617183685, + 44.810821533203125 + ], + [ + -0.10047478973865509, + -0.06301194429397583, + -0.992942214012146, + 7.772286415100098 + ], + [ + 0.0951940044760704, + -0.9940230250358582, + 0.05344793573021889, + -5.766162395477295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2412, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_38470506", + "mask_path": "../../mask/hdr_left_02412.png" + }, + { + "file_path": "../../rgb/hdr_left_02414.png", + "transform_matrix": [ + [ + -0.9914449453353882, + -0.09409075230360031, + 0.09046467393636703, + 44.71686553955078 + ], + [ + -0.08431641012430191, + -0.06739306449890137, + -0.9941573739051819, + 7.752249717712402 + ], + [ + 0.0996377021074295, + -0.9932799935340881, + 0.05888311192393303, + -5.747282981872559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2414, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_238470554", + "mask_path": "../../mask/hdr_left_02414.png" + }, + { + "file_path": "../../rgb/hdr_left_02415.png", + "transform_matrix": [ + [ + -0.991110622882843, + -0.09305749088525772, + 0.09507822245359421, + 44.65910339355469 + ], + [ + -0.08974365144968033, + -0.05993111804127693, + -0.9941601157188416, + 7.7316741943359375 + ], + [ + 0.09821216762065887, + -0.9938554763793945, + 0.05104704573750496, + -5.744134426116943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2415, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_338469982", + "mask_path": "../../mask/hdr_left_02415.png" + }, + { + "file_path": "../../rgb/hdr_left_02417.png", + "transform_matrix": [ + [ + -0.9907730221748352, + -0.09102354943752289, + 0.10041681677103043, + 44.57122039794922 + ], + [ + -0.0960950180888176, + -0.05069088563323021, + -0.9940805435180664, + 7.711406707763672 + ], + [ + 0.09557493776082993, + -0.9945578575134277, + 0.04147624969482422, + -5.739689826965332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2417, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_538470029", + "mask_path": "../../mask/hdr_left_02417.png" + }, + { + "file_path": "../../rgb/hdr_left_02419.png", + "transform_matrix": [ + [ + -0.9926873445510864, + -0.0895354300737381, + 0.08096395432949066, + 44.48362350463867 + ], + [ + -0.07667580246925354, + -0.050343550741672516, + -0.9957842230796814, + 7.700475215911865 + ], + [ + 0.09323397278785706, + -0.9947105646133423, + 0.043110206723213196, + -5.7267680168151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2419, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_738470077", + "mask_path": "../../mask/hdr_left_02419.png" + }, + { + "file_path": "../../rgb/hdr_left_02420.png", + "transform_matrix": [ + [ + -0.992683470249176, + -0.09204426407814026, + 0.07815010100603104, + 44.4261474609375 + ], + [ + -0.07302471250295639, + -0.05779844895005226, + -0.9956538677215576, + 7.6855010986328125 + ], + [ + 0.09616115689277649, + -0.9940760731697083, + 0.050654057413339615, + -5.713204860687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2420, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_838470220", + "mask_path": "../../mask/hdr_left_02420.png" + }, + { + "file_path": "../../rgb/hdr_left_02421.png", + "transform_matrix": [ + [ + -0.9917372465133667, + -0.09572151303291321, + 0.08540879189968109, + 44.36536407470703 + ], + [ + -0.07976911216974258, + -0.0612776093184948, + -0.9949280619621277, + 7.66203498840332 + ], + [ + 0.1004696637392044, + -0.9935202598571777, + 0.05313566327095032, + -5.69164514541626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2421, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_938469886", + "mask_path": "../../mask/hdr_left_02421.png" + }, + { + "file_path": "../../rgb/hdr_left_02423.png", + "transform_matrix": [ + [ + -0.9923339486122131, + -0.08059442788362503, + 0.09369060397148132, + 44.271244049072266 + ], + [ + -0.08892149478197098, + -0.06086290627717972, + -0.9941773414611816, + 7.628408908843994 + ], + [ + 0.08582741767168045, + -0.994887113571167, + 0.05322974547743797, + -5.691431522369385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2423, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_138468980", + "mask_path": "../../mask/hdr_left_02423.png" + }, + { + "file_path": "../../rgb/hdr_left_02425.png", + "transform_matrix": [ + [ + -0.9941034317016602, + -0.07503600418567657, + 0.07828129827976227, + 44.19287872314453 + ], + [ + -0.07345527410507202, + -0.06505455821752548, + -0.9951745271682739, + 7.6054816246032715 + ], + [ + 0.07976647466421127, + -0.9950565099716187, + 0.05915916711091995, + -5.6773362159729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2425, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_338469028", + "mask_path": "../../mask/hdr_left_02425.png" + }, + { + "file_path": "../../rgb/hdr_left_02426.png", + "transform_matrix": [ + [ + -0.9939143657684326, + -0.07726049423217773, + 0.07851667702198029, + 44.13997268676758 + ], + [ + -0.07374729216098785, + -0.06276331841945648, + -0.9952999353408813, + 7.58144474029541 + ], + [ + 0.08182532340288162, + -0.9950335025787354, + 0.05668361485004425, + -5.675461292266846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2426, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_438468933", + "mask_path": "../../mask/hdr_left_02426.png" + }, + { + "file_path": "../../rgb/hdr_left_02427.png", + "transform_matrix": [ + [ + -0.9931020736694336, + -0.07986276596784592, + 0.08584979921579361, + 44.0922737121582 + ], + [ + -0.08103597909212112, + -0.06168638542294502, + -0.9948004484176636, + 7.559994220733643 + ], + [ + 0.08474328368902206, + -0.994895339012146, + 0.05478912219405174, + -5.678040504455566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2427, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_538469314", + "mask_path": "../../mask/hdr_left_02427.png" + }, + { + "file_path": "../../rgb/hdr_left_02429.png", + "transform_matrix": [ + [ + -0.9934288859367371, + -0.07574165612459183, + 0.0858035534620285, + 44.009681701660156 + ], + [ + -0.08189435303211212, + -0.05329662188887596, + -0.9952148795127869, + 7.543849468231201 + ], + [ + 0.07995226234197617, + -0.9957020878791809, + 0.04674358665943146, + -5.6757426261901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2429, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_738468885", + "mask_path": "../../mask/hdr_left_02429.png" + }, + { + "file_path": "../../rgb/hdr_left_02431.png", + "transform_matrix": [ + [ + -0.9954187870025635, + -0.07265416532754898, + 0.06215030327439308, + 43.92570877075195 + ], + [ + -0.05838127061724663, + -0.0528988279402256, + -0.9968918561935425, + 7.525284290313721 + ], + [ + 0.07571601867675781, + -0.995953381061554, + 0.04841484874486923, + -5.668766498565674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2431, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_938469409", + "mask_path": "../../mask/hdr_left_02431.png" + }, + { + "file_path": "../../rgb/hdr_left_02432.png", + "transform_matrix": [ + [ + -0.995877206325531, + -0.06912538409233093, + 0.058739177882671356, + 43.865272521972656 + ], + [ + -0.05573514848947525, + -0.04461365193128586, + -0.9974483251571655, + 7.505553245544434 + ], + [ + 0.07156956940889359, + -0.9966099262237549, + 0.040577009320259094, + -5.664590358734131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2432, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_38468360", + "mask_path": "../../mask/hdr_left_02432.png" + }, + { + "file_path": "../../rgb/hdr_left_02433.png", + "transform_matrix": [ + [ + -0.9955044984817505, + -0.0698079913854599, + 0.0640128031373024, + 43.81110763549805 + ], + [ + -0.06133387237787247, + -0.039868198335170746, + -0.997320830821991, + 7.486491680145264 + ], + [ + 0.07217302173376083, + -0.9967634677886963, + 0.035407375544309616, + -5.671900749206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2433, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_138469219", + "mask_path": "../../mask/hdr_left_02433.png" + }, + { + "file_path": "../../rgb/hdr_left_02434.png", + "transform_matrix": [ + [ + -0.9954354763031006, + -0.06874706596136093, + 0.06619662046432495, + 43.76166915893555 + ], + [ + -0.06384999305009842, + -0.03579043969511986, + -0.9973174929618835, + 7.473073482513428 + ], + [ + 0.07093185931444168, + -0.9969919919967651, + 0.03123757801949978, + -5.673586845397949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2434, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_238467693", + "mask_path": "../../mask/hdr_left_02434.png" + }, + { + "file_path": "../../rgb/hdr_left_02435.png", + "transform_matrix": [ + [ + -0.99560546875, + -0.06809742003679276, + 0.06428337097167969, + 43.703922271728516 + ], + [ + -0.06229006126523018, + -0.031002912670373917, + -0.9975764155387878, + 7.463497638702393 + ], + [ + 0.06992535293102264, + -0.9971969127655029, + 0.026624880731105804, + -5.658270359039307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2435, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_338469266", + "mask_path": "../../mask/hdr_left_02435.png" + }, + { + "file_path": "../../rgb/hdr_left_02436.png", + "transform_matrix": [ + [ + -0.9963154792785645, + -0.068142831325531, + 0.05207842215895653, + 43.64860534667969 + ], + [ + -0.050443217158317566, + -0.025502467527985573, + -0.9984012246131897, + 7.455090045928955 + ], + [ + 0.06936202198266983, + -0.9973496198654175, + 0.02197115868330002, + -5.631367206573486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2436, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_438469171", + "mask_path": "../../mask/hdr_left_02436.png" + }, + { + "file_path": "../../rgb/hdr_left_02437.png", + "transform_matrix": [ + [ + -0.99588543176651, + -0.08163142204284668, + 0.03934946283698082, + 43.599342346191406 + ], + [ + -0.03722983971238136, + -0.02732747420668602, + -0.9989330768585205, + 7.444037914276123 + ], + [ + 0.08261963725090027, + -0.9962879419326782, + 0.024175910279154778, + -5.611796855926514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2437, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_538470029", + "mask_path": "../../mask/hdr_left_02437.png" + }, + { + "file_path": "../../rgb/hdr_left_02438.png", + "transform_matrix": [ + [ + -0.9953904747962952, + -0.09027720242738724, + 0.03236757218837738, + 43.536773681640625 + ], + [ + -0.02993405982851982, + -0.02818111516535282, + -0.9991545081138611, + 7.430169105529785 + ], + [ + 0.09111301600933075, + -0.995517909526825, + 0.025348853319883347, + -5.589813232421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2438, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_638468027", + "mask_path": "../../mask/hdr_left_02438.png" + }, + { + "file_path": "../../rgb/hdr_left_02439.png", + "transform_matrix": [ + [ + -0.9949561953544617, + -0.09522341191768646, + 0.0315382219851017, + 43.4682731628418 + ], + [ + -0.02902577817440033, + -0.02765554189682007, + -0.9991960525512695, + 7.415802478790283 + ], + [ + 0.09601905196905136, + -0.9950717091560364, + 0.024752117693424225, + -5.566874980926514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2439, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_738469123", + "mask_path": "../../mask/hdr_left_02439.png" + }, + { + "file_path": "../../rgb/hdr_left_02440.png", + "transform_matrix": [ + [ + -0.9941306710243225, + -0.10258997231721878, + 0.034342750906944275, + 43.41706848144531 + ], + [ + -0.031904809176921844, + -0.025311235338449478, + -0.9991703629493713, + 7.397008419036865 + ], + [ + 0.10337410867214203, + -0.994401752948761, + 0.021889561787247658, + -5.557894706726074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2440, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_838469266", + "mask_path": "../../mask/hdr_left_02440.png" + }, + { + "file_path": "../../rgb/hdr_left_02442.png", + "transform_matrix": [ + [ + -0.9950307011604309, + -0.0936853289604187, + 0.033717572689056396, + 43.3304443359375 + ], + [ + -0.030770232900977135, + -0.03272862732410431, + -0.9989904761314392, + 7.361187934875488 + ], + [ + 0.09469426423311234, + -0.9950637817382812, + 0.029683273285627365, + -5.559017181396484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2442, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_38470029", + "mask_path": "../../mask/hdr_left_02442.png" + }, + { + "file_path": "../../rgb/hdr_left_02443.png", + "transform_matrix": [ + [ + -0.9956249594688416, + -0.08926647901535034, + 0.027612533420324326, + 43.275604248046875 + ], + [ + -0.02438659965991974, + -0.03702889382839203, + -0.9990165829658508, + 7.346340179443359 + ], + [ + 0.09020114690065384, + -0.9953193068504333, + 0.03468998149037361, + -5.554046630859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2443, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_138469219", + "mask_path": "../../mask/hdr_left_02443.png" + }, + { + "file_path": "../../rgb/hdr_left_02444.png", + "transform_matrix": [ + [ + -0.9958376884460449, + -0.08994639664888382, + 0.014726967550814152, + 43.22709655761719 + ], + [ + -0.011326477862894535, + -0.038199905306100845, + -0.9992058873176575, + 7.336154937744141 + ], + [ + 0.09043753892183304, + -0.9952137470245361, + 0.03702212870121002, + -5.5469818115234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2444, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_238469600", + "mask_path": "../../mask/hdr_left_02444.png" + }, + { + "file_path": "../../rgb/hdr_left_02446.png", + "transform_matrix": [ + [ + -0.9941778779029846, + -0.10773307085037231, + -0.001924783457070589, + 43.092010498046875 + ], + [ + 0.006859119050204754, + -0.04544970020651817, + -0.998943030834198, + 7.298624515533447 + ], + [ + 0.10753171145915985, + -0.993140459060669, + 0.04592404514551163, + -5.533120632171631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2446, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_438468933", + "mask_path": "../../mask/hdr_left_02446.png" + }, + { + "file_path": "../../rgb/hdr_left_02447.png", + "transform_matrix": [ + [ + -0.993533730506897, + -0.11350856721401215, + -0.0025432310067117214, + 43.0284538269043 + ], + [ + 0.007278516422957182, + -0.041322458535432816, + -0.9991194009780884, + 7.276274681091309 + ], + [ + 0.11330349743366241, + -0.9926773905754089, + 0.04188143089413643, + -5.519238471984863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2447, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_538471460", + "mask_path": "../../mask/hdr_left_02447.png" + }, + { + "file_path": "../../rgb/hdr_left_02448.png", + "transform_matrix": [ + [ + -0.9934669137001038, + -0.11403055489063263, + -0.004520658869296312, + 42.972389221191406 + ], + [ + 0.008552485145628452, + -0.034893110394477844, + -0.9993544816970825, + 7.263405799865723 + ], + [ + 0.11379919201135635, + -0.9928643107414246, + 0.03564039617776871, + -5.524280071258545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2448, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_638469696", + "mask_path": "../../mask/hdr_left_02448.png" + }, + { + "file_path": "../../rgb/hdr_left_02449.png", + "transform_matrix": [ + [ + -0.9929624795913696, + -0.11808305978775024, + -0.009044337086379528, + 42.89986038208008 + ], + [ + 0.012236660346388817, + -0.02633751556277275, + -0.9995782375335693, + 7.256973743438721 + ], + [ + 0.11779504269361496, + -0.9926544427871704, + 0.027597105130553246, + -5.518601894378662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2449, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_738469123", + "mask_path": "../../mask/hdr_left_02449.png" + }, + { + "file_path": "../../rgb/hdr_left_02450.png", + "transform_matrix": [ + [ + -0.9927310943603516, + -0.11849010735750198, + -0.02109546773135662, + 42.84251022338867 + ], + [ + 0.02445928566157818, + -0.027006657794117928, + -0.9993360042572021, + 7.255831241607666 + ], + [ + 0.1178416982293129, + -0.9925879240036011, + 0.029708532616496086, + -5.502474308013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2450, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_838469266", + "mask_path": "../../mask/hdr_left_02450.png" + }, + { + "file_path": "../../rgb/hdr_left_02451.png", + "transform_matrix": [ + [ + -0.9915621876716614, + -0.12552495300769806, + -0.03237210586667061, + 42.788780212402344 + ], + [ + 0.03590274602174759, + -0.025966711342334747, + -0.9990178346633911, + 7.256119728088379 + ], + [ + 0.12456104904413223, + -0.9917505979537964, + 0.030254298821091652, + -5.4958906173706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2451, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_938469409", + "mask_path": "../../mask/hdr_left_02451.png" + }, + { + "file_path": "../../rgb/hdr_left_02452.png", + "transform_matrix": [ + [ + -0.9908589720726013, + -0.1282540261745453, + -0.041824422776699066, + 42.720890045166016 + ], + [ + 0.04488522559404373, + -0.02106715738773346, + -0.998769998550415, + 7.2476630210876465 + ], + [ + 0.12721514701843262, + -0.9915176033973694, + 0.026631293818354607, + -5.493346691131592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2452, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_38470268", + "mask_path": "../../mask/hdr_left_02452.png" + }, + { + "file_path": "../../rgb/hdr_left_02453.png", + "transform_matrix": [ + [ + -0.9918308854103088, + -0.11988264322280884, + -0.0435851588845253, + 42.65636444091797 + ], + [ + 0.0442810095846653, + -0.0031455098651349545, + -0.999014139175415, + 7.24167013168335 + ], + [ + 0.11962734907865524, + -0.9927831292152405, + 0.008428339846432209, + -5.48525857925415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2453, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_138469934", + "mask_path": "../../mask/hdr_left_02453.png" + }, + { + "file_path": "../../rgb/hdr_left_02455.png", + "transform_matrix": [ + [ + -0.9924471378326416, + -0.11253249645233154, + -0.04883620887994766, + 42.546875 + ], + [ + 0.04795241355895996, + 0.010548845864832401, + -0.99879390001297, + 7.233207702636719 + ], + [ + 0.11291192471981049, + -0.9935920834541321, + -0.005072965752333403, + -5.484505653381348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2455, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_338469982", + "mask_path": "../../mask/hdr_left_02455.png" + }, + { + "file_path": "../../rgb/hdr_left_02456.png", + "transform_matrix": [ + [ + -0.991279661655426, + -0.11845391243696213, + -0.05773378163576126, + 42.48375701904297 + ], + [ + 0.05645104870200157, + 0.014158750884234905, + -0.9983049631118774, + 7.2358880043029785 + ], + [ + 0.11907055974006653, + -0.9928586483001709, + -0.007348437327891588, + -5.456150054931641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2456, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_438471555", + "mask_path": "../../mask/hdr_left_02456.png" + }, + { + "file_path": "../../rgb/hdr_left_02459.png", + "transform_matrix": [ + [ + -0.9892521500587463, + -0.12441988289356232, + -0.07681027054786682, + 42.339866638183594 + ], + [ + 0.0786706730723381, + -0.010101721622049809, + -0.9968493580818176, + 7.200926780700684 + ], + [ + 0.12325198948383331, + -0.9921783208847046, + 0.01978135295212269, + -5.4245476722717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2459, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_738470315", + "mask_path": "../../mask/hdr_left_02459.png" + }, + { + "file_path": "../../rgb/hdr_left_02467.png", + "transform_matrix": [ + [ + -0.99303138256073, + -0.11606212705373764, + -0.02045297995209694, + 42.002418518066406 + ], + [ + 0.021470094099640846, + -0.007519798818975687, + -0.99974125623703, + 7.122310161590576 + ], + [ + 0.11587828397750854, + -0.9932134747505188, + 0.009959257207810879, + -5.367582321166992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2467, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594412_538470268", + "mask_path": "../../mask/hdr_left_02467.png" + }, + { + "file_path": "../../rgb/hdr_left_02469.png", + "transform_matrix": [ + [ + -0.9936928749084473, + -0.11160673946142197, + 0.010879081673920155, + 41.90496063232422 + ], + [ + -0.01037976797670126, + -0.0050539253279566765, + -0.9999333024024963, + 7.102044105529785 + ], + [ + 0.11165427416563034, + -0.993739664554596, + 0.003863599384203553, + -5.360123634338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2469, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594412_738470077", + "mask_path": "../../mask/hdr_left_02469.png" + }, + { + "file_path": "../../rgb/hdr_left_02474.png", + "transform_matrix": [ + [ + -0.9900212287902832, + -0.12114381790161133, + 0.07198585569858551, + 41.686397552490234 + ], + [ + -0.07129450887441635, + -0.010037004947662354, + -0.9974048733711243, + 7.036559104919434 + ], + [ + 0.12155193090438843, + -0.9925842881202698, + 0.0012999542523175478, + -5.319243431091309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2474, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_238469123", + "mask_path": "../../mask/hdr_left_02474.png" + }, + { + "file_path": "../../rgb/hdr_left_02476.png", + "transform_matrix": [ + [ + -0.9865367412567139, + -0.11491658538579941, + 0.11635836213827133, + 41.60509490966797 + ], + [ + -0.11582131683826447, + -0.011362599208950996, + -0.9932050704956055, + 6.997065544128418 + ], + [ + 0.11545786261558533, + -0.9933102130889893, + -0.00210016081109643, + -5.318968772888184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2476, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_438470602", + "mask_path": "../../mask/hdr_left_02476.png" + }, + { + "file_path": "../../rgb/hdr_left_02477.png", + "transform_matrix": [ + [ + -0.984096884727478, + -0.11572631448507309, + 0.1347612738609314, + 41.55552673339844 + ], + [ + -0.13434907793998718, + -0.011390911415219307, + -0.9908685684204102, + 6.981245517730713 + ], + [ + 0.11620460450649261, + -0.9932158589363098, + -0.004337961319833994, + -5.296843528747559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2477, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_538470268", + "mask_path": "../../mask/hdr_left_02477.png" + }, + { + "file_path": "../../rgb/hdr_left_02479.png", + "transform_matrix": [ + [ + -0.977786660194397, + -0.1252841055393219, + 0.16803888976573944, + 41.47966766357422 + ], + [ + -0.1655372977256775, + -0.030193086713552475, + -0.9857412576675415, + 6.942953109741211 + ], + [ + 0.12857133150100708, + -0.9916614294052124, + 0.008783206343650818, + -5.275712966918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2479, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_738469123", + "mask_path": "../../mask/hdr_left_02479.png" + }, + { + "file_path": "../../rgb/hdr_left_02481.png", + "transform_matrix": [ + [ + -0.9676262736320496, + -0.11898376047611237, + 0.22258085012435913, + 41.39228820800781 + ], + [ + -0.22107772529125214, + -0.02585584856569767, + -0.9749132990837097, + 6.8840765953063965 + ], + [ + 0.12175387144088745, + -0.992559552192688, + -0.001285854377783835, + -5.25890588760376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2481, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_938470125", + "mask_path": "../../mask/hdr_left_02481.png" + }, + { + "file_path": "../../rgb/hdr_left_02483.png", + "transform_matrix": [ + [ + -0.9487407207489014, + -0.1078978106379509, + 0.29706740379333496, + 41.34260940551758 + ], + [ + -0.2958521544933319, + -0.02747410722076893, + -0.9548385739326477, + 6.809299468994141 + ], + [ + 0.11118663102388382, + -0.9937823414802551, + -0.005855994764715433, + -5.262038230895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2483, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_138468503", + "mask_path": "../../mask/hdr_left_02483.png" + }, + { + "file_path": "../../rgb/hdr_left_02485.png", + "transform_matrix": [ + [ + -0.9318718314170837, + -0.09299945086240768, + 0.350664883852005, + 41.284385681152344 + ], + [ + -0.3481299877166748, + -0.04274243116378784, + -0.9364714622497559, + 6.7443156242370605 + ], + [ + 0.10207957029342651, + -0.9947482943534851, + 0.007454568985849619, + -5.250668525695801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2485, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_338469028", + "mask_path": "../../mask/hdr_left_02485.png" + }, + { + "file_path": "../../rgb/hdr_left_02487.png", + "transform_matrix": [ + [ + -0.9106311202049255, + -0.09032395482063293, + 0.40322789549827576, + 41.216217041015625 + ], + [ + -0.3993771970272064, + -0.058079835027456284, + -0.914945125579834, + 6.663261413574219 + ], + [ + 0.10606085509061813, + -0.9942175149917603, + 0.016815973445773125, + -5.24135684967041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2487, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_538468599", + "mask_path": "../../mask/hdr_left_02487.png" + }, + { + "file_path": "../../rgb/hdr_left_02488.png", + "transform_matrix": [ + [ + -0.8937835097312927, + -0.08794499933719635, + 0.4397917091846466, + 41.18503952026367 + ], + [ + -0.43699315190315247, + -0.04992058873176575, + -0.8980785012245178, + 6.6161041259765625 + ], + [ + 0.1009361669421196, + -0.9948737025260925, + 0.006186831276863813, + -5.2365546226501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2488, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_638468980", + "mask_path": "../../mask/hdr_left_02488.png" + }, + { + "file_path": "../../rgb/hdr_left_02490.png", + "transform_matrix": [ + [ + -0.856146514415741, + -0.08381709456443787, + 0.509890079498291, + 41.13194274902344 + ], + [ + -0.5076732635498047, + -0.047530610114336014, + -0.8602375984191895, + 6.542757987976074 + ], + [ + 0.09633799642324448, + -0.9953470230102539, + -0.0018585288198664784, + -5.234313488006592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2490, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_838471412", + "mask_path": "../../mask/hdr_left_02490.png" + }, + { + "file_path": "../../rgb/hdr_left_02491.png", + "transform_matrix": [ + [ + -0.842170238494873, + -0.08880610018968582, + 0.5318484306335449, + 41.0948600769043 + ], + [ + -0.5296344757080078, + -0.04883546754717827, + -0.8468189239501953, + 6.504872798919678 + ], + [ + 0.10117575526237488, + -0.9948511123657227, + -0.005906993523240089, + -5.207838535308838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2491, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_938470125", + "mask_path": "../../mask/hdr_left_02491.png" + }, + { + "file_path": "../../rgb/hdr_left_02493.png", + "transform_matrix": [ + [ + -0.8161348700523376, + -0.0838666558265686, + 0.5717433094978333, + 41.03782272338867 + ], + [ + -0.5676973462104797, + -0.06839164346456528, + -0.8203915953636169, + 6.42584753036499 + ], + [ + 0.10790595412254333, + -0.9941272139549255, + 0.008205920457839966, + -5.193270683288574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2493, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_138469934", + "mask_path": "../../mask/hdr_left_02493.png" + }, + { + "file_path": "../../rgb/hdr_left_02494.png", + "transform_matrix": [ + [ + -0.7947449088096619, + -0.08111193776130676, + 0.6014991402626038, + 41.009735107421875 + ], + [ + -0.5980885624885559, + -0.06400628387928009, + -0.7988699078559875, + 6.364302635192871 + ], + [ + 0.10329760611057281, + -0.994647741317749, + 0.002356546465307474, + -5.187007904052734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2494, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_238469362", + "mask_path": "../../mask/hdr_left_02494.png" + }, + { + "file_path": "../../rgb/hdr_left_02501.png", + "transform_matrix": [ + [ + -0.6686710119247437, + -0.06266259402036667, + 0.7409132719039917, + 40.87920379638672 + ], + [ + -0.738401472568512, + -0.061191413551568985, + -0.6715793609619141, + 6.04579496383667 + ], + [ + 0.08742043375968933, + -0.996157169342041, + -0.005353223066776991, + -5.163549423217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2501, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_938470125", + "mask_path": "../../mask/hdr_left_02501.png" + }, + { + "file_path": "../../rgb/hdr_left_02503.png", + "transform_matrix": [ + [ + -0.6259021759033203, + -0.06285704672336578, + 0.7773643732070923, + 40.85301971435547 + ], + [ + -0.7757033705711365, + -0.05310893431305885, + -0.6288590431213379, + 5.958076000213623 + ], + [ + 0.0808132141828537, + -0.9966084957122803, + -0.015517430379986763, + -5.160830020904541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2503, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_138469457", + "mask_path": "../../mask/hdr_left_02503.png" + }, + { + "file_path": "../../rgb/hdr_left_02505.png", + "transform_matrix": [ + [ + -0.6011738181114197, + -0.05932097136974335, + 0.7969134449958801, + 40.82003402709961 + ], + [ + -0.7946683764457703, + -0.06071513146162033, + -0.6039997935295105, + 5.88559627532959 + ], + [ + 0.08421454578638077, + -0.9963908791542053, + -0.010640150867402554, + -5.1444292068481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2505, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_338469505", + "mask_path": "../../mask/hdr_left_02505.png" + }, + { + "file_path": "../../rgb/hdr_left_02507.png", + "transform_matrix": [ + [ + -0.5582095980644226, + -0.05538657680153847, + 0.827849268913269, + 40.80369567871094 + ], + [ + -0.8245701789855957, + -0.07374708354473114, + -0.5609325766563416, + 5.792614459991455 + ], + [ + 0.09211959689855576, + -0.9957379102706909, + -0.004503783769905567, + -5.143399238586426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2507, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_538469076", + "mask_path": "../../mask/hdr_left_02507.png" + }, + { + "file_path": "../../rgb/hdr_left_02509.png", + "transform_matrix": [ + [ + -0.4875841736793518, + -0.06297555565834045, + 0.8708018064498901, + 40.80143737792969 + ], + [ + -0.8685030341148376, + -0.06696425378322601, + -0.49113985896110535, + 5.699314117431641 + ], + [ + 0.08924239128828049, + -0.9957659840583801, + -0.022043747827410698, + -5.150583744049072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2509, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_738469362", + "mask_path": "../../mask/hdr_left_02509.png" + }, + { + "file_path": "../../rgb/hdr_left_02511.png", + "transform_matrix": [ + [ + -0.45577871799468994, + -0.04859201982617378, + 0.8887656927108765, + 40.788387298583984 + ], + [ + -0.8872371912002563, + -0.055120307952165604, + -0.4580084979534149, + 5.618583679199219 + ], + [ + 0.07124460488557816, + -0.9972966909408569, + -0.017989983782172203, + -5.138058662414551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2511, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_938469171", + "mask_path": "../../mask/hdr_left_02511.png" + }, + { + "file_path": "../../rgb/hdr_left_02513.png", + "transform_matrix": [ + [ + -0.4491521120071411, + -0.0404185876250267, + 0.8925406336784363, + 40.7701301574707 + ], + [ + -0.8905887603759766, + -0.059704504907131195, + -0.45087358355522156, + 5.541662216186523 + ], + [ + 0.071512371301651, + -0.9973975419998169, + -0.009179930202662945, + -5.132450103759766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2513, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_138468980", + "mask_path": "../../mask/hdr_left_02513.png" + }, + { + "file_path": "../../rgb/hdr_left_02514.png", + "transform_matrix": [ + [ + -0.4336753189563751, + -0.04155794158577919, + 0.9001103043556213, + 40.7684440612793 + ], + [ + -0.8985928893089294, + -0.05406120419502258, + -0.43544021248817444, + 5.485212326049805 + ], + [ + 0.06675705313682556, + -0.9976724982261658, + -0.013898651115596294, + -5.129754066467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2514, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_238469600", + "mask_path": "../../mask/hdr_left_02514.png" + }, + { + "file_path": "../../rgb/hdr_left_02520.png", + "transform_matrix": [ + [ + -0.3921690583229065, + -0.05666187033057213, + 0.9181463718414307, + 40.7275390625 + ], + [ + -0.9174568057060242, + -0.048501696437597275, + -0.3948677182197571, + 5.229979991912842 + ], + [ + 0.06690559536218643, + -0.997214674949646, + -0.03296395018696785, + -5.105221271514893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2520, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_838469266", + "mask_path": "../../mask/hdr_left_02520.png" + }, + { + "file_path": "../../rgb/hdr_left_02522.png", + "transform_matrix": [ + [ + -0.38251322507858276, + -0.06540827453136444, + 0.921631932258606, + 40.71001052856445 + ], + [ + -0.9218921065330505, + -0.03951822593808174, + -0.3854258358478546, + 5.148009777069092 + ], + [ + 0.06163129583001137, + -0.9970757961273193, + -0.04518313333392143, + -5.108079433441162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2522, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_38467407", + "mask_path": "../../mask/hdr_left_02522.png" + }, + { + "file_path": "../../rgb/hdr_left_02524.png", + "transform_matrix": [ + [ + -0.38917186856269836, + -0.05685330927371979, + 0.9194090366363525, + 40.694374084472656 + ], + [ + -0.9191850423812866, + -0.04143913835287094, + -0.3916395604610443, + 5.08864688873291 + ], + [ + 0.06036552041769028, + -0.9975221753120422, + -0.03613176569342613, + -5.098409652709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2524, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_238467693", + "mask_path": "../../mask/hdr_left_02524.png" + }, + { + "file_path": "../../rgb/hdr_left_02526.png", + "transform_matrix": [ + [ + -0.37996456027030945, + -0.052324939519166946, + 0.9235199093818665, + 40.6971321105957 + ], + [ + -0.9222967624664307, + -0.054856281727552414, + -0.38256940245628357, + 5.032714366912842 + ], + [ + 0.07067877799272537, + -0.9971223473548889, + -0.027415677905082703, + -5.0865478515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2526, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_438466787", + "mask_path": "../../mask/hdr_left_02526.png" + }, + { + "file_path": "../../rgb/hdr_left_02562.png", + "transform_matrix": [ + [ + -0.4910198450088501, + -0.03492589294910431, + 0.8704479932785034, + 40.66594696044922 + ], + [ + -0.8686984181404114, + -0.05525464937090874, + -0.492249995470047, + 5.012784957885742 + ], + [ + 0.06528855860233307, + -0.997861385345459, + -0.0032089310698211193, + -5.123971939086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2562, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594422_38468837", + "mask_path": "../../mask/hdr_left_02562.png" + }, + { + "file_path": "../../rgb/hdr_left_02660.png", + "transform_matrix": [ + [ + -0.5772839784622192, + -0.04765796661376953, + 0.8151514530181885, + 40.611148834228516 + ], + [ + -0.8118400573730469, + -0.07349434494972229, + -0.5792357921600342, + 4.926677703857422 + ], + [ + 0.08751420676708221, + -0.9961563944816589, + 0.003736461978405714, + -5.102397441864014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2660, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594431_838468074", + "mask_path": "../../mask/hdr_left_02660.png" + }, + { + "file_path": "../../rgb/hdr_left_02662.png", + "transform_matrix": [ + [ + -0.5814985632896423, + -0.04694593697786331, + 0.8121917843818665, + 40.58631896972656 + ], + [ + -0.8094595074653625, + -0.06656771153211594, + -0.5833900570869446, + 4.8599677085876465 + ], + [ + 0.08145353198051453, + -0.9966769218444824, + 0.0007081927033141255, + -5.090057849884033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2662, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_38468122", + "mask_path": "../../mask/hdr_left_02662.png" + }, + { + "file_path": "../../rgb/hdr_right_02190.png", + "transform_matrix": [ + [ + 0.8715686798095703, + -0.10734698176383972, + -0.4783771336078644, + 54.755577087402344 + ], + [ + 0.4806482791900635, + -0.005306887906044722, + 0.8768974542617798, + 10.829126358032227 + ], + [ + -0.0966709777712822, + -0.9942073822021484, + 0.04697081819176674, + -7.287912368774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2190, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_138470172", + "mask_path": "../../mask/hdr_right_02190.png" + }, + { + "file_path": "../../rgb/hdr_right_02191.png", + "transform_matrix": [ + [ + 0.878153920173645, + -0.10654953122138977, + -0.46636146306991577, + 54.689151763916016 + ], + [ + 0.46813639998435974, + -0.009243396110832691, + 0.8836079835891724, + 10.815186500549316 + ], + [ + -0.09845878183841705, + -0.9942643642425537, + 0.0417625866830349, + -7.2762556076049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2191, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_238470315", + "mask_path": "../../mask/hdr_right_02191.png" + }, + { + "file_path": "../../rgb/hdr_right_02192.png", + "transform_matrix": [ + [ + 0.8873204588890076, + -0.10862524062395096, + -0.4481775164604187, + 54.62312316894531 + ], + [ + 0.44951510429382324, + -0.013228204101324081, + 0.8931747674942017, + 10.801926612854004 + ], + [ + -0.10294990241527557, + -0.9939947128295898, + 0.037091027945280075, + -7.263888359069824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2192, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_338470458", + "mask_path": "../../mask/hdr_right_02192.png" + }, + { + "file_path": "../../rgb/hdr_right_02193.png", + "transform_matrix": [ + [ + 0.8980984091758728, + -0.11195969581604004, + -0.4253048598766327, + 54.56658935546875 + ], + [ + 0.42596548795700073, + -0.01915731467306614, + 0.9045366048812866, + 10.788044929504395 + ], + [ + -0.1094193384051323, + -0.9935280680656433, + 0.030485808849334717, + -7.255810737609863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2193, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_438469171", + "mask_path": "../../mask/hdr_right_02193.png" + }, + { + "file_path": "../../rgb/hdr_right_02194.png", + "transform_matrix": [ + [ + 0.9054004549980164, + -0.12065714597702026, + -0.4070526659488678, + 54.492332458496094 + ], + [ + 0.40711843967437744, + -0.02523481473326683, + 0.913026750087738, + 10.762103080749512 + ], + [ + -0.12043509632349014, + -0.9923734664916992, + 0.02627413533627987, + -7.239743232727051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2194, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_538470506", + "mask_path": "../../mask/hdr_right_02194.png" + }, + { + "file_path": "../../rgb/hdr_right_02195.png", + "transform_matrix": [ + [ + 0.9060472846031189, + -0.12727221846580505, + -0.4035842716693878, + 54.41201400756836 + ], + [ + 0.4035935699939728, + -0.026876309886574745, + 0.9145435690879822, + 10.731325149536133 + ], + [ + -0.1272428333759308, + -0.9915035963058472, + 0.027015037834644318, + -7.216096878051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2195, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_638469457", + "mask_path": "../../mask/hdr_right_02195.png" + }, + { + "file_path": "../../rgb/hdr_right_02196.png", + "transform_matrix": [ + [ + 0.9040325880050659, + -0.12863311171531677, + -0.4076499342918396, + 54.3560676574707 + ], + [ + 0.4080522060394287, + -0.024424685165286064, + 0.9126319289207458, + 10.713480949401855 + ], + [ + -0.12735138833522797, + -0.9913914203643799, + 0.030408302322030067, + -7.21720027923584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2196, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_738470315", + "mask_path": "../../mask/hdr_right_02196.png" + }, + { + "file_path": "../../rgb/hdr_right_02197.png", + "transform_matrix": [ + [ + 0.9037373661994934, + -0.12839549779891968, + -0.40837880969047546, + 54.298255920410156 + ], + [ + 0.408865749835968, + -0.023760132491588593, + 0.9122852087020874, + 10.699225425720215 + ], + [ + -0.12683643400669098, + -0.9914383888244629, + 0.03102358989417553, + -7.208518028259277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2197, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_838469982", + "mask_path": "../../mask/hdr_right_02197.png" + }, + { + "file_path": "../../rgb/hdr_right_02198.png", + "transform_matrix": [ + [ + 0.908517062664032, + -0.12446945905685425, + -0.39887872338294983, + 54.24605178833008 + ], + [ + 0.39943671226501465, + -0.02153506688773632, + 0.9165078997612, + 10.692276954650879 + ], + [ + -0.1226671114563942, + -0.9919896721839905, + 0.030152689665555954, + -7.189558506011963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2198, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594386_938470125", + "mask_path": "../../mask/hdr_right_02198.png" + }, + { + "file_path": "../../rgb/hdr_right_02200.png", + "transform_matrix": [ + [ + 0.9129133820533752, + -0.13022294640541077, + -0.38682177662849426, + 54.13802719116211 + ], + [ + 0.38581085205078125, + -0.033939898014068604, + 0.9219533801078796, + 10.66501522064209 + ], + [ + -0.1331881731748581, + -0.9909036755561829, + 0.019257230684161186, + -7.1682209968566895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2200, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_138468742", + "mask_path": "../../mask/hdr_right_02200.png" + }, + { + "file_path": "../../rgb/hdr_right_02201.png", + "transform_matrix": [ + [ + 0.9112728834152222, + -0.13098761439323425, + -0.39041513204574585, + 54.07536315917969 + ], + [ + 0.3891606032848358, + -0.03611552715301514, + 0.9204617738723755, + 10.645620346069336 + ], + [ + -0.13466913998126984, + -0.9907259941101074, + 0.01806410774588585, + -7.1556830406188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2201, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_238469839", + "mask_path": "../../mask/hdr_right_02201.png" + }, + { + "file_path": "../../rgb/hdr_right_02204.png", + "transform_matrix": [ + [ + 0.9135769605636597, + -0.12741559743881226, + -0.3861895501613617, + 53.9344482421875 + ], + [ + 0.3874206840991974, + -0.01598823256790638, + 0.9217644929885864, + 10.62324047088623 + ], + [ + -0.12362164258956909, + -0.9917206168174744, + 0.03475695475935936, + -7.131811141967773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2204, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_538470506", + "mask_path": "../../mask/hdr_right_02204.png" + }, + { + "file_path": "../../rgb/hdr_right_02206.png", + "transform_matrix": [ + [ + 0.9157934784889221, + -0.13701538741588593, + -0.37755659222602844, + 53.8292121887207 + ], + [ + 0.3781926929950714, + -0.022375373169779778, + 0.9254564642906189, + 10.600930213928223 + ], + [ + -0.13524971902370453, + -0.9903162121772766, + 0.031326986849308014, + -7.107247352600098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2206, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_738470315", + "mask_path": "../../mask/hdr_right_02206.png" + }, + { + "file_path": "../../rgb/hdr_right_02207.png", + "transform_matrix": [ + [ + 0.9140844941139221, + -0.14035499095916748, + -0.3804602026939392, + 53.777618408203125 + ], + [ + 0.38158655166625977, + -0.019866416230797768, + 0.9241195917129517, + 10.587494850158691 + ], + [ + -0.13726316392421722, + -0.9899019002914429, + 0.03539798781275749, + -7.104980945587158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2207, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_838471412", + "mask_path": "../../mask/hdr_right_02207.png" + }, + { + "file_path": "../../rgb/hdr_right_02208.png", + "transform_matrix": [ + [ + 0.9150853157043457, + -0.1371009200811386, + -0.37923896312713623, + 53.724857330322266 + ], + [ + 0.37996307015419006, + -0.02188105881214142, + 0.9247429370880127, + 10.576981544494629 + ], + [ + -0.1350812166929245, + -0.9903153777122498, + 0.03207024559378624, + -7.096356391906738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2208, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594387_938471078", + "mask_path": "../../mask/hdr_right_02208.png" + }, + { + "file_path": "../../rgb/hdr_right_02211.png", + "transform_matrix": [ + [ + 0.9238724708557129, + -0.13280265033245087, + -0.3589193820953369, + 53.56581115722656 + ], + [ + 0.35777056217193604, + -0.03324831277132034, + 0.9332175254821777, + 10.537647247314453 + ], + [ + -0.13586722314357758, + -0.990584671497345, + 0.016795679926872253, + -7.060454845428467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2211, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_238471508", + "mask_path": "../../mask/hdr_right_02211.png" + }, + { + "file_path": "../../rgb/hdr_right_02212.png", + "transform_matrix": [ + [ + 0.9200375080108643, + -0.13670614361763, + -0.367208868265152, + 53.50216293334961 + ], + [ + 0.36614081263542175, + -0.033801496028900146, + 0.9299453496932983, + 10.514686584472656 + ], + [ + -0.13954144716262817, + -0.9900347590446472, + 0.018955048173666, + -7.055783271789551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2212, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_338471174", + "mask_path": "../../mask/hdr_right_02212.png" + }, + { + "file_path": "../../rgb/hdr_right_02213.png", + "transform_matrix": [ + [ + 0.9180787801742554, + -0.13549581170082092, + -0.37252160906791687, + 53.4506721496582 + ], + [ + 0.37144505977630615, + -0.034099601209163666, + 0.9278285503387451, + 10.504631042480469 + ], + [ + -0.13841970264911652, + -0.9901909828186035, + 0.01902313157916069, + -7.054044246673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2213, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_438469648", + "mask_path": "../../mask/hdr_right_02213.png" + }, + { + "file_path": "../../rgb/hdr_right_02214.png", + "transform_matrix": [ + [ + 0.919235110282898, + -0.13269923627376556, + -0.3706720769405365, + 53.39153289794922 + ], + [ + 0.36995071172714233, + -0.03097454458475113, + 0.9285349249839783, + 10.499269485473633 + ], + [ + -0.13469725847244263, + -0.99067223072052, + 0.020619284361600876, + -7.043482303619385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2214, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_538469076", + "mask_path": "../../mask/hdr_right_02214.png" + }, + { + "file_path": "../../rgb/hdr_right_02215.png", + "transform_matrix": [ + [ + 0.9220960140228271, + -0.13765586912631989, + -0.3616488575935364, + 53.33917236328125 + ], + [ + 0.36130040884017944, + -0.028398612514138222, + 0.9320169687271118, + 10.495043754577637 + ], + [ + -0.13856792449951172, + -0.9900729060173035, + 0.02354886382818222, + -7.027792930603027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2215, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_638470649", + "mask_path": "../../mask/hdr_right_02215.png" + }, + { + "file_path": "../../rgb/hdr_right_02216.png", + "transform_matrix": [ + [ + 0.9228449463844299, + -0.13920958340168, + -0.35913512110710144, + 53.28570556640625 + ], + [ + 0.357941597700119, + -0.034395188093185425, + 0.9331103563308716, + 10.477251052856445 + ], + [ + -0.1422504037618637, + -0.9896653890609741, + 0.018087469041347504, + -7.011409759521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2216, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_738470554", + "mask_path": "../../mask/hdr_right_02216.png" + }, + { + "file_path": "../../rgb/hdr_right_02217.png", + "transform_matrix": [ + [ + 0.9217535257339478, + -0.13901309669017792, + -0.3620026111602783, + 53.225791931152344 + ], + [ + 0.3604404032230377, + -0.03715113550424576, + 0.932042121887207, + 10.452781677246094 + ], + [ + -0.14301487803459167, + -0.9895934462547302, + 0.015861745923757553, + -7.002592086791992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2217, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_838469266", + "mask_path": "../../mask/hdr_right_02217.png" + }, + { + "file_path": "../../rgb/hdr_right_02218.png", + "transform_matrix": [ + [ + 0.9200680255889893, + -0.1374664455652237, + -0.3668484389781952, + 53.16933059692383 + ], + [ + 0.3649592697620392, + -0.03962862119078636, + 0.9301797151565552, + 10.436943054199219 + ], + [ + -0.14240619540214539, + -0.9897133708000183, + 0.013708613812923431, + -6.999541759490967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2218, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594388_938470363", + "mask_path": "../../mask/hdr_right_02218.png" + }, + { + "file_path": "../../rgb/hdr_right_02219.png", + "transform_matrix": [ + [ + 0.9221397042274475, + -0.12904714047908783, + -0.3646986782550812, + 53.1067008972168 + ], + [ + 0.3622033894062042, + -0.0431523360311985, + 0.9310997724533081, + 10.425667762756348 + ], + [ + -0.1358933299779892, + -0.9906991124153137, + 0.006948817986994982, + -6.9926438331604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2219, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_38469552", + "mask_path": "../../mask/hdr_right_02219.png" + }, + { + "file_path": "../../rgb/hdr_right_02220.png", + "transform_matrix": [ + [ + 0.9267706871032715, + -0.12460026144981384, + -0.3543596565723419, + 53.04737091064453 + ], + [ + 0.35203468799591064, + -0.040954653173685074, + 0.9350905418395996, + 10.416387557983398 + ], + [ + -0.13102521002292633, + -0.9913614392280579, + 0.005908044055104256, + -6.975940704345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2220, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_138470649", + "mask_path": "../../mask/hdr_right_02220.png" + }, + { + "file_path": "../../rgb/hdr_right_02221.png", + "transform_matrix": [ + [ + 0.9285654425621033, + -0.12629486620426178, + -0.3490213453769684, + 52.98233413696289 + ], + [ + 0.3464225232601166, + -0.042709290981292725, + 0.9371060132980347, + 10.401918411254883 + ], + [ + -0.1332581341266632, + -0.991072952747345, + 0.0040930211544036865, + -6.9596848487854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2221, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_238470554", + "mask_path": "../../mask/hdr_right_02221.png" + }, + { + "file_path": "../../rgb/hdr_right_02222.png", + "transform_matrix": [ + [ + 0.9279769062995911, + -0.12494011223316193, + -0.351068377494812, + 52.90320587158203 + ], + [ + 0.34873291850090027, + -0.04082486033439636, + 0.9363325834274292, + 10.380565643310547 + ], + [ + -0.13131782412528992, + -0.9913240075111389, + 0.0056862072087824345, + -6.954512596130371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2222, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_338470220", + "mask_path": "../../mask/hdr_right_02222.png" + }, + { + "file_path": "../../rgb/hdr_right_02223.png", + "transform_matrix": [ + [ + 0.925931453704834, + -0.1270969957113266, + -0.3556646704673767, + 52.83467102050781 + ], + [ + 0.35423004627227783, + -0.03449149429798126, + 0.9345220923423767, + 10.36752986907959 + ], + [ + -0.13104234635829926, + -0.9912903904914856, + 0.013084806501865387, + -6.95344352722168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2223, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_438470840", + "mask_path": "../../mask/hdr_right_02223.png" + }, + { + "file_path": "../../rgb/hdr_right_02224.png", + "transform_matrix": [ + [ + 0.9262301921844482, + -0.13163970410823822, + -0.35322609543800354, + 52.76793670654297 + ], + [ + 0.35304173827171326, + -0.02552471123635769, + 0.9352593421936035, + 10.365198135375977 + ], + [ + -0.13213326036930084, + -0.9909689426422119, + 0.02283255197107792, + -6.935260772705078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2224, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_538470268", + "mask_path": "../../mask/hdr_right_02224.png" + }, + { + "file_path": "../../rgb/hdr_right_02225.png", + "transform_matrix": [ + [ + 0.9302726984024048, + -0.1321711540222168, + -0.34223315119743347, + 52.70682907104492 + ], + [ + 0.34291502833366394, + -0.018286505714058876, + 0.9391883611679077, + 10.36491584777832 + ], + [ + -0.13039185106754303, + -0.9910581707954407, + 0.02831203117966652, + -6.906194686889648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2225, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_638469457", + "mask_path": "../../mask/hdr_right_02225.png" + }, + { + "file_path": "../../rgb/hdr_right_02226.png", + "transform_matrix": [ + [ + 0.9337598085403442, + -0.13677911460399628, + -0.3307327628135681, + 52.64949417114258 + ], + [ + 0.3309856653213501, + -0.02155814878642559, + 0.9433894753456116, + 10.363499641418457 + ], + [ + -0.13616596162319183, + -0.9903669357299805, + 0.02514178678393364, + -6.8875532150268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2226, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_738469600", + "mask_path": "../../mask/hdr_right_02226.png" + }, + { + "file_path": "../../rgb/hdr_right_02227.png", + "transform_matrix": [ + [ + 0.936453104019165, + -0.13594642281532288, + -0.3233790695667267, + 52.58557891845703 + ], + [ + 0.3240851163864136, + -0.01752595603466034, + 0.9458655118942261, + 10.357988357543945 + ], + [ + -0.1342545598745346, + -0.9905611872673035, + 0.02764597348868847, + -6.885027885437012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2227, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_838468790", + "mask_path": "../../mask/hdr_right_02227.png" + }, + { + "file_path": "../../rgb/hdr_right_02228.png", + "transform_matrix": [ + [ + 0.937513530254364, + -0.13783307373523712, + -0.3194846212863922, + 52.5245475769043 + ], + [ + 0.3206961154937744, + -0.013932932168245316, + 0.947079598903656, + 10.349942207336426 + ], + [ + -0.13499027490615845, + -0.9903574585914612, + 0.031140221282839775, + -6.886456489562988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2228, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594389_938469171", + "mask_path": "../../mask/hdr_right_02228.png" + }, + { + "file_path": "../../rgb/hdr_right_02229.png", + "transform_matrix": [ + [ + 0.9396857619285583, + -0.13439907133579254, + -0.31452760100364685, + 52.47005844116211 + ], + [ + 0.31568020582199097, + -0.013209457509219646, + 0.9487737417221069, + 10.340096473693848 + ], + [ + -0.1316690593957901, + -0.9908392429351807, + 0.030014391988515854, + -6.88044548034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2229, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_38470745", + "mask_path": "../../mask/hdr_right_02229.png" + }, + { + "file_path": "../../rgb/hdr_right_02230.png", + "transform_matrix": [ + [ + 0.9439493417739868, + -0.12536536157131195, + -0.30535754561424255, + 52.41036605834961 + ], + [ + 0.30617159605026245, + -0.01319924183189869, + 0.9518848657608032, + 10.337152481079102 + ], + [ + -0.12336387485265732, + -0.9920228123664856, + 0.025923892855644226, + -6.873624324798584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2230, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_138471126", + "mask_path": "../../mask/hdr_right_02230.png" + }, + { + "file_path": "../../rgb/hdr_right_02231.png", + "transform_matrix": [ + [ + 0.9480722546577454, + -0.13203012943267822, + -0.28935617208480835, + 52.35804748535156 + ], + [ + 0.29029610753059387, + -0.012499382719397545, + 0.9568552374839783, + 10.339643478393555 + ], + [ + -0.12995050847530365, + -0.991166889667511, + 0.026477519422769547, + -6.854088306427002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2231, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_238470792", + "mask_path": "../../mask/hdr_right_02231.png" + }, + { + "file_path": "../../rgb/hdr_right_02232.png", + "transform_matrix": [ + [ + 0.9510092735290527, + -0.1362316906452179, + -0.27752915024757385, + 52.29691696166992 + ], + [ + 0.27763107419013977, + -0.018637225031852722, + 0.9605070352554321, + 10.329134941101074 + ], + [ + -0.1360238641500473, + -0.9905017018318176, + 0.020097972825169563, + -6.834726810455322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2232, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_338470458", + "mask_path": "../../mask/hdr_right_02232.png" + }, + { + "file_path": "../../rgb/hdr_right_02233.png", + "transform_matrix": [ + [ + 0.9517327547073364, + -0.14055418968200684, + -0.27285370230674744, + 52.2215690612793 + ], + [ + 0.27231040596961975, + -0.02346154674887657, + 0.9619234204292297, + 10.314309120178223 + ], + [ + -0.14160393178462982, + -0.9897949695587158, + 0.01594524458050728, + -6.819892883300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2233, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_438470840", + "mask_path": "../../mask/hdr_right_02233.png" + }, + { + "file_path": "../../rgb/hdr_right_02234.png", + "transform_matrix": [ + [ + 0.9509962797164917, + -0.1405612677335739, + -0.2754063606262207, + 52.16007614135742 + ], + [ + 0.275045245885849, + -0.02237844467163086, + 0.9611708521842957, + 10.301445960998535 + ], + [ + -0.14126655459403992, + -0.9898190498352051, + 0.01737888902425766, + -6.8143134117126465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2234, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_538471221", + "mask_path": "../../mask/hdr_right_02234.png" + }, + { + "file_path": "../../rgb/hdr_right_02235.png", + "transform_matrix": [ + [ + 0.9524557590484619, + -0.13417623937129974, + -0.27354133129119873, + 52.10383224487305 + ], + [ + 0.2727118134498596, + -0.024885213002562523, + 0.9617739915847778, + 10.289623260498047 + ], + [ + -0.1358543485403061, + -0.9906449913978577, + 0.012889373116195202, + -6.812472343444824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2235, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_638470888", + "mask_path": "../../mask/hdr_right_02235.png" + }, + { + "file_path": "../../rgb/hdr_right_02238.png", + "transform_matrix": [ + [ + 0.9589591026306152, + -0.1231747716665268, + -0.25539281964302063, + 51.9322624206543 + ], + [ + 0.2560997009277344, + -0.010329623706638813, + 0.9665952920913696, + 10.262919425964355 + ], + [ + -0.12169825285673141, + -0.9923312067985535, + 0.021639332175254822, + -6.786357879638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2238, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594390_938469409", + "mask_path": "../../mask/hdr_right_02238.png" + }, + { + "file_path": "../../rgb/hdr_right_02239.png", + "transform_matrix": [ + [ + 0.9582253098487854, + -0.12393002212047577, + -0.25777044892311096, + 51.8653678894043 + ], + [ + 0.258619487285614, + -0.00946708582341671, + 0.9659329652786255, + 10.252776145935059 + ], + [ + -0.12214841693639755, + -0.9922457933425903, + 0.022979112342000008, + -6.781429290771484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2239, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_38470506", + "mask_path": "../../mask/hdr_right_02239.png" + }, + { + "file_path": "../../rgb/hdr_right_02240.png", + "transform_matrix": [ + [ + 0.9584091305732727, + -0.1197064146399498, + -0.2590797245502472, + 51.8036003112793 + ], + [ + 0.2605600357055664, + -0.0033903082367032766, + 0.9654517769813538, + 10.263138771057129 + ], + [ + -0.11644913256168365, + -0.9928035140037537, + 0.027941403910517693, + -6.773535251617432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2240, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_138469457", + "mask_path": "../../mask/hdr_right_02240.png" + }, + { + "file_path": "../../rgb/hdr_right_02241.png", + "transform_matrix": [ + [ + 0.9592182636260986, + -0.11799593269824982, + -0.25686031579971313, + 51.74199295043945 + ], + [ + 0.25860896706581116, + -0.0005085208686068654, + 0.9659819602966309, + 10.268693923950195 + ], + [ + -0.11411257088184357, + -0.9930140376091003, + 0.030027024447917938, + -6.763052940368652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2241, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_238469123", + "mask_path": "../../mask/hdr_right_02241.png" + }, + { + "file_path": "../../rgb/hdr_right_02244.png", + "transform_matrix": [ + [ + 0.9602524042129517, + -0.12596088647842407, + -0.24909675121307373, + 51.55675506591797 + ], + [ + 0.250002384185791, + -0.008822795934975147, + 0.9682050347328186, + 10.239476203918457 + ], + [ + -0.12415368854999542, + -0.9919959902763367, + 0.023018408566713333, + -6.747033596038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2244, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_538468837", + "mask_path": "../../mask/hdr_right_02244.png" + }, + { + "file_path": "../../rgb/hdr_right_02245.png", + "transform_matrix": [ + [ + 0.958814799785614, + -0.1254313737154007, + -0.2548356354236603, + 51.49843978881836 + ], + [ + 0.2558383047580719, + -0.008322881534695625, + 0.9666837453842163, + 10.225380897521973 + ], + [ + -0.12337343394756317, + -0.9920674562454224, + 0.02411004528403282, + -6.743521213531494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2245, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_638469457", + "mask_path": "../../mask/hdr_right_02245.png" + }, + { + "file_path": "../../rgb/hdr_right_02246.png", + "transform_matrix": [ + [ + 0.9595365524291992, + -0.11877971142530441, + -0.25530582666397095, + 51.443748474121094 + ], + [ + 0.25583675503730774, + -0.011016088537871838, + 0.9666572213172913, + 10.21356201171875 + ], + [ + -0.11763173341751099, + -0.9928594827651978, + 0.01981787383556366, + -6.7427215576171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2246, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_738469362", + "mask_path": "../../mask/hdr_right_02246.png" + }, + { + "file_path": "../../rgb/hdr_right_02247.png", + "transform_matrix": [ + [ + 0.9618525505065918, + -0.1137889176607132, + -0.24878035485744476, + 51.38917922973633 + ], + [ + 0.24945661425590515, + -0.008486694656312466, + 0.9683489203453064, + 10.210917472839355 + ], + [ + -0.11229868233203888, + -0.993468701839447, + 0.02022244781255722, + -6.724592208862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2247, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_838469505", + "mask_path": "../../mask/hdr_right_02247.png" + }, + { + "file_path": "../../rgb/hdr_right_02248.png", + "transform_matrix": [ + [ + 0.9612352848052979, + -0.13377997279167175, + -0.24110113084316254, + 51.3365592956543 + ], + [ + 0.24176032841205597, + -0.011541604064404964, + 0.9702674150466919, + 10.21132755279541 + ], + [ + -0.13258503377437592, + -0.9909439086914062, + 0.021248485893011093, + -6.6921257972717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2248, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594391_938466548", + "mask_path": "../../mask/hdr_right_02248.png" + }, + { + "file_path": "../../rgb/hdr_right_02250.png", + "transform_matrix": [ + [ + 0.9594562649726868, + -0.13759499788284302, + -0.24599049985408783, + 51.236873626708984 + ], + [ + 0.2472020983695984, + -0.00848301686346531, + 0.9689267873764038, + 10.187968254089355 + ], + [ + -0.1354062408208847, + -0.9904522895812988, + 0.025874685496091843, + -6.684388637542725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2250, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_138466119", + "mask_path": "../../mask/hdr_right_02250.png" + }, + { + "file_path": "../../rgb/hdr_right_02252.png", + "transform_matrix": [ + [ + 0.9571717381477356, + -0.1390065848827362, + -0.25396740436553955, + 51.150047302246094 + ], + [ + 0.2558234930038452, + -0.004650314804166555, + 0.9667123556137085, + 10.183926582336426 + ], + [ + -0.13556039333343506, + -0.9902805089950562, + 0.031109992414712906, + -6.683283805847168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2252, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_338469266", + "mask_path": "../../mask/hdr_right_02252.png" + }, + { + "file_path": "../../rgb/hdr_right_02254.png", + "transform_matrix": [ + [ + 0.959496259689331, + -0.1433582901954651, + -0.24251879751682281, + 51.0718994140625 + ], + [ + 0.24206934869289398, + -0.020836705341935158, + 0.970035195350647, + 10.184489250183105 + ], + [ + -0.1441158801317215, + -0.9894514679908752, + 0.014709905721247196, + -6.648846626281738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2254, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_538469314", + "mask_path": "../../mask/hdr_right_02254.png" + }, + { + "file_path": "../../rgb/hdr_right_02256.png", + "transform_matrix": [ + [ + 0.959987223148346, + -0.13964447379112244, + -0.24274250864982605, + 50.979583740234375 + ], + [ + 0.24041171371936798, + -0.03358437865972519, + 0.9700897932052612, + 10.167681694030762 + ], + [ + -0.14362004399299622, + -0.9896320104598999, + 0.0013315918622538447, + -6.643550872802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2256, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_738468647", + "mask_path": "../../mask/hdr_right_02256.png" + }, + { + "file_path": "../../rgb/hdr_right_02258.png", + "transform_matrix": [ + [ + 0.9570783972740173, + -0.13588087260723114, + -0.25600266456604004, + 50.90009307861328 + ], + [ + 0.2546682357788086, + -0.027413280680775642, + 0.9666398763656616, + 10.148629188537598 + ], + [ + -0.13836577534675598, + -0.99034583568573, + 0.00836788397282362, + -6.63814640045166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2258, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594392_938469171", + "mask_path": "../../mask/hdr_right_02258.png" + }, + { + "file_path": "../../rgb/hdr_right_02260.png", + "transform_matrix": [ + [ + 0.9609516859054565, + -0.13034068048000336, + -0.24409672617912292, + 50.81932067871094 + ], + [ + 0.24212311208248138, + -0.031026560813188553, + 0.9697493314743042, + 10.141501426696777 + ], + [ + -0.13397124409675598, + -0.9909836649894714, + 0.0017434591427445412, + -6.623895168304443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2260, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_138468980", + "mask_path": "../../mask/hdr_right_02260.png" + }, + { + "file_path": "../../rgb/hdr_right_02262.png", + "transform_matrix": [ + [ + 0.9630041122436523, + -0.14202038943767548, + -0.22902686893939972, + 50.7257194519043 + ], + [ + 0.22827091813087463, + -0.02181529439985752, + 0.9733532667160034, + 10.12581729888916 + ], + [ + -0.1432323008775711, + -0.9896233677864075, + 0.011410905048251152, + -6.6014533042907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2262, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_338468074", + "mask_path": "../../mask/hdr_right_02262.png" + }, + { + "file_path": "../../rgb/hdr_right_02263.png", + "transform_matrix": [ + [ + 0.9620987772941589, + -0.1420542597770691, + -0.23278014361858368, + 50.667457580566406 + ], + [ + 0.23116424679756165, + -0.028007373213768005, + 0.9725115895271301, + 10.110877990722656 + ], + [ + -0.14466896653175354, + -0.9894625544548035, + 0.0058920010924339294, + -6.60867166519165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2263, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_438468456", + "mask_path": "../../mask/hdr_right_02263.png" + }, + { + "file_path": "../../rgb/hdr_right_02264.png", + "transform_matrix": [ + [ + 0.957336962223053, + -0.14499488472938538, + -0.24996496737003326, + 50.619972229003906 + ], + [ + 0.24890191853046417, + -0.025724001228809357, + 0.9681870937347412, + 10.092432975769043 + ], + [ + -0.14681226015090942, + -0.9890979528427124, + 0.011462962254881859, + -6.5873613357543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2264, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_538469076", + "mask_path": "../../mask/hdr_right_02264.png" + }, + { + "file_path": "../../rgb/hdr_right_02265.png", + "transform_matrix": [ + [ + 0.9503195881843567, + -0.15004819631576538, + -0.2727239429950714, + 50.57461166381836 + ], + [ + 0.2738679349422455, + -0.013392236083745956, + 0.9616740942001343, + 10.077350616455078 + ], + [ + -0.14794984459877014, + -0.9885879755020142, + 0.028366481885313988, + -6.564915180206299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2265, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594393_638469219", + "mask_path": "../../mask/hdr_right_02265.png" + }, + { + "file_path": "../../rgb/hdr_right_02272.png", + "transform_matrix": [ + [ + 0.8942912817001343, + -0.13932551443576813, + -0.42524293065071106, + 50.305213928222656 + ], + [ + 0.432270884513855, + 0.023281412199139595, + 0.9014433026313782, + 10.052360534667969 + ], + [ + -0.11569377779960632, + -0.9899729490280151, + 0.08104672282934189, + -6.551644802093506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2272, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_338469982", + "mask_path": "../../mask/hdr_right_02272.png" + }, + { + "file_path": "../../rgb/hdr_right_02273.png", + "transform_matrix": [ + [ + 0.8795070052146912, + -0.13743355870246887, + -0.45560890436172485, + 50.26195526123047 + ], + [ + 0.4619046747684479, + 0.016171902418136597, + 0.886782169342041, + 10.034177780151367 + ], + [ + -0.11450555175542831, + -0.9903789758682251, + 0.07770449668169022, + -6.536997318267822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2273, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_438468694", + "mask_path": "../../mask/hdr_right_02273.png" + }, + { + "file_path": "../../rgb/hdr_right_02275.png", + "transform_matrix": [ + [ + 0.8634183406829834, + -0.1380643993616104, + -0.48522889614105225, + 50.20161437988281 + ], + [ + 0.4900260269641876, + 0.0008678838494233787, + 0.8717074394226074, + 10.006560325622559 + ], + [ + -0.11993063986301422, + -0.9904228448867798, + 0.06840448826551437, + -6.5253520011901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2275, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_638470172", + "mask_path": "../../mask/hdr_right_02275.png" + }, + { + "file_path": "../../rgb/hdr_right_02277.png", + "transform_matrix": [ + [ + 0.8503218293190002, + -0.13500581681728363, + -0.5086513161659241, + 50.11943054199219 + ], + [ + 0.5121575593948364, + -0.009984849952161312, + 0.8588334918022156, + 9.951031684875488 + ], + [ + -0.12102632224559784, + -0.9907945394515991, + 0.0606539212167263, + -6.510044574737549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2277, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594394_838470220", + "mask_path": "../../mask/hdr_right_02277.png" + }, + { + "file_path": "../../rgb/hdr_right_02279.png", + "transform_matrix": [ + [ + 0.8443607091903687, + -0.13011303544044495, + -0.5197359919548035, + 50.047882080078125 + ], + [ + 0.5231150388717651, + -0.009425603784620762, + 0.8522099852561951, + 9.894061088562012 + ], + [ + -0.11578245460987091, + -0.9914543032646179, + 0.06010547652840614, + -6.507925987243652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2279, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_38470506", + "mask_path": "../../mask/hdr_right_02279.png" + }, + { + "file_path": "../../rgb/hdr_right_02280.png", + "transform_matrix": [ + [ + 0.8417781591415405, + -0.1291705071926117, + -0.5241418480873108, + 49.99982833862305 + ], + [ + 0.5273810625076294, + -0.01048402488231659, + 0.8495641946792603, + 9.85344123840332 + ], + [ + -0.11523374170064926, + -0.9915670156478882, + 0.059296853840351105, + -6.497315406799316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2280, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_138469457", + "mask_path": "../../mask/hdr_right_02280.png" + }, + { + "file_path": "../../rgb/hdr_right_02281.png", + "transform_matrix": [ + [ + 0.8456767797470093, + -0.12563420832157135, + -0.5186972618103027, + 49.94633483886719 + ], + [ + 0.5210807919502258, + -0.015689484775066376, + 0.8533631563186646, + 9.82994556427002 + ], + [ + -0.11534970253705978, + -0.9919525980949402, + 0.05219734460115433, + -6.483899116516113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2281, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_238470792", + "mask_path": "../../mask/hdr_right_02281.png" + }, + { + "file_path": "../../rgb/hdr_right_02282.png", + "transform_matrix": [ + [ + 0.847679615020752, + -0.13323605060577393, + -0.5135050415992737, + 49.875118255615234 + ], + [ + 0.5154851675033569, + -0.02185850962996483, + 0.8566197156906128, + 9.796621322631836 + ], + [ + -0.12535709142684937, + -0.9908432960510254, + 0.05015219375491142, + -6.469701290130615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2282, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_338471174", + "mask_path": "../../mask/hdr_right_02282.png" + }, + { + "file_path": "../../rgb/hdr_right_02283.png", + "transform_matrix": [ + [ + 0.8446545600891113, + -0.13965633511543274, + -0.5167734622955322, + 49.802696228027344 + ], + [ + 0.5184162855148315, + -0.02721804939210415, + 0.8546952605247498, + 9.760435104370117 + ], + [ + -0.1334291696548462, + -0.9898259043693542, + 0.04941026493906975, + -6.463249206542969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2283, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_438469409", + "mask_path": "../../mask/hdr_right_02283.png" + }, + { + "file_path": "../../rgb/hdr_right_02284.png", + "transform_matrix": [ + [ + 0.8430563807487488, + -0.13742953538894653, + -0.519970178604126, + 49.74867248535156 + ], + [ + 0.521320104598999, + -0.028860703110694885, + 0.8528730869293213, + 9.736639022827148 + ], + [ + -0.1322166621685028, + -0.9900910258293152, + 0.04731358215212822, + -6.460864067077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2284, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_538470029", + "mask_path": "../../mask/hdr_right_02284.png" + }, + { + "file_path": "../../rgb/hdr_right_02285.png", + "transform_matrix": [ + [ + 0.8446289896965027, + -0.13225385546684265, + -0.5187587738037109, + 49.68796920776367 + ], + [ + 0.5192777514457703, + -0.033276282250881195, + 0.8539575338363647, + 9.707854270935059 + ], + [ + -0.1302015483379364, + -0.9906571507453918, + 0.04057038202881813, + -6.450361251831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2285, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_638468503", + "mask_path": "../../mask/hdr_right_02285.png" + }, + { + "file_path": "../../rgb/hdr_right_02286.png", + "transform_matrix": [ + [ + 0.8514957427978516, + -0.12246391922235489, + -0.5098603367805481, + 49.6304817199707 + ], + [ + 0.5096116662025452, + -0.03572951629757881, + 0.8596624732017517, + 9.680447578430176 + ], + [ + -0.1234946921467781, + -0.9918296337127686, + 0.031985510140657425, + -6.437096118927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2286, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_738468170", + "mask_path": "../../mask/hdr_right_02286.png" + }, + { + "file_path": "../../rgb/hdr_right_02287.png", + "transform_matrix": [ + [ + 0.8578438758850098, + -0.12369092553853989, + -0.49880319833755493, + 49.57052230834961 + ], + [ + 0.49816417694091797, + -0.03827974572777748, + 0.8662373423576355, + 9.656039237976074 + ], + [ + -0.12623974680900574, + -0.9915821552276611, + 0.02878035046160221, + -6.425434589385986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2287, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_838469743", + "mask_path": "../../mask/hdr_right_02287.png" + }, + { + "file_path": "../../rgb/hdr_right_02288.png", + "transform_matrix": [ + [ + 0.8612926006317139, + -0.12312418967485428, + -0.49296608567237854, + 49.4893798828125 + ], + [ + 0.4928072988986969, + -0.03388545662164688, + 0.8694784045219421, + 9.620345115661621 + ], + [ + -0.1237582191824913, + -0.9918125867843628, + 0.03149120882153511, + -6.420961380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2288, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594395_938468217", + "mask_path": "../../mask/hdr_right_02288.png" + }, + { + "file_path": "../../rgb/hdr_right_02289.png", + "transform_matrix": [ + [ + 0.8592526912689209, + -0.11768853664398193, + -0.49782952666282654, + 49.4065055847168 + ], + [ + 0.4991474449634552, + -0.02011915296316147, + 0.8662835955619812, + 9.58345890045166 + ], + [ + -0.1119675412774086, + -0.992846667766571, + 0.04145649075508118, + -6.422353267669678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2289, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_38469552", + "mask_path": "../../mask/hdr_right_02289.png" + }, + { + "file_path": "../../rgb/hdr_right_02290.png", + "transform_matrix": [ + [ + 0.8577690124511719, + -0.11792869865894318, + -0.5003250241279602, + 49.34375 + ], + [ + 0.5028727054595947, + -0.009224697947502136, + 0.8643112778663635, + 9.55983829498291 + ], + [ + -0.10654245316982269, + -0.9929792881011963, + 0.05139046534895897, + -6.420856475830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2290, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_138468265", + "mask_path": "../../mask/hdr_right_02290.png" + }, + { + "file_path": "../../rgb/hdr_right_02291.png", + "transform_matrix": [ + [ + 0.8585259914398193, + -0.12507057189941406, + -0.4972832202911377, + 49.26054000854492 + ], + [ + 0.5005268454551697, + -0.006252202205359936, + 0.8656984567642212, + 9.540769577026367 + ], + [ + -0.11138251423835754, + -0.9921281337738037, + 0.057233501225709915, + -6.396994590759277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2291, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_238469600", + "mask_path": "../../mask/hdr_right_02291.png" + }, + { + "file_path": "../../rgb/hdr_right_02292.png", + "transform_matrix": [ + [ + 0.8627557754516602, + -0.13196344673633575, + -0.4880964457988739, + 49.1851806640625 + ], + [ + 0.49069279432296753, + -0.014313946478068829, + 0.8712150454521179, + 9.529327392578125 + ], + [ + -0.12195512652397156, + -0.9911512136459351, + 0.05240407586097717, + -6.370800971984863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2292, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_338469505", + "mask_path": "../../mask/hdr_right_02292.png" + }, + { + "file_path": "../../rgb/hdr_right_02293.png", + "transform_matrix": [ + [ + 0.8671396970748901, + -0.13650181889533997, + -0.47899478673934937, + 49.131195068359375 + ], + [ + 0.4808230400085449, + -0.02142825722694397, + 0.8765559196472168, + 9.51319694519043 + ], + [ + -0.1299154907464981, + -0.9904080033302307, + 0.04705193266272545, + -6.364269256591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2293, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_438469648", + "mask_path": "../../mask/hdr_right_02293.png" + }, + { + "file_path": "../../rgb/hdr_right_02294.png", + "transform_matrix": [ + [ + 0.8687407374382019, + -0.13812384009361267, + -0.47561681270599365, + 49.064727783203125 + ], + [ + 0.47698530554771423, + -0.0251728855073452, + 0.8785507678985596, + 9.485213279724121 + ], + [ + -0.13332144916057587, + -0.9900950789451599, + 0.044014327228069305, + -6.358511924743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2294, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_538469076", + "mask_path": "../../mask/hdr_right_02294.png" + }, + { + "file_path": "../../rgb/hdr_right_02295.png", + "transform_matrix": [ + [ + 0.8657627105712891, + -0.13626305758953094, + -0.48154670000076294, + 48.994598388671875 + ], + [ + 0.4830326735973358, + -0.024154018610715866, + 0.8752690553665161, + 9.454446792602539 + ], + [ + -0.1308981478214264, + -0.990378201007843, + 0.044907860457897186, + -6.343364238739014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2295, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_638469696", + "mask_path": "../../mask/hdr_right_02295.png" + }, + { + "file_path": "../../rgb/hdr_right_02296.png", + "transform_matrix": [ + [ + 0.8624511957168579, + -0.13469350337982178, + -0.4878888428211212, + 48.936676025390625 + ], + [ + 0.48997506499290466, + -0.019485658034682274, + 0.871518611907959, + 9.430057525634766 + ], + [ + -0.1268947273492813, + -0.9906956553459167, + 0.04919102042913437, + -6.339602470397949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2296, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_738469362", + "mask_path": "../../mask/hdr_right_02296.png" + }, + { + "file_path": "../../rgb/hdr_right_02297.png", + "transform_matrix": [ + [ + 0.8607789874076843, + -0.13066765666007996, + -0.49192020297050476, + 48.873985290527344 + ], + [ + 0.49392807483673096, + -0.01884649135172367, + 0.8692984580993652, + 9.40653133392334 + ], + [ + -0.12286016345024109, + -0.9912470579147339, + 0.04831774905323982, + -6.329648494720459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2297, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_838470220", + "mask_path": "../../mask/hdr_right_02297.png" + }, + { + "file_path": "../../rgb/hdr_right_02298.png", + "transform_matrix": [ + [ + 0.863194465637207, + -0.1218465119600296, + -0.48994773626327515, + 48.816253662109375 + ], + [ + 0.4913392961025238, + -0.02043653279542923, + 0.8707284927368164, + 9.38510513305664 + ], + [ + -0.11610805988311768, + -0.9923385381698608, + 0.04222727566957474, + -6.3177080154418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2298, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594396_938469648", + "mask_path": "../../mask/hdr_right_02298.png" + }, + { + "file_path": "../../rgb/hdr_right_02299.png", + "transform_matrix": [ + [ + 0.8654665946960449, + -0.11894091218709946, + -0.4866422414779663, + 48.7625846862793 + ], + [ + 0.4876812994480133, + -0.022196002304553986, + 0.8727395534515381, + 9.357409477233887 + ], + [ + -0.11460594832897186, + -0.9926531910896301, + 0.038795359432697296, + -6.311722755432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2299, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_38469314", + "mask_path": "../../mask/hdr_right_02299.png" + }, + { + "file_path": "../../rgb/hdr_right_02300.png", + "transform_matrix": [ + [ + 0.863172173500061, + -0.11810491234064102, + -0.4909023344516754, + 48.70307922363281 + ], + [ + 0.49171945452690125, + -0.024149103090167046, + 0.8704188466072083, + 9.31418514251709 + ], + [ + -0.11465557664632797, + -0.9927074313163757, + 0.037229638546705246, + -6.310245513916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2300, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_138470649", + "mask_path": "../../mask/hdr_right_02300.png" + }, + { + "file_path": "../../rgb/hdr_right_02301.png", + "transform_matrix": [ + [ + 0.8589549660682678, + -0.11905717849731445, + -0.4980178475379944, + 48.64513397216797 + ], + [ + 0.4989228844642639, + -0.024227716028690338, + 0.86630779504776, + 9.272804260253906 + ], + [ + -0.11520598828792572, + -0.9925917983055115, + 0.03858982399106026, + -6.308056354522705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2301, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_238470315", + "mask_path": "../../mask/hdr_right_02301.png" + }, + { + "file_path": "../../rgb/hdr_right_02303.png", + "transform_matrix": [ + [ + 0.8643743991851807, + -0.10729397088289261, + -0.4912686049938202, + 48.55438232421875 + ], + [ + 0.4918529987335205, + -0.022789306938648224, + 0.8703799843788147, + 9.235892295837402 + ], + [ + -0.10458219796419144, + -0.9939661026000977, + 0.03307437151670456, + -6.298060894012451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2303, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_438469648", + "mask_path": "../../mask/hdr_right_02303.png" + }, + { + "file_path": "../../rgb/hdr_right_02305.png", + "transform_matrix": [ + [ + 0.8758133053779602, + -0.0995069295167923, + -0.47228115797042847, + 48.469459533691406 + ], + [ + 0.4730236828327179, + -0.017493393272161484, + 0.8808760046958923, + 9.208070755004883 + ], + [ + -0.0959150567650795, + -0.9948830604553223, + 0.03174818679690361, + -6.276000499725342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2305, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_638470411", + "mask_path": "../../mask/hdr_right_02305.png" + }, + { + "file_path": "../../rgb/hdr_right_02306.png", + "transform_matrix": [ + [ + 0.8752303719520569, + -0.09517259150743484, + -0.4742509126663208, + 48.421939849853516 + ], + [ + 0.47496211528778076, + -0.01648818515241146, + 0.8798518180847168, + 9.176841735839844 + ], + [ + -0.09155730903148651, + -0.9953242540359497, + 0.030772410333156586, + -6.272293567657471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2306, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_738469600", + "mask_path": "../../mask/hdr_right_02306.png" + }, + { + "file_path": "../../rgb/hdr_right_02307.png", + "transform_matrix": [ + [ + 0.8706547617912292, + -0.09548632800579071, + -0.48253771662712097, + 48.38079833984375 + ], + [ + 0.48348554968833923, + -0.014490394853055477, + 0.875232458114624, + 9.145455360412598 + ], + [ + -0.09056488424539566, + -0.9953252673149109, + 0.03355012089014053, + -6.275467395782471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2307, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594397_838470220", + "mask_path": "../../mask/hdr_right_02307.png" + }, + { + "file_path": "../../rgb/hdr_right_02309.png", + "transform_matrix": [ + [ + 0.8732240796089172, + -0.10547492653131485, + -0.47576743364334106, + 48.305389404296875 + ], + [ + 0.4780481159687042, + -0.004122923128306866, + 0.8783239722251892, + 9.109560012817383 + ], + [ + -0.09460271149873734, + -0.9944133758544922, + 0.046821847558021545, + -6.2610182762146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2309, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_38469314", + "mask_path": "../../mask/hdr_right_02309.png" + }, + { + "file_path": "../../rgb/hdr_right_02311.png", + "transform_matrix": [ + [ + 0.886284589767456, + -0.10141586512327194, + -0.451900839805603, + 48.221378326416016 + ], + [ + 0.4531344771385193, + -0.011849991045892239, + 0.8913635015487671, + 9.074331283569336 + ], + [ + -0.09575341641902924, + -0.9947735071182251, + 0.03545255959033966, + -6.236501216888428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2311, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_238468647", + "mask_path": "../../mask/hdr_right_02311.png" + }, + { + "file_path": "../../rgb/hdr_right_02313.png", + "transform_matrix": [ + [ + 0.8854221701622009, + -0.10268494486808777, + -0.4533027708530426, + 48.121524810791016 + ], + [ + 0.4539896547794342, + -0.017934398725628853, + 0.8908264636993408, + 9.024770736694336 + ], + [ + -0.09960417449474335, + -0.9945521950721741, + 0.030738387256860733, + -6.220777988433838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2313, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_438470602", + "mask_path": "../../mask/hdr_right_02313.png" + }, + { + "file_path": "../../rgb/hdr_right_02315.png", + "transform_matrix": [ + [ + 0.8841980695724487, + -0.11980282515287399, + -0.45148760080337524, + 48.068965911865234 + ], + [ + 0.4540829658508301, + -0.006243197247385979, + 0.8909375667572021, + 8.979635238647461 + ], + [ + -0.10955556482076645, + -0.9927780032157898, + 0.0488802008330822, + -6.213644027709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2315, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_638468980", + "mask_path": "../../mask/hdr_right_02315.png" + }, + { + "file_path": "../../rgb/hdr_right_02317.png", + "transform_matrix": [ + [ + 0.8972806334495544, + -0.10132335871458054, + -0.4296754002571106, + 48.03167724609375 + ], + [ + 0.4301666021347046, + -0.01807470992207527, + 0.9025685787200928, + 8.938224792480469 + ], + [ + -0.09921754151582718, + -0.9946893453598022, + 0.027367832139134407, + -6.206731796264648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2317, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594398_838468551", + "mask_path": "../../mask/hdr_right_02317.png" + }, + { + "file_path": "../../rgb/hdr_right_02319.png", + "transform_matrix": [ + [ + 0.9077277183532715, + -0.09242738783359528, + -0.4092523753643036, + 47.93259811401367 + ], + [ + 0.4075469672679901, + -0.03749910742044449, + 0.9124140739440918, + 8.9027738571167 + ], + [ + -0.0996786504983902, + -0.9950130581855774, + 0.003629520535469055, + -6.202958583831787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2319, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594399_38469552", + "mask_path": "../../mask/hdr_right_02319.png" + }, + { + "file_path": "../../rgb/hdr_right_02320.png", + "transform_matrix": [ + [ + 0.9041441082954407, + -0.0954500138759613, + -0.4164285361766815, + 47.87858963012695 + ], + [ + 0.4150049090385437, + -0.035261984914541245, + 0.9091355800628662, + 8.869827270507812 + ], + [ + -0.10146111249923706, + -0.9948095083236694, + 0.0077303024008870125, + -6.193151950836182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2320, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594399_138469219", + "mask_path": "../../mask/hdr_right_02320.png" + }, + { + "file_path": "../../rgb/hdr_right_02332.png", + "transform_matrix": [ + [ + 0.8082590103149414, + -0.08396903425455093, + -0.5828091502189636, + 47.741092681884766 + ], + [ + 0.5817095637321472, + -0.039561595767736435, + 0.8124340176582336, + 8.594319343566895 + ], + [ + -0.091276153922081, + -0.9956827163696289, + 0.01686956360936165, + -6.1615753173828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2332, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_338469505", + "mask_path": "../../mask/hdr_right_02332.png" + }, + { + "file_path": "../../rgb/hdr_right_02334.png", + "transform_matrix": [ + [ + 0.8025183081626892, + -0.09119638055562973, + -0.5896164774894714, + 47.68699645996094 + ], + [ + 0.5885486602783203, + -0.04107360169291496, + 0.8074178099632263, + 8.553106307983398 + ], + [ + -0.09785126149654388, + -0.9949855804443359, + 0.020711183547973633, + -6.152648448944092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2334, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_538469314", + "mask_path": "../../mask/hdr_right_02334.png" + }, + { + "file_path": "../../rgb/hdr_right_02336.png", + "transform_matrix": [ + [ + 0.8054238557815552, + -0.07972848415374756, + -0.5873123407363892, + 47.618247985839844 + ], + [ + 0.586544394493103, + -0.03521536663174629, + 0.8091512322425842, + 8.511691093444824 + ], + [ + -0.08519481867551804, + -0.9961943626403809, + 0.018401002511382103, + -6.147994041442871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2336, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_738468170", + "mask_path": "../../mask/hdr_right_02336.png" + }, + { + "file_path": "../../rgb/hdr_right_02338.png", + "transform_matrix": [ + [ + 0.8160709142684937, + -0.0888877883553505, + -0.5710754990577698, + 47.52804183959961 + ], + [ + 0.5699742436408997, + -0.039829883724451065, + 0.8206967115402222, + 8.488171577453613 + ], + [ + -0.09569578617811203, + -0.9952449798583984, + 0.018159734085202217, + -6.1370320320129395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2338, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594400_938468694", + "mask_path": "../../mask/hdr_right_02338.png" + }, + { + "file_path": "../../rgb/hdr_right_02339.png", + "transform_matrix": [ + [ + 0.8172488808631897, + -0.08843138813972473, + -0.5694596767425537, + 47.47746658325195 + ], + [ + 0.568450391292572, + -0.03868338093161583, + 0.8218076825141907, + 8.471355438232422 + ], + [ + -0.09470220655202866, + -0.995330810546875, + 0.018654905259609222, + -6.133835792541504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2339, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_38469552", + "mask_path": "../../mask/hdr_right_02339.png" + }, + { + "file_path": "../../rgb/hdr_right_02340.png", + "transform_matrix": [ + [ + 0.8129122853279114, + -0.09376055747270584, + -0.5747892260551453, + 47.42750549316406 + ], + [ + 0.5747197866439819, + -0.030461395159363747, + 0.8177831768989563, + 8.455072402954102 + ], + [ + -0.09418468177318573, + -0.9951286911964417, + 0.02912360057234764, + -6.135244846343994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2340, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_138469457", + "mask_path": "../../mask/hdr_right_02340.png" + }, + { + "file_path": "../../rgb/hdr_right_02342.png", + "transform_matrix": [ + [ + 0.8122344017028809, + -0.09344638884067535, + -0.5757976770401001, + 47.32444763183594 + ], + [ + 0.576492190361023, + -0.022116821259260178, + 0.8168034553527832, + 8.423925399780273 + ], + [ + -0.08906213939189911, + -0.9953786134719849, + 0.035907067358493805, + -6.127033710479736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2342, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_338469266", + "mask_path": "../../mask/hdr_right_02342.png" + }, + { + "file_path": "../../rgb/hdr_right_02345.png", + "transform_matrix": [ + [ + 0.8277066946029663, + -0.09938015043735504, + -0.5522909164428711, + 47.18030548095703 + ], + [ + 0.5523573160171509, + -0.029364511370658875, + 0.8330901861190796, + 8.38741683959961 + ], + [ + -0.09901037067174911, + -0.9946161508560181, + 0.030588148161768913, + -6.102994918823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2345, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_638468503", + "mask_path": "../../mask/hdr_right_02345.png" + }, + { + "file_path": "../../rgb/hdr_right_02346.png", + "transform_matrix": [ + [ + 0.8283953666687012, + -0.09553483873605728, + -0.5519368648529053, + 47.126102447509766 + ], + [ + 0.5521198511123657, + -0.026922127231955528, + 0.8333300352096558, + 8.362565040588379 + ], + [ + -0.09447135776281357, + -0.9950619339942932, + 0.030444512143731117, + -6.096799373626709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2346, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_738470315", + "mask_path": "../../mask/hdr_right_02346.png" + }, + { + "file_path": "../../rgb/hdr_right_02348.png", + "transform_matrix": [ + [ + 0.8232433199882507, + -0.09351969510316849, + -0.5599325299263, + 47.044921875 + ], + [ + 0.5605531334877014, + -0.02197921648621559, + 0.827826738357544, + 8.318013191223145 + ], + [ + -0.08972498774528503, + -0.9953747391700745, + 0.034328509122133255, + -6.100363254547119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2348, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594401_938469886", + "mask_path": "../../mask/hdr_right_02348.png" + }, + { + "file_path": "../../rgb/hdr_right_02349.png", + "transform_matrix": [ + [ + 0.8243921995162964, + -0.08847978711128235, + -0.5590606927871704, + 46.995521545410156 + ], + [ + 0.5595661997795105, + -0.021317461505532265, + 0.8285114765167236, + 8.297904014587402 + ], + [ + -0.08522426337003708, + -0.9958498477935791, + 0.031936343759298325, + -6.094481468200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2349, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_38470268", + "mask_path": "../../mask/hdr_right_02349.png" + }, + { + "file_path": "../../rgb/hdr_right_02351.png", + "transform_matrix": [ + [ + 0.8358927965164185, + -0.09001298248767853, + -0.5414618253707886, + 46.902923583984375 + ], + [ + 0.5408535599708557, + -0.033143799751996994, + 0.8404635190963745, + 8.258561134338379 + ], + [ + -0.09359872341156006, + -0.995388925075531, + 0.020979173481464386, + -6.072387218475342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2351, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_238471269", + "mask_path": "../../mask/hdr_right_02351.png" + }, + { + "file_path": "../../rgb/hdr_right_02352.png", + "transform_matrix": [ + [ + 0.8389001488685608, + -0.09358998388051987, + -0.5361785888671875, + 46.84336471557617 + ], + [ + 0.5352755784988403, + -0.036638662219047546, + 0.8438825607299805, + 8.227262496948242 + ], + [ + -0.09862381219863892, + -0.9949364066123962, + 0.01936025358736515, + -6.0603508949279785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2352, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_338469982", + "mask_path": "../../mask/hdr_right_02352.png" + }, + { + "file_path": "../../rgb/hdr_right_02353.png", + "transform_matrix": [ + [ + 0.8370241522789001, + -0.09299613535404205, + -0.5392052531242371, + 46.786190032958984 + ], + [ + 0.538758397102356, + -0.032013870775699615, + 0.8418518900871277, + 8.193852424621582 + ], + [ + -0.0955510139465332, + -0.995151698589325, + 0.023306066170334816, + -6.05050802230835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2353, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_438471317", + "mask_path": "../../mask/hdr_right_02353.png" + }, + { + "file_path": "../../rgb/hdr_right_02355.png", + "transform_matrix": [ + [ + 0.8365845084190369, + -0.09161049872636795, + -0.5401239991188049, + 46.700531005859375 + ], + [ + 0.5400960445404053, + -0.02724454179406166, + 0.841162383556366, + 8.157698631286621 + ], + [ + -0.09177472442388535, + -0.9954221248626709, + 0.026686111465096474, + -6.050705432891846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2355, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_638471841", + "mask_path": "../../mask/hdr_right_02355.png" + }, + { + "file_path": "../../rgb/hdr_right_02356.png", + "transform_matrix": [ + [ + 0.8427606821060181, + -0.08981069177389145, + -0.5307432413101196, + 46.648780822753906 + ], + [ + 0.5309555530548096, + -0.023496808484196663, + 0.8470739126205444, + 8.145313262939453 + ], + [ + -0.08854705840349197, + -0.995681643486023, + 0.027883294969797134, + -6.033470630645752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2356, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_738470792", + "mask_path": "../../mask/hdr_right_02356.png" + }, + { + "file_path": "../../rgb/hdr_right_02358.png", + "transform_matrix": [ + [ + 0.8567842245101929, + -0.09950672090053558, + -0.5059835314750671, + 46.5475959777832 + ], + [ + 0.5052308440208435, + -0.03449976444244385, + 0.8622943758964539, + 8.119525909423828 + ], + [ + -0.10326039791107178, + -0.9944385886192322, + 0.020715009421110153, + -6.016282081604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2358, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594402_938470125", + "mask_path": "../../mask/hdr_right_02358.png" + }, + { + "file_path": "../../rgb/hdr_right_02359.png", + "transform_matrix": [ + [ + 0.8594339489936829, + -0.10060422122478485, + -0.5012503862380981, + 46.4898796081543 + ], + [ + 0.50006103515625, + -0.038548555225133896, + 0.8651317358016968, + 8.095714569091797 + ], + [ + -0.10635837912559509, + -0.9941794276237488, + 0.017178310081362724, + -6.004654884338379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2359, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_38470029", + "mask_path": "../../mask/hdr_right_02359.png" + }, + { + "file_path": "../../rgb/hdr_right_02360.png", + "transform_matrix": [ + [ + 0.8582484126091003, + -0.10376439243555069, + -0.5026355385780334, + 46.44309997558594 + ], + [ + 0.5021827816963196, + -0.032360367476940155, + 0.8641558289527893, + 8.076446533203125 + ], + [ + -0.10593406856060028, + -0.994075357913971, + 0.024335451424121857, + -6.000677108764648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2360, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_138470172", + "mask_path": "../../mask/hdr_right_02360.png" + }, + { + "file_path": "../../rgb/hdr_right_02362.png", + "transform_matrix": [ + [ + 0.8613418936729431, + -0.10521817207336426, + -0.49701038002967834, + 46.34377670288086 + ], + [ + 0.4973031282424927, + -0.025310901924967766, + 0.8672075867652893, + 8.054524421691895 + ], + [ + -0.10382578521966934, + -0.994127094745636, + 0.030523987486958504, + -5.987226963043213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2362, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594403_338469982", + "mask_path": "../../mask/hdr_right_02362.png" + }, + { + "file_path": "../../rgb/hdr_right_02370.png", + "transform_matrix": [ + [ + 0.8707284927368164, + -0.11621049791574478, + -0.4778359532356262, + 46.02256393432617 + ], + [ + 0.4762422442436218, + -0.04293196275830269, + 0.8782655596733093, + 7.938858985900879 + ], + [ + -0.12257809937000275, + -0.9922963976860046, + 0.01796226017177105, + -5.917418003082275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2370, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_138469696", + "mask_path": "../../mask/hdr_right_02370.png" + }, + { + "file_path": "../../rgb/hdr_right_02372.png", + "transform_matrix": [ + [ + 0.8703538179397583, + -0.11964819580316544, + -0.47766992449760437, + 45.95150375366211 + ], + [ + 0.4769921898841858, + -0.03611554577946663, + 0.8781652450561523, + 7.917327880859375 + ], + [ + -0.1223222017288208, + -0.9921592473983765, + 0.025637952610850334, + -5.913590908050537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2372, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_338469266", + "mask_path": "../../mask/hdr_right_02372.png" + }, + { + "file_path": "../../rgb/hdr_right_02374.png", + "transform_matrix": [ + [ + 0.8775889277458191, + -0.11245757341384888, + -0.46603742241859436, + 45.884368896484375 + ], + [ + 0.46463361382484436, + -0.04000476375222206, + 0.884598970413208, + 7.903151512145996 + ], + [ + -0.11812356859445572, + -0.9928509593009949, + 0.017143825069069862, + -5.899338245391846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2374, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_538470506", + "mask_path": "../../mask/hdr_right_02374.png" + }, + { + "file_path": "../../rgb/hdr_right_02376.png", + "transform_matrix": [ + [ + 0.8747524619102478, + -0.11674303561449051, + -0.4702968895435333, + 45.806976318359375 + ], + [ + 0.4691064953804016, + -0.03920721635222435, + 0.8822709321975708, + 7.872036457061768 + ], + [ + -0.12143801152706146, + -0.9923878908157349, + 0.02046831138432026, + -5.888501167297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2376, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_738470315", + "mask_path": "../../mask/hdr_right_02376.png" + }, + { + "file_path": "../../rgb/hdr_right_02378.png", + "transform_matrix": [ + [ + 0.8752112984657288, + -0.11124113202095032, + -0.47077640891075134, + 45.743614196777344 + ], + [ + 0.4702235758304596, + -0.03281332179903984, + 0.8819371461868286, + 7.85660982131958 + ], + [ + -0.1135554164648056, + -0.9932515621185303, + 0.023589609190821648, + -5.884024620056152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2378, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594404_938469409", + "mask_path": "../../mask/hdr_right_02378.png" + }, + { + "file_path": "../../rgb/hdr_right_02380.png", + "transform_matrix": [ + [ + 0.8818422555923462, + -0.11298827081918716, + -0.4578075706958771, + 45.672000885009766 + ], + [ + 0.45652592182159424, + -0.03850439563393593, + 0.8888765573501587, + 7.837215423583984 + ], + [ + -0.11806023120880127, + -0.9928499460220337, + 0.017627263441681862, + -5.86705207824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2380, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_138469934", + "mask_path": "../../mask/hdr_right_02380.png" + }, + { + "file_path": "../../rgb/hdr_right_02382.png", + "transform_matrix": [ + [ + 0.8835093975067139, + -0.11683352291584015, + -0.45360904932022095, + 45.600765228271484 + ], + [ + 0.4527163505554199, + -0.03561253100633621, + 0.890943169593811, + 7.824453353881836 + ], + [ + -0.12024620175361633, + -0.9925128221511841, + 0.021428439766168594, + -5.860231399536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2382, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_338469505", + "mask_path": "../../mask/hdr_right_02382.png" + }, + { + "file_path": "../../rgb/hdr_right_02384.png", + "transform_matrix": [ + [ + 0.8886730074882507, + -0.10888909548521042, + -0.4454250633716583, + 45.53582763671875 + ], + [ + 0.44344839453697205, + -0.04309132322669029, + 0.8952634930610657, + 7.814970970153809 + ], + [ + -0.116678386926651, + -0.993119478225708, + 0.009992591105401516, + -5.849239826202393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2384, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_538469076", + "mask_path": "../../mask/hdr_right_02384.png" + }, + { + "file_path": "../../rgb/hdr_right_02386.png", + "transform_matrix": [ + [ + 0.8859891891479492, + -0.118599072098732, + -0.44828277826309204, + 45.450618743896484 + ], + [ + 0.4449988305568695, + -0.05435771495103836, + 0.8938800096511841, + 7.770257472991943 + ], + [ + -0.13038097321987152, + -0.991453230381012, + 0.004616100341081619, + -5.838024616241455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2386, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_738470554", + "mask_path": "../../mask/hdr_right_02386.png" + }, + { + "file_path": "../../rgb/hdr_right_02388.png", + "transform_matrix": [ + [ + 0.8885285258293152, + -0.11417099833488464, + -0.44438955187797546, + 45.38172149658203 + ], + [ + 0.4409884512424469, + -0.05489720404148102, + 0.8958323001861572, + 7.755791664123535 + ], + [ + -0.12667381763458252, + -0.9919431209564209, + 0.0015703624812886119, + -5.834141731262207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2388, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594405_938469886", + "mask_path": "../../mask/hdr_right_02388.png" + }, + { + "file_path": "../../rgb/hdr_right_02390.png", + "transform_matrix": [ + [ + 0.8913203477859497, + -0.11120137572288513, + -0.43952518701553345, + 45.2927360534668 + ], + [ + 0.4347934126853943, + -0.06503491848707199, + 0.8981788158416748, + 7.72590970993042 + ], + [ + -0.12846320867538452, + -0.991667628288269, + -0.00961732305586338, + -5.811863422393799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2390, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_138470649", + "mask_path": "../../mask/hdr_right_02390.png" + }, + { + "file_path": "../../rgb/hdr_right_02391.png", + "transform_matrix": [ + [ + 0.8888101577758789, + -0.11094224452972412, + -0.44464412331581116, + 45.23778533935547 + ], + [ + 0.44002196192741394, + -0.06451088935136795, + 0.8956668972969055, + 7.700643539428711 + ], + [ + -0.12805168330669403, + -0.9917309284210205, + -0.008520910516381264, + -5.804672718048096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2391, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_238470315", + "mask_path": "../../mask/hdr_right_02391.png" + }, + { + "file_path": "../../rgb/hdr_right_02392.png", + "transform_matrix": [ + [ + 0.8856505751609802, + -0.1108737364411354, + -0.4509212076663971, + 45.19060516357422 + ], + [ + 0.44595110416412354, + -0.0675700381398201, + 0.8925031423568726, + 7.6790642738342285 + ], + [ + -0.12942393124103546, + -0.9915348291397095, + -0.010399184189736843, + -5.801980018615723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2392, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_338470458", + "mask_path": "../../mask/hdr_right_02392.png" + }, + { + "file_path": "../../rgb/hdr_right_02394.png", + "transform_matrix": [ + [ + 0.8897479772567749, + -0.099342480301857, + -0.44551053643226624, + 45.10859680175781 + ], + [ + 0.4399077296257019, + -0.07376983016729355, + 0.8950079679489136, + 7.642547607421875 + ], + [ + -0.12177754193544388, + -0.9923150539398193, + -0.021935028955340385, + -5.786463260650635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2394, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_538470506", + "mask_path": "../../mask/hdr_right_02394.png" + }, + { + "file_path": "../../rgb/hdr_right_02396.png", + "transform_matrix": [ + [ + 0.8932134509086609, + -0.09938786923885345, + -0.4385106861591339, + 45.00868225097656 + ], + [ + 0.4339568018913269, + -0.06471941620111465, + 0.8986060619354248, + 7.606603622436523 + ], + [ + -0.11769071221351624, + -0.9929418563842773, + -0.014678217470645905, + -5.772797584533691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2396, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_738470554", + "mask_path": "../../mask/hdr_right_02396.png" + }, + { + "file_path": "../../rgb/hdr_right_02397.png", + "transform_matrix": [ + [ + 0.8904672265052795, + -0.10133911669254303, + -0.4436197578907013, + 44.9609489440918 + ], + [ + 0.43929293751716614, + -0.0628611296415329, + 0.8961418867111206, + 7.588928699493408 + ], + [ + -0.11870066821575165, + -0.9928640127182007, + -0.011458228342235088, + -5.7725605964660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2397, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594406_838470458", + "mask_path": "../../mask/hdr_right_02397.png" + }, + { + "file_path": "../../rgb/hdr_right_02399.png", + "transform_matrix": [ + [ + 0.8945457935333252, + -0.09642617404460907, + -0.4364514946937561, + 44.866981506347656 + ], + [ + 0.43302181363105774, + -0.05512840673327446, + 0.8996961116790771, + 7.573021411895752 + ], + [ + -0.11081513017416, + -0.9938123822212219, + -0.007560242898762226, + -5.7596116065979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2399, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_38470506", + "mask_path": "../../mask/hdr_right_02399.png" + }, + { + "file_path": "../../rgb/hdr_right_02401.png", + "transform_matrix": [ + [ + 0.9007928371429443, + -0.10123924165964127, + -0.422282874584198, + 44.7699089050293 + ], + [ + 0.4182339608669281, + -0.05939490720629692, + 0.906395435333252, + 7.552166938781738 + ], + [ + -0.11684422940015793, + -0.9930874705314636, + -0.011160817928612232, + -5.739777088165283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2401, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_238470554", + "mask_path": "../../mask/hdr_right_02401.png" + }, + { + "file_path": "../../rgb/hdr_right_02402.png", + "transform_matrix": [ + [ + 0.8989078402519226, + -0.10024350136518478, + -0.42651602625846863, + 44.71308135986328 + ], + [ + 0.42335978150367737, + -0.051968276500701904, + 0.9044700264930725, + 7.531788349151611 + ], + [ + -0.11283251643180847, + -0.993604838848114, + -0.004275630693882704, + -5.738178730010986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2402, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_338469982", + "mask_path": "../../mask/hdr_right_02402.png" + }, + { + "file_path": "../../rgb/hdr_right_02404.png", + "transform_matrix": [ + [ + 0.8967753648757935, + -0.09825334697961807, + -0.43143975734710693, + 44.626277923583984 + ], + [ + 0.42933163046836853, + -0.042770110070705414, + 0.9021336436271667, + 7.511768817901611 + ], + [ + -0.10709036886692047, + -0.9942419528961182, + 0.0038280843291431665, + -5.735597133636475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2404, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_538470029", + "mask_path": "../../mask/hdr_right_02404.png" + }, + { + "file_path": "../../rgb/hdr_right_02406.png", + "transform_matrix": [ + [ + 0.9052163362503052, + -0.09661059081554413, + -0.4138232171535492, + 44.5347785949707 + ], + [ + 0.4116600751876831, + -0.04228325933218002, + 0.9103560447692871, + 7.499810695648193 + ], + [ + -0.10544782876968384, + -0.9944237470626831, + 0.0014952181372791529, + -5.722259521484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2406, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_738470077", + "mask_path": "../../mask/hdr_right_02406.png" + }, + { + "file_path": "../../rgb/hdr_right_02407.png", + "transform_matrix": [ + [ + 0.9061649441719055, + -0.09909509122371674, + -0.4111511707305908, + 44.476722717285156 + ], + [ + 0.40816035866737366, + -0.04971536248922348, + 0.9115555286407471, + 7.48472785949707 + ], + [ + -0.11077119410037994, + -0.9938352704048157, + -0.004603638779371977, + -5.707258224487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2407, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_838470220", + "mask_path": "../../mask/hdr_right_02407.png" + }, + { + "file_path": "../../rgb/hdr_right_02408.png", + "transform_matrix": [ + [ + 0.9027875661849976, + -0.10282837599515915, + -0.41761353611946106, + 44.417381286621094 + ], + [ + 0.4142415523529053, + -0.053243935108184814, + 0.9086083173751831, + 7.461642265319824 + ], + [ + -0.11566610634326935, + -0.9932730793952942, + -0.005472173914313316, + -5.685342311859131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2408, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594407_938469886", + "mask_path": "../../mask/hdr_right_02408.png" + }, + { + "file_path": "../../rgb/hdr_right_02410.png", + "transform_matrix": [ + [ + 0.9005699157714844, + -0.08777710795402527, + -0.42575696110725403, + 44.324989318847656 + ], + [ + 0.42258989810943604, + -0.05289456993341446, + 0.9047762155532837, + 7.428489685058594 + ], + [ + -0.10193885862827301, + -0.9947348237037659, + -0.01054154708981514, + -5.684598445892334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2410, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_138468980", + "mask_path": "../../mask/hdr_right_02410.png" + }, + { + "file_path": "../../rgb/hdr_right_02412.png", + "transform_matrix": [ + [ + 0.9075080156326294, + -0.08209806680679321, + -0.4119335412979126, + 44.24354934692383 + ], + [ + 0.408378928899765, + -0.05697793886065483, + 0.9110325574874878, + 7.404813766479492 + ], + [ + -0.098265141248703, + -0.9949941635131836, + -0.018180813640356064, + -5.66908073425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2412, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_338469028", + "mask_path": "../../mask/hdr_right_02412.png" + }, + { + "file_path": "../../rgb/hdr_right_02413.png", + "transform_matrix": [ + [ + 0.9072430729866028, + -0.08432324230670929, + -0.4120674431324005, + 44.19068145751953 + ], + [ + 0.40870335698127747, + -0.054687634110450745, + 0.9110273718833923, + 7.380764007568359 + ], + [ + -0.09935576468706131, + -0.9949365854263306, + -0.015151791274547577, + -5.667783260345459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2413, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_438468933", + "mask_path": "../../mask/hdr_right_02413.png" + }, + { + "file_path": "../../rgb/hdr_right_02414.png", + "transform_matrix": [ + [ + 0.9039694666862488, + -0.0869831070303917, + -0.41865646839141846, + 44.14445114135742 + ], + [ + 0.4153876006603241, + -0.05366193503141403, + 0.9080603718757629, + 7.359671592712402 + ], + [ + -0.10145184397697449, + -0.9947634339332581, + -0.01237704511731863, + -5.670851230621338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2414, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_538469314", + "mask_path": "../../mask/hdr_right_02414.png" + }, + { + "file_path": "../../rgb/hdr_right_02416.png", + "transform_matrix": [ + [ + 0.9043052792549133, + -0.0828639343380928, + -0.4187667965888977, + 44.06186294555664 + ], + [ + 0.4163620173931122, + -0.04527461528778076, + 0.9080709218978882, + 7.343480587005615 + ], + [ + -0.094205841422081, + -0.9955318570137024, + -0.006440676283091307, + -5.670029163360596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2416, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_738468885", + "mask_path": "../../mask/hdr_right_02416.png" + }, + { + "file_path": "../../rgb/hdr_right_02418.png", + "transform_matrix": [ + [ + 0.9142554402351379, + -0.07958631217479706, + -0.39724424481391907, + 43.9731330871582 + ], + [ + 0.3948332667350769, + -0.04471120610833168, + 0.9176642894744873, + 7.323750972747803 + ], + [ + -0.09079478681087494, + -0.9958246946334839, + -0.009454143233597279, + -5.662564277648926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2418, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594408_938469409", + "mask_path": "../../mask/hdr_right_02418.png" + }, + { + "file_path": "../../rgb/hdr_right_02419.png", + "transform_matrix": [ + [ + 0.9158610701560974, + -0.076031394302845, + -0.39423054456710815, + 43.91202163696289 + ], + [ + 0.3925616443157196, + -0.03640470653772354, + 0.9190049171447754, + 7.303822994232178 + ], + [ + -0.08422508090734482, + -0.996440589427948, + -0.003494651522487402, + -5.659843444824219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2419, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_38468360", + "mask_path": "../../mask/hdr_right_02419.png" + }, + { + "file_path": "../../rgb/hdr_right_02420.png", + "transform_matrix": [ + [ + 0.9137093424797058, + -0.07675684988498688, + -0.3990533649921417, + 43.858917236328125 + ], + [ + 0.3977956771850586, + -0.031696636229753494, + 0.9169265031814575, + 7.284987926483154 + ], + [ + -0.08302902430295944, + -0.9965458512306213, + 0.0015720222145318985, + -5.6682305335998535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2420, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_138469219", + "mask_path": "../../mask/hdr_right_02420.png" + }, + { + "file_path": "../../rgb/hdr_right_02421.png", + "transform_matrix": [ + [ + 0.9129027128219604, + -0.07571429014205933, + -0.40109339356422424, + 43.8099250793457 + ], + [ + 0.4001723825931549, + -0.027635324746370316, + 0.9160231351852417, + 7.271662712097168 + ], + [ + -0.08044039458036423, + -0.9967465400695801, + 0.005070401821285486, + -5.670724868774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2421, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_238467693", + "mask_path": "../../mask/hdr_right_02421.png" + }, + { + "file_path": "../../rgb/hdr_right_02422.png", + "transform_matrix": [ + [ + 0.9137173891067505, + -0.07504934817552567, + -0.39935970306396484, + 43.751792907714844 + ], + [ + 0.3988093137741089, + -0.02283581532537937, + 0.9167495965957642, + 7.261984348297119 + ], + [ + -0.07792116701602936, + -0.9969183802604675, + 0.009064898826181889, + -5.656314849853516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2422, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_338469266", + "mask_path": "../../mask/hdr_right_02422.png" + }, + { + "file_path": "../../rgb/hdr_right_02423.png", + "transform_matrix": [ + [ + 0.9185487031936646, + -0.0749945268034935, + -0.3881292939186096, + 43.694007873535156 + ], + [ + 0.3879719078540802, + -0.017252404242753983, + 0.9215097427368164, + 7.252999782562256 + ], + [ + -0.07580435276031494, + -0.9970346689224243, + 0.013248599134385586, + -5.630342483520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2423, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_438469171", + "mask_path": "../../mask/hdr_right_02423.png" + }, + { + "file_path": "../../rgb/hdr_right_02424.png", + "transform_matrix": [ + [ + 0.9224453568458557, + -0.08837027847766876, + -0.3758794665336609, + 43.64211654663086 + ], + [ + 0.37572717666625977, + -0.0189877487719059, + 0.9265359044075012, + 7.241374969482422 + ], + [ + -0.08901531994342804, + -0.9959067106246948, + 0.01568795181810856, + -5.610784530639648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2424, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_538470029", + "mask_path": "../../mask/hdr_right_02424.png" + }, + { + "file_path": "../../rgb/hdr_right_02425.png", + "transform_matrix": [ + [ + 0.9243351817131042, + -0.0969524160027504, + -0.36905911564826965, + 43.57809829711914 + ], + [ + 0.36894211173057556, + -0.01979251205921173, + 0.9292416572570801, + 7.2272047996521 + ], + [ + -0.09739682823419571, + -0.9950922131538391, + 0.017474912106990814, + -5.588858127593994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2425, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_638468027", + "mask_path": "../../mask/hdr_right_02425.png" + }, + { + "file_path": "../../rgb/hdr_right_02426.png", + "transform_matrix": [ + [ + 0.9241944551467896, + -0.10188842564821243, + -0.36808061599731445, + 43.5094108581543 + ], + [ + 0.36810413002967834, + -0.019260769709944725, + 0.9295850992202759, + 7.212798595428467 + ], + [ + -0.1018034815788269, + -0.9946093559265137, + 0.019704854115843773, + -5.5662126541137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2426, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_738469123", + "mask_path": "../../mask/hdr_right_02426.png" + }, + { + "file_path": "../../rgb/hdr_right_02427.png", + "transform_matrix": [ + [ + 0.9224386215209961, + -0.10927333682775497, + -0.37035953998565674, + 43.458740234375 + ], + [ + 0.3708089590072632, + -0.01693533919751644, + 0.9285547733306885, + 7.194112777709961 + ], + [ + -0.1077384427189827, + -0.9938675165176392, + 0.024897722527384758, + -5.558073043823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2427, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594409_838469266", + "mask_path": "../../mask/hdr_right_02427.png" + }, + { + "file_path": "../../rgb/hdr_right_02429.png", + "transform_matrix": [ + [ + 0.9235257506370544, + -0.10036962479352951, + -0.37017035484313965, + 43.37202835083008 + ], + [ + 0.369657963514328, + -0.024346549063920975, + 0.928848922252655, + 7.1582818031311035 + ], + [ + -0.10224057734012604, + -0.994652271270752, + 0.014617758803069592, + -5.5573015213012695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2429, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_38470029", + "mask_path": "../../mask/hdr_right_02429.png" + }, + { + "file_path": "../../rgb/hdr_right_02430.png", + "transform_matrix": [ + [ + 0.9261810183525085, + -0.09590242803096771, + -0.3646799623966217, + 43.31597137451172 + ], + [ + 0.36365291476249695, + -0.028605284169316292, + 0.9310952425003052, + 7.143200874328613 + ], + [ + -0.09972607344388962, + -0.9949796795845032, + 0.008381527848541737, + -5.551152229309082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2430, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_138469219", + "mask_path": "../../mask/hdr_right_02430.png" + }, + { + "file_path": "../../rgb/hdr_right_02431.png", + "transform_matrix": [ + [ + 0.9307752251625061, + -0.09647303074598312, + -0.35263365507125854, + 43.264835357666016 + ], + [ + 0.35143744945526123, + -0.029690595343708992, + 0.9357404708862305, + 7.132519245147705 + ], + [ + -0.1007436215877533, + -0.9948926568031311, + 0.006268963683396578, + -5.543619155883789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2431, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_238469600", + "mask_path": "../../mask/hdr_right_02431.png" + }, + { + "file_path": "../../rgb/hdr_right_02433.png", + "transform_matrix": [ + [ + 0.9348408579826355, + -0.11410502344369888, + -0.33623290061950684, + 43.12627410888672 + ], + [ + 0.33423084020614624, + -0.036825262010097504, + 0.9417715668678284, + 7.0943989753723145 + ], + [ + -0.11984273046255112, + -0.9927859306335449, + 0.0037116536404937506, + -5.528536319732666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2433, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_438468933", + "mask_path": "../../mask/hdr_right_02433.png" + }, + { + "file_path": "../../rgb/hdr_right_02434.png", + "transform_matrix": [ + [ + 0.934428334236145, + -0.11987072974443436, + -0.3353725075721741, + 43.06256103515625 + ], + [ + 0.33390963077545166, + -0.03269404545426369, + 0.9420380592346191, + 7.07200288772583 + ], + [ + -0.12388745695352554, + -0.9922510385513306, + 0.00947574432939291, + -5.51568078994751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2434, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_538471460", + "mask_path": "../../mask/hdr_right_02434.png" + }, + { + "file_path": "../../rgb/hdr_right_02435.png", + "transform_matrix": [ + [ + 0.9350385069847107, + -0.12037527561187744, + -0.3334856927394867, + 43.0060920715332 + ], + [ + 0.3328123390674591, + -0.02625485137104988, + 0.9426275491714478, + 7.059048175811768 + ], + [ + -0.12222465872764587, + -0.99238121509552, + 0.015513074584305286, + -5.522014141082764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2435, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_638469696", + "mask_path": "../../mask/hdr_right_02435.png" + }, + { + "file_path": "../../rgb/hdr_right_02436.png", + "transform_matrix": [ + [ + 0.9360951781272888, + -0.12438546866178513, + -0.3290199339389801, + 42.9326171875 + ], + [ + 0.3294522762298584, + -0.01767413131892681, + 0.9440069198608398, + 7.052450180053711 + ], + [ + -0.12323586642742157, + -0.9920765161514282, + 0.024434402585029602, + -5.518117904663086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2436, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_738469123", + "mask_path": "../../mask/hdr_right_02436.png" + }, + { + "file_path": "../../rgb/hdr_right_02437.png", + "transform_matrix": [ + [ + 0.9399880170822144, + -0.12468752264976501, + -0.3176092803478241, + 42.872798919677734 + ], + [ + 0.3178783357143402, + -0.018266700208187103, + 0.9479556083679199, + 7.050929069519043 + ], + [ + -0.12399990111589432, + -0.9920278787612915, + 0.02246498316526413, + -5.501560688018799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2437, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_838469266", + "mask_path": "../../mask/hdr_right_02437.png" + }, + { + "file_path": "../../rgb/hdr_right_02438.png", + "transform_matrix": [ + [ + 0.9427146315574646, + -0.13161760568618774, + -0.3065386712551117, + 42.81671905517578 + ], + [ + 0.3070163130760193, + -0.017155935987830162, + 0.9515496492385864, + 7.0508832931518555 + ], + [ + -0.13049963116645813, + -0.9911521077156067, + 0.024235589429736137, + -5.4950995445251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2438, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594410_938469409", + "mask_path": "../../mask/hdr_right_02438.png" + }, + { + "file_path": "../../rgb/hdr_right_02439.png", + "transform_matrix": [ + [ + 0.9452701210975647, + -0.13426083326339722, + -0.2973859906196594, + 42.74687194824219 + ], + [ + 0.2985035181045532, + -0.012201018631458282, + 0.954330563545227, + 7.042168140411377 + ], + [ + -0.13175761699676514, + -0.9908708930015564, + 0.028544072061777115, + -5.493387699127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2439, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_38470268", + "mask_path": "../../mask/hdr_right_02439.png" + }, + { + "file_path": "../../rgb/hdr_right_02440.png", + "transform_matrix": [ + [ + 0.9468104839324951, + -0.12588106095790863, + -0.29614847898483276, + 42.682029724121094 + ], + [ + 0.29921063780784607, + 0.005717806983739138, + 0.9541699290275574, + 7.036165237426758 + ], + [ + -0.1184186190366745, + -0.9920288324356079, + 0.04307863488793373, + -5.4887518882751465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2440, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_138469934", + "mask_path": "../../mask/hdr_right_02440.png" + }, + { + "file_path": "../../rgb/hdr_right_02442.png", + "transform_matrix": [ + [ + 0.9492042660713196, + -0.11849021911621094, + -0.29149842262268066, + 42.57149887084961 + ], + [ + 0.29572710394859314, + 0.019433099776506424, + 0.9550748467445374, + 7.027633190155029 + ], + [ + -0.10750231146812439, + -0.9927650094032288, + 0.053486745804548264, + -5.490521430969238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2442, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_338469982", + "mask_path": "../../mask/hdr_right_02442.png" + }, + { + "file_path": "../../rgb/hdr_right_02443.png", + "transform_matrix": [ + [ + 0.9511240124702454, + -0.12432738393545151, + -0.28267598152160645, + 42.50651550292969 + ], + [ + 0.2875828742980957, + 0.02309326082468033, + 0.957477331161499, + 7.030120372772217 + ], + [ + -0.1125127300620079, + -0.9919725060462952, + 0.05771898478269577, + -5.4628448486328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2443, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_438471555", + "mask_path": "../../mask/hdr_right_02443.png" + }, + { + "file_path": "../../rgb/hdr_right_02446.png", + "transform_matrix": [ + [ + 0.9557081460952759, + -0.13011616468429565, + -0.26399198174476624, + 42.3586540222168 + ], + [ + 0.2661243677139282, + -0.0010353930993005633, + 0.9639381170272827, + 6.994654178619385 + ], + [ + -0.1256972849369049, + -0.9914982318878174, + 0.033637549728155136, + -5.425848960876465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2446, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594411_738470315", + "mask_path": "../../mask/hdr_right_02446.png" + }, + { + "file_path": "../../rgb/hdr_right_02454.png", + "transform_matrix": [ + [ + 0.9400585889816284, + -0.12226712703704834, + -0.3183405101299286, + 42.03285217285156 + ], + [ + 0.32088714838027954, + 0.0012032921658828855, + 0.9471167325973511, + 6.917449951171875 + ], + [ + -0.11541817337274551, + -0.9924964904785156, + 0.04036511480808258, + -5.370632171630859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2454, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594412_538470268", + "mask_path": "../../mask/hdr_right_02454.png" + }, + { + "file_path": "../../rgb/hdr_right_02456.png", + "transform_matrix": [ + [ + 0.9300044178962708, + -0.11808528751134872, + -0.34806275367736816, + 41.94181823730469 + ], + [ + 0.3508990406990051, + 0.0034658091608434916, + 0.9364069104194641, + 6.898261070251465 + ], + [ + -0.10936956107616425, + -0.992997407913208, + 0.04465923085808754, + -5.36427116394043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2456, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594412_738470077", + "mask_path": "../../mask/hdr_right_02456.png" + }, + { + "file_path": "../../rgb/hdr_right_02461.png", + "transform_matrix": [ + [ + 0.9056749939918518, + -0.12812291085720062, + -0.4041501581668854, + 41.73558807373047 + ], + [ + 0.40728023648262024, + -0.0019305057357996702, + 0.9133012890815735, + 6.8354172706604 + ], + [ + -0.11779502779245377, + -0.9917564392089844, + 0.05043352022767067, + -5.324259281158447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2461, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_238469123", + "mask_path": "../../mask/hdr_right_02461.png" + }, + { + "file_path": "../../rgb/hdr_right_02463.png", + "transform_matrix": [ + [ + 0.8872799277305603, + -0.1222546398639679, + -0.44473373889923096, + 41.663230895996094 + ], + [ + 0.44769808650016785, + -0.0035784896463155746, + 0.8941776752471924, + 6.798336982727051 + ], + [ + -0.11090885102748871, + -0.9924923181533813, + 0.05155804753303528, + -5.324466228485107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2463, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_438470602", + "mask_path": "../../mask/hdr_right_02463.png" + }, + { + "file_path": "../../rgb/hdr_right_02464.png", + "transform_matrix": [ + [ + 0.8787052035331726, + -0.12320665270090103, + -0.4611910879611969, + 41.61733627319336 + ], + [ + 0.46431678533554077, + -0.0037460350431501865, + 0.8856613039970398, + 6.783641815185547 + ], + [ + -0.11084699630737305, + -0.9923739433288574, + 0.05391525477170944, + -5.302824020385742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2464, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_538470268", + "mask_path": "../../mask/hdr_right_02464.png" + }, + { + "file_path": "../../rgb/hdr_right_02466.png", + "transform_matrix": [ + [ + 0.8613901734352112, + -0.13300906121730804, + -0.49021992087364197, + 41.54804229736328 + ], + [ + 0.49182555079460144, + -0.02279176190495491, + 0.8703954815864563, + 6.747467517852783 + ], + [ + -0.1269434690475464, + -0.9908527135848999, + 0.04578465595841408, + -5.279445171356201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2466, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_738469123", + "mask_path": "../../mask/hdr_right_02466.png" + }, + { + "file_path": "../../rgb/hdr_right_02468.png", + "transform_matrix": [ + [ + 0.8332504630088806, + -0.12711206078529358, + -0.5380856990814209, + 41.4714469909668 + ], + [ + 0.5403524041175842, + -0.018904995173215866, + 0.8412264585494995, + 6.6927490234375 + ], + [ + -0.11710253357887268, + -0.9917082190513611, + 0.052932705730199814, + -5.264456748962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2468, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594413_938470125", + "mask_path": "../../mask/hdr_right_02468.png" + }, + { + "file_path": "../../rgb/hdr_right_02470.png", + "transform_matrix": [ + [ + 0.7901193499565125, + -0.11654487252235413, + -0.6017712950706482, + 41.43632507324219 + ], + [ + 0.6037856340408325, + -0.021176494657993317, + 0.7968654632568359, + 6.624683380126953 + ], + [ + -0.10561397671699524, + -0.9929596185684204, + 0.053636156022548676, + -5.268153190612793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2470, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_138468503", + "mask_path": "../../mask/hdr_right_02470.png" + }, + { + "file_path": "../../rgb/hdr_right_02472.png", + "transform_matrix": [ + [ + 0.7560226917266846, + -0.10199909657239914, + -0.6465491056442261, + 41.388465881347656 + ], + [ + 0.6466123461723328, + -0.03693791478872299, + 0.7619240880012512, + 6.5652618408203125 + ], + [ + -0.10159772634506226, + -0.994098424911499, + 0.03802796080708504, + -5.253748893737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2472, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_338469028", + "mask_path": "../../mask/hdr_right_02472.png" + }, + { + "file_path": "../../rgb/hdr_right_02474.png", + "transform_matrix": [ + [ + 0.718131422996521, + -0.09963847696781158, + -0.6887376308441162, + 41.33028793334961 + ], + [ + 0.6873921751976013, + -0.05278890207409859, + 0.7243655920028687, + 6.490378379821777 + ], + [ + -0.1085323691368103, + -0.9936224818229675, + 0.030581332743167877, + -5.242664813995361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2474, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_538468599", + "mask_path": "../../mask/hdr_right_02474.png" + }, + { + "file_path": "../../rgb/hdr_right_02475.png", + "transform_matrix": [ + [ + 0.6898273825645447, + -0.09746526181697845, + -0.7173832654953003, + 41.30598831176758 + ], + [ + 0.7170217037200928, + -0.04501690715551376, + 0.6955957412719727, + 6.447988510131836 + ], + [ + -0.10009079426527023, + -0.9942202568054199, + 0.03883081674575806, + -5.239853858947754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2475, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_638468980", + "mask_path": "../../mask/hdr_right_02475.png" + }, + { + "file_path": "../../rgb/hdr_right_02477.png", + "transform_matrix": [ + [ + 0.6305456161499023, + -0.0936974287033081, + -0.7704759240150452, + 41.265892028808594 + ], + [ + 0.7705574035644531, + -0.04340662434697151, + 0.6358910202980042, + 6.3848419189453125 + ], + [ + -0.0930251032114029, + -0.9946540594100952, + 0.044829390943050385, + -5.239095211029053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2477, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_838471412", + "mask_path": "../../mask/hdr_right_02477.png" + }, + { + "file_path": "../../rgb/hdr_right_02478.png", + "transform_matrix": [ + [ + 0.6099006533622742, + -0.09878480434417725, + -0.7862969040870667, + 41.2327995300293 + ], + [ + 0.7866185307502747, + -0.0449678860604763, + 0.6157996654510498, + 6.350462913513184 + ], + [ + -0.09618975967168808, + -0.9940922856330872, + 0.05028000846505165, + -5.2136149406433105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2478, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594414_938470125", + "mask_path": "../../mask/hdr_right_02478.png" + }, + { + "file_path": "../../rgb/hdr_right_02480.png", + "transform_matrix": [ + [ + 0.5718315839767456, + -0.09402074664831161, + -0.8149656057357788, + 41.18300247192383 + ], + [ + 0.8133198618888855, + -0.0649946853518486, + 0.5781751871109009, + 6.278143882751465 + ], + [ + -0.10732889175415039, + -0.9934463500976562, + 0.039302922785282135, + -5.1964006423950195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2480, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_138469934", + "mask_path": "../../mask/hdr_right_02480.png" + }, + { + "file_path": "../../rgb/hdr_right_02481.png", + "transform_matrix": [ + [ + 0.5415816903114319, + -0.09138410538434982, + -0.835666298866272, + 41.16024398803711 + ], + [ + 0.8345583081245422, + -0.0609898641705513, + 0.5475331544876099, + 6.222060203552246 + ], + [ + -0.1010030061006546, + -0.9939462542533875, + 0.04323437437415123, + -5.191171169281006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2481, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_238469362", + "mask_path": "../../mask/hdr_right_02481.png" + }, + { + "file_path": "../../rgb/hdr_right_02488.png", + "transform_matrix": [ + [ + 0.37556523084640503, + -0.07332202792167664, + -0.9238910675048828, + 41.05378341674805 + ], + [ + 0.9230310916900635, + -0.06017068400979042, + 0.37999096512794495, + 5.934449672698975 + ], + [ + -0.08345286548137665, + -0.9954915046691895, + 0.04508048668503761, + -5.168733596801758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2488, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594415_938470125", + "mask_path": "../../mask/hdr_right_02488.png" + }, + { + "file_path": "../../rgb/hdr_right_02490.png", + "transform_matrix": [ + [ + 0.322925865650177, + -0.0735543742775917, + -0.9435617327690125, + 41.033546447753906 + ], + [ + 0.9435444474220276, + -0.05269542708992958, + 0.32702773809432983, + 5.856764793395996 + ], + [ + -0.07377570122480392, + -0.9958980083465576, + 0.052385106682777405, + -5.167858123779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2490, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_138469457", + "mask_path": "../../mask/hdr_right_02490.png" + }, + { + "file_path": "../../rgb/hdr_right_02492.png", + "transform_matrix": [ + [ + 0.29302263259887695, + -0.07002729922533035, + -0.9535375237464905, + 41.003692626953125 + ], + [ + 0.95286625623703, + -0.06063663214445114, + 0.2972694933414459, + 5.790015697479248 + ], + [ + -0.0786362886428833, + -0.9957004189491272, + 0.04895874112844467, + -5.150580883026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2492, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_338469505", + "mask_path": "../../mask/hdr_right_02492.png" + }, + { + "file_path": "../../rgb/hdr_right_02494.png", + "transform_matrix": [ + [ + 0.24209414422512054, + -0.0660824254155159, + -0.9679997563362122, + 40.99216842651367 + ], + [ + 0.9662393927574158, + -0.07422997802495956, + 0.24672141671180725, + 5.7068586349487305 + ], + [ + -0.08815854042768478, + -0.9950493574142456, + 0.045880790799856186, + -5.148573398590088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2494, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_538469076", + "mask_path": "../../mask/hdr_right_02494.png" + }, + { + "file_path": "../../rgb/hdr_right_02496.png", + "transform_matrix": [ + [ + 0.16102857887744904, + -0.07358551770448685, + -0.9842027425765991, + 40.99620056152344 + ], + [ + 0.9837451577186584, + -0.06832940876483917, + 0.16606251895427704, + 5.629350185394287 + ], + [ + -0.07946978509426117, + -0.9949453473091125, + 0.06138640642166138, + -5.159238338470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2496, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_738469362", + "mask_path": "../../mask/hdr_right_02496.png" + }, + { + "file_path": "../../rgb/hdr_right_02498.png", + "transform_matrix": [ + [ + 0.12504756450653076, + -0.05915248766541481, + -0.9903858304023743, + 40.985721588134766 + ], + [ + 0.9900882840156555, + -0.05689114332199097, + 0.12840791046619415, + 5.556050777435303 + ], + [ + -0.06393983215093613, + -0.9966265559196472, + 0.051452089101076126, + -5.145257949829102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2498, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594416_938469171", + "mask_path": "../../mask/hdr_right_02498.png" + }, + { + "file_path": "../../rgb/hdr_right_02500.png", + "transform_matrix": [ + [ + 0.1175561398267746, + -0.05096931383013725, + -0.9917574524879456, + 40.968013763427734 + ], + [ + 0.9907901287078857, + -0.06155789643526077, + 0.12060514092445374, + 5.480698585510254 + ], + [ + -0.06719766557216644, + -0.9968012571334839, + 0.043263379484415054, + -5.137860298156738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2500, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_138468980", + "mask_path": "../../mask/hdr_right_02500.png" + }, + { + "file_path": "../../rgb/hdr_right_02501.png", + "transform_matrix": [ + [ + 0.10042189806699753, + -0.05207405239343643, + -0.9935812950134277, + 40.96733093261719 + ], + [ + 0.9930660128593445, + -0.056098926812410355, + 0.1033100038766861, + 5.427685260772705 + ], + [ + -0.06111862137913704, + -0.9970663189888, + 0.04607940465211868, + -5.135961532592773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2501, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_238469600", + "mask_path": "../../mask/hdr_right_02501.png" + }, + { + "file_path": "../../rgb/hdr_right_02507.png", + "transform_matrix": [ + [ + 0.055205654352903366, + -0.06706500798463821, + -0.9962201118469238, + 40.92863845825195 + ], + [ + 0.9969727396965027, + -0.051009465008974075, + 0.05868130549788475, + 5.181401252746582 + ], + [ + -0.05475211516022682, + -0.9964438676834106, + 0.0640459731221199, + -5.115325927734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2507, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594417_838469266", + "mask_path": "../../mask/hdr_right_02507.png" + }, + { + "file_path": "../../rgb/hdr_right_02509.png", + "transform_matrix": [ + [ + 0.04491279274225235, + -0.07577873766422272, + -0.9961127042770386, + 40.911476135253906 + ], + [ + 0.9979484677314758, + -0.042136114090681076, + 0.048201072961091995, + 5.101523399353027 + ], + [ + -0.04562493413686752, + -0.9962339401245117, + 0.07373082637786865, + -5.1204938888549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2509, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_38467407", + "mask_path": "../../mask/hdr_right_02509.png" + }, + { + "file_path": "../../rgb/hdr_right_02511.png", + "transform_matrix": [ + [ + 0.05195695161819458, + -0.06724800169467926, + -0.9963825941085815, + 40.895626068115234 + ], + [ + 0.9975178837776184, + -0.04398614540696144, + 0.054984886199235916, + 5.04079532623291 + ], + [ + -0.04752465337514877, + -0.996766209602356, + 0.06479570269584656, + -5.1089324951171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2511, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_238467693", + "mask_path": "../../mask/hdr_right_02511.png" + }, + { + "file_path": "../../rgb/hdr_right_02513.png", + "transform_matrix": [ + [ + 0.0419137217104435, + -0.06269597262144089, + -0.9971522092819214, + 40.89890670776367 + ], + [ + 0.9973065257072449, + -0.05750041827559471, + 0.04553556442260742, + 4.986809253692627 + ], + [ + -0.060191560536623, + -0.9963749051094055, + 0.06011703982949257, + -5.095651626586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2513, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594418_438466787", + "mask_path": "../../mask/hdr_right_02513.png" + }, + { + "file_path": "../../rgb/hdr_right_02549.png", + "transform_matrix": [ + [ + 0.16446621716022491, + -0.045556530356407166, + -0.9853301644325256, + 40.86078643798828 + ], + [ + 0.9843440055847168, + -0.05661220848560333, + 0.16691912710666656, + 4.94261360168457 + ], + [ + -0.063385970890522, + -0.9973564147949219, + 0.035532500594854355, + -5.127945899963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2549, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594422_38468837", + "mask_path": "../../mask/hdr_right_02549.png" + }, + { + "file_path": "../../rgb/hdr_right_02647.png", + "transform_matrix": [ + [ + 0.2643803358078003, + -0.05836791545152664, + -0.9626506567001343, + 40.797706604003906 + ], + [ + 0.9605186581611633, + -0.0737382024526596, + 0.2682657539844513, + 4.836740016937256 + ], + [ + -0.08664222806692123, + -0.9955681562423706, + 0.0365685410797596, + -5.105729103088379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2647, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594431_838468074", + "mask_path": "../../mask/hdr_right_02647.png" + }, + { + "file_path": "../../rgb/hdr_right_02649.png", + "transform_matrix": [ + [ + 0.269353985786438, + -0.057657621800899506, + -0.961313784122467, + 40.77241897583008 + ], + [ + 0.9597198963165283, + -0.06676097959280014, + 0.27291151881217957, + 4.769105911254883 + ], + [ + -0.0799136757850647, + -0.9961016774177551, + 0.037352826446294785, + -5.093796253204346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2649, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1731594432_38468122", + "mask_path": "../../mask/hdr_right_02649.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file